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55 lines
2.2 KiB
55 lines
2.2 KiB
import os
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import glob
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
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lenv = env.Clone()
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lenvCython = envCython.Clone()
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libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
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frameworks = []
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common_src = [
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"models/commonmodel.cc",
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"transforms/loadyuv.cc",
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"transforms/transform.cc",
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]
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# OpenCL is a framework on Mac
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if arch == "Darwin":
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frameworks += ['OpenCL']
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else:
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libs += ['OpenCL']
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# Set path definitions
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for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
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for xenv in (lenv, lenvCython):
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xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
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# Compile cython
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cython_libs = envCython["LIBS"] + libs
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commonmodel_lib = lenv.Library('commonmodel', common_src)
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lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
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tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
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# Get model metadata
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for model_name in ['driving_vision', 'driving_policy']:
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fn = File(f"models/{model_name}").abspath
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script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
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cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
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lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
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# Compile tinygrad model
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
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for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
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if "USBGPU" in os.environ and not model_name.startswith("dmon"):
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device_string = "AMD=1 AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
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elif arch == 'larch64':
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device_string = 'QCOM=1'
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elif arch == 'Darwin':
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device_string = 'CPU=1 IMAGE=0 JIT=2'
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else:
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device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
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fn = File(f"models/{model_name}").abspath
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cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
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lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
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