mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 01:52:06 +08:00
firestar5683
61 lines
2.5 KiB
Python
61 lines
2.5 KiB
Python
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 to repository-relative paths so prebuilt artifacts stay relocatable.
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for pathdef, fn in {'TRANSFORM': 'selfdrive/modeld/transforms/transform.cl', 'LOADYUV': 'selfdrive/modeld/transforms/loadyuv.cl'}.items():
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for xenv in (lenv, lenvCython):
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xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{fn}\\"')
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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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skip_dm_tinygrad_pkl = os.getenv("SP_SKIP_DM_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"}
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allow_host_tinygrad_pkl = os.getenv("SP_ALLOW_HOST_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"}
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build_dm_artifacts = os.getenv("SP_BUILD_MODEL_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"} or allow_host_tinygrad_pkl
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if build_dm_artifacts and not skip_dm_tinygrad_pkl:
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dm_rel_path = "selfdrive/modeld/models/dmonitoring_model"
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dm_node_path = f"#{dm_rel_path}"
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metadata_script = "#selfdrive/modeld/get_model_metadata.py"
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lenv.Command(
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dm_node_path + "_metadata.pkl",
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[dm_node_path + ".onnx", metadata_script],
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f'python3 selfdrive/modeld/get_model_metadata.py {dm_rel_path}.onnx',
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)
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flags = (
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'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0 DEBUG=0'
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if arch == 'larch64'
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else 'DEV=CPU IMAGE=0 NOLOCALS=1 DEBUG=0 HOME=/tmp'
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)
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:tinygrad_repo"'
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compile_script = "#tinygrad_repo/examples/openpilot/compile3.py"
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lenv.Command(
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dm_node_path + "_tinygrad.pkl",
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[dm_node_path + ".onnx"] + tinygrad_files + [compile_script],
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f'{pythonpath_string} {flags} python3 tinygrad_repo/examples/openpilot/compile3.py '
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f'{dm_rel_path}.onnx {dm_rel_path}_tinygrad.pkl',
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)
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else:
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print("Using prebuilt unified driving and driver-monitoring artifacts")
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