You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
78 lines
2.3 KiB
78 lines
2.3 KiB
Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
|
|
lenv = env.Clone()
|
|
|
|
libs = [cereal, messaging, common, visionipc, gpucommon,
|
|
'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'zmq', 'kj', 'yuv']
|
|
|
|
def get_dlsym_offset():
|
|
"""Returns the offset between dlopen and dlsym in libdl.so"""
|
|
import ctypes
|
|
libdl = ctypes.PyDLL('libdl.so')
|
|
dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
|
|
dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
|
|
return dlsym - dlopen
|
|
|
|
|
|
common_src = [
|
|
"models/commonmodel.cc",
|
|
"runners/snpemodel.cc",
|
|
"transforms/loadyuv.cc",
|
|
"transforms/transform.cc"
|
|
]
|
|
|
|
thneed_src = [
|
|
"thneed/thneed.cc",
|
|
"thneed/serialize.cc",
|
|
"runners/thneedmodel.cc",
|
|
]
|
|
|
|
if arch == "aarch64" or arch == "larch64":
|
|
libs += ['gsl', 'CB']
|
|
libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
|
|
|
|
common_src += thneed_src
|
|
dlsym_offset = get_dlsym_offset()
|
|
lenv['CXXFLAGS'].append("-DUSE_THNEED")
|
|
lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
|
|
else:
|
|
libs += ['pthread']
|
|
|
|
# for onnx support
|
|
common_src += ['runners/onnxmodel.cc']
|
|
|
|
# tell runners to use onnx
|
|
lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
|
|
lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
|
|
|
|
if arch == "Darwin":
|
|
# fix OpenCL
|
|
del libs[libs.index('OpenCL')]
|
|
lenv['FRAMEWORKS'] = ['OpenCL']
|
|
|
|
# no SNPE on Mac
|
|
del libs[libs.index('SNPE')]
|
|
del libs[libs.index('symphony-cpu')]
|
|
del common_src[common_src.index('runners/snpemodel.cc')]
|
|
|
|
common_model = lenv.Object(common_src)
|
|
|
|
|
|
# build thneed model
|
|
if arch == "aarch64" or arch == "larch64":
|
|
compiler = lenv.Program('thneed/compile', ["thneed/compile.cc" ]+common_model, LIBS=libs)
|
|
cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
|
|
|
|
lib_paths = ':'.join([Dir(p).abspath for p in lenv["LIBPATH"]])
|
|
cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}"})
|
|
cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)
|
|
|
|
lenv.Program('_dmonitoringmodeld', [
|
|
"dmonitoringmodeld.cc",
|
|
"models/dmonitoring.cc",
|
|
]+common_model, LIBS=libs)
|
|
|
|
lenv.Program('_modeld', [
|
|
"modeld.cc",
|
|
"models/driving.cc",
|
|
]+common_model, LIBS=libs)
|
|
|
|
|