import os
import glob

Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
lenv = env.Clone()
lenvCython = envCython.Clone()

libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
frameworks = []

common_src = [
  "models/commonmodel.cc",
  "transforms/loadyuv.cc",
  "transforms/transform.cc",
]

# OpenCL is a framework on Mac
if arch == "Darwin":
  frameworks += ['OpenCL']
else:
  libs += ['OpenCL']

# Set path definitions
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
  for xenv in (lenv, lenvCython):
    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')

# Compile cython
cython_libs = envCython["LIBS"] + libs
commonmodel_lib = lenv.Library('commonmodel', common_src)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
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]

# Get model metadata
PC = not os.path.isfile('/TICI')
if PC:
  inputs = tinygrad_files + [File(Dir("#iqpilot/modeld_v2").File("install_models_pc.py").abspath)]
  outputs = []
  model_dir = Dir("models").abspath
  cmd = f'python3 {Dir("#iqpilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'

  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
    if File(f"models/{model_name}.onnx").exists():
        inputs.append(File(f"models/{model_name}.onnx"))
        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
        outputs.append(File(f"models/{model_name}_metadata.pkl"))
  if outputs:
    lenv.Command(outputs, inputs, cmd)

def tg_compile(flags, model_name):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
  fn = File(f"models/{model_name}").abspath
  return lenv.Command(
    fn + "_tinygrad.pkl",
    [fn + ".onnx"] + tinygrad_files,
    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
  )

# Compile small models
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
  if File(f"models/{model_name}.onnx").exists():
    flags = {
      'larch64': 'DEV=QCOM',
      'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
    }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
    tg_compile(flags, model_name)

# Compile fused models (op_model16_deep style: warp+vision+on/off policy in one pkl).
# IMAGE=2 (not upstream's IMAGE=1) for the Adreno the fleet runs. Opt-in: only builds
# when the fused triplet onnx are dropped into models/.
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
FUSED_CAMERA_CONFIGS = [(_ar_ox_fisheye.width, _ar_ox_fisheye.height), (_os_fisheye.width, _os_fisheye.height)]
FUSED_FRAME_SKIP = 4  # MODEL_RUN_FREQ // MODEL_CONTEXT_FREQ (20 // 5)
FUSED_TRIPLET = ['driving_vision', 'driving_off_policy', 'driving_on_policy']

def tg_compile_fused(file_prefix, flags):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
  mdir = Dir("models").abspath
  model_w, model_h = MEDMODEL_INPUT_SIZE
  cam_args = ' '.join(f'{cw}x{ch}' for cw, ch in FUSED_CAMERA_CONFIGS)
  out_pkl = File(f"models/{file_prefix}driving_fused_tinygrad.pkl").abspath
  onnx_deps = [File(f"models/{file_prefix}{m}.onnx") for m in FUSED_TRIPLET]
  cmd = (f'{pythonpath_string} {flags} python3 {Dir("#iqpilot/modeld_v2").abspath}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} --camera-resolutions {cam_args} '
         f'--vision-onnx {mdir}/{file_prefix}driving_vision.onnx '
         f'--off-policy-onnx {mdir}/{file_prefix}driving_off_policy.onnx '
         f'--on-policy-onnx {mdir}/{file_prefix}driving_on_policy.onnx '
         f'--output {out_pkl} --frame-skip {FUSED_FRAME_SKIP}')
  return lenv.Command(out_pkl, onnx_deps + tinygrad_files, cmd)

if all(File(f"models/{m}.onnx").exists() for m in FUSED_TRIPLET):
  fused_flags = {
    'larch64': 'DEV=QCOM IMAGE=2 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0 FLOAT16=1',
  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0 FLOAT16=1')
  tg_compile_fused('', fused_flags)

# usbgpu (eGPU): big vision on an external AMD GPU over USB, warp stays on QCOM
if all(File(f"models/big_{m}.onnx").exists() for m in FUSED_TRIPLET):
  tg_compile_fused('big_', 'DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0')