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- import os
- Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
- lenv = env.Clone()
- libs = [cereal, messaging, common, visionipc, gpucommon,
- 'OpenCL', 'SNPE', '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_common.cc",
- "thneed/thneed_qcom2.cc",
- "thneed/serialize.cc",
- "runners/thneedmodel.cc",
- ]
- use_thneed = not GetOption('no_thneed')
- if arch == "larch64":
- libs += ['gsl', 'CB', 'pthread', 'dl']
- if use_thneed:
- 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']
- if not GetOption('snpe'):
- # 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 common_src[common_src.index('runners/snpemodel.cc')]
- common_model = lenv.Object(common_src)
- lenv.Program('_dmonitoringmodeld', [
- "dmonitoringmodeld.cc",
- "models/dmonitoring.cc",
- ]+common_model, LIBS=libs)
- # build thneed model
- if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
- fn = File("models/supercombo").abspath
- if GetOption('pc_thneed'):
- cmd = f"cd {Dir('#').abspath}/tinygrad_repo && GPU=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
- else:
- cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 MATMUL=1 PYOPENCL_NO_CACHE=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
- # is there a better way then listing all of tinygrad?
- lenv.Command(fn + ".thneed", [fn + ".onnx",
- "#tinygrad_repo/openpilot/compile.py",
- "#tinygrad_repo/accel/opencl/conv.cl",
- "#tinygrad_repo/accel/opencl/matmul.cl",
- "#tinygrad_repo/accel/opencl/ops_opencl.py",
- "#tinygrad_repo/accel/opencl/preprocessing.py",
- "#tinygrad_repo/extra/onnx.py",
- "#tinygrad_repo/extra/thneed.py",
- "#tinygrad_repo/extra/utils.py",
- "#tinygrad_repo/tinygrad/llops/ops_gpu.py",
- "#tinygrad_repo/tinygrad/llops/ops_opencl.py",
- "#tinygrad_repo/tinygrad/helpers.py",
- "#tinygrad_repo/tinygrad/mlops.py",
- "#tinygrad_repo/tinygrad/ops.py",
- "#tinygrad_repo/tinygrad/shapetracker.py",
- "#tinygrad_repo/tinygrad/tensor.py",
- "#tinygrad_repo/tinygrad/nn/__init__.py"
- ], cmd)
- llenv = lenv.Clone()
- if GetOption('pc_thneed'):
- pc_thneed_src = [
- "thneed/thneed_common.cc",
- "thneed/thneed_pc.cc",
- "thneed/serialize.cc",
- "runners/thneedmodel.cc",
- ]
- llenv['CFLAGS'].append("-DUSE_THNEED")
- llenv['CXXFLAGS'].append("-DUSE_THNEED")
- common_model += llenv.Object(pc_thneed_src)
- libs += ['dl']
- llenv.Program('_modeld', [
- "modeld.cc",
- "models/driving.cc",
- ]+common_model, LIBS=libs + transformations)
- lenv.Program('_navmodeld', [
- "navmodeld.cc",
- "models/nav.cc",
- ]+common_model, LIBS=libs + transformations)
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