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openpilot v0.8.2 release

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This commit is contained in:
Vehicle Researcher
2021-02-23 16:46:22 -08:00
parent 22a4193109
commit aed724beda
415 changed files with 14848 additions and 26656 deletions
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selfdrive/modeld/SConscript
+35 -12
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@@ -3,6 +3,15 @@ lenv = env.Clone()
libs = [cereal, messaging, common, 'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'zmq', 'kj', 'yuv', gpucommon, visionipc]
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",
@@ -10,16 +19,20 @@ 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"]
lenv['CFLAGS'].append("-DUSE_THNEED")
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']
@@ -40,15 +53,25 @@ 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('.').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, LIBS=libs)
]+common_model, LIBS=libs)
lenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common, LIBS=libs)
]+common_model, LIBS=libs)