import os
import glob
from openpilot.common.file_chunker import chunk_file, get_chunk_paths

Import('env', 'arch')
chunker_file = File("#common/file_chunker.py")
lenv = env.Clone()

tinygrad_root = env.Dir("#").abspath
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]

def estimate_pickle_max_size(onnx_size):
  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty

# compile warp
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
tg_flags = {
    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')

# Get model metadata
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
  fn = File(f"models/{model_name}").abspath
  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)

image_flag = {
     'larch64': 'IMAGE=2',
}.get(arch, 'IMAGE=0')
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
warp_targets = []
for cam in [_ar_ox_fisheye, _os_fisheye]:
  w, h = cam.width, cam.height
  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)

def tg_compile(flags, model_name):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
  fn = File(f"models/{model_name}").abspath
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
  compile_node = lenv.Command(
    pkl,
    [onnx_path] + tinygrad_files + [chunker_file],
    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
  )
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
    compile_node,
    do_chunk,
  )

# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
  tg_compile(tg_flags, model_name)