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Thneed load/save (#19700)

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* start thneed load/save

* compiling

* fix loading

* build thneed model in scons

* don't hardcode /data/openpilot

* release files

* those too

* support for loading/saving binary kernels

* save binaries out of json band

* make binary a command line flag to the compiler

* need include assert

* fix shadowed common in SConscript

* cleanup run.h

* hmm, the recurrent buffer wasn't 0ed

* ugh, unique ptr

* remove power constraint, refactor record

* Revert "remove power constraint, refactor record"

This reverts commit bb6fa52db6df59cd9d6420a6f630430e35af8a5e.

* print on thneed stop

* fingers crossed for this one

* recorded

* just curious

* okay okay, pass tests?

* cleanups

* refactor wait

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
George Hotz
2021-01-19 18:08:31 -08:00
committed by GitHub
parent 124100d0fa
commit 59fac9fdc6
12 changed files with 561 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/SConscript
+22 -11
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@@ -10,14 +10,17 @@ common_src = [
"transforms/transform.cc"
]
if arch == "aarch64":
libs += ['gsl', 'CB', 'gnustl_shared']
common_src += ["thneed/thneed.cc"]
lenv['CFLAGS'].append("-DUSE_THNEED")
lenv['CXXFLAGS'].append("-DUSE_THNEED")
elif arch == "larch64":
libs += ['gsl', 'CB', 'pthread', 'dl']
common_src += ["thneed/thneed.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
lenv['CFLAGS'].append("-DUSE_THNEED")
lenv['CXXFLAGS'].append("-DUSE_THNEED")
else:
@@ -40,15 +43,23 @@ else:
del libs[libs.index('symphony-cpu')]
del common_src[common_src.index('runners/snpemodel.cc')]
common = lenv.Object(common_src)
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('.').get_abspath()} && {compiler[0].get_abspath()} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
snpe_path = "/data/pythonpath/phonelibs/snpe/"+arch
cenv = Environment(ENV = {'LD_LIBRARY_PATH' : snpe_path+":"+lenv["ENV"]["LD_LIBRARY_PATH"]})
cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common, LIBS=libs)
]+common_model, LIBS=libs)
lenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common, LIBS=libs)
]+common_model, LIBS=libs)