mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-07-25 19:32:03 +08:00
Jason Wen
f84d27c4ee
* tinygrad with snpe * force with snpe to validate * fix path * fix more paths * Adjust modeld execution logic based on active model runner Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner. * Refactor modeld process function checks. Introduce `is_stock_model` to clarify logic and replace direct uses of `is_snpe_model` where the stock model condition is needed. Additionally, rename the duplicate "modeld" process in sunnyPilot to "modeld_snpe" for clarity and consistency. * ignore tg * fix process name * ruff * fix thneed paths * mypy * remove our own * use upstream compile3 * fix thneed * try this * Revert "remove our own" This reverts commit 1cf4f57502565c274628e185c66f1eb04c4d9bbe. * try using compile2.py again * add back symlink * fix path * more fix * wrong path again * Revert "wrong path again" This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e. * update * hardcode path to our submodule * force path * try this * fix file name * try this * again * Revert "again" This reverts commit 17c8cd73768a2de5aaf2a34d202aa6f03d59d72d. * Revert "try this" This reverts commit 767f78bbcf17b08edbc20f283d10a1990bf4264f. * Revert "fix file name" This reverts commit 485eef68da981da571fe9a9ebf3aecdb95e5588c. * Revert "try this" This reverts commit 41fef87680cdda1ba8cbd7e5c59256e6c57010a0. * Revert "force path" This reverts commit 5c3b408937bff0f61b150971b328d127501c5bf0. * Revert "hardcode path to our submodule" This reverts commit 5ee1950b6f4fce73e7e73b6971b996a9989d0a93. * Revert "update" This reverts commit fb313bd7fbeb50111f3c4a11137b4cfd9cabc3fa. * Reapply "wrong path again" This reverts commit 309639aeb3575e20b215bbbcc27e48923ee95c87. * Revert "wrong path again" This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e. * Revert "more fix" This reverts commit 23dd423e78e60bd6a0bd73e921bfba9a5aad88bd. * Revert "fix path" This reverts commit 75d338f2bda2dfa77044e33f4c6553390621b13b. * Revert "add back symlink" This reverts commit 9f71ad0b8ae2068e431c455af9d4f954d024eec7. * Revert "try using compile2.py again" This reverts commit 914117d2e1c6c4270f7bef1a5305847a1d7bab17. * Reapply "remove our own" This reverts commit b1996377b346658f2094cba9032a66230784cb3e. * don't even compile anymore * need it for default snpe model * add to lfs * bring onnx back for sim * must add this back * need this --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
59 lines
2.3 KiB
Python
59 lines
2.3 KiB
Python
import glob
|
|
|
|
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
|
|
lenv = env.Clone()
|
|
lenvCython = envCython.Clone()
|
|
|
|
libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
|
|
frameworks = []
|
|
|
|
common_src = [
|
|
"models/commonmodel.cc",
|
|
"transforms/loadyuv.cc",
|
|
"transforms/transform.cc",
|
|
]
|
|
|
|
thneed_src_common = [
|
|
"thneed/thneed_common.cc",
|
|
"thneed/serialize.cc",
|
|
]
|
|
|
|
thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
|
|
thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
|
|
thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
|
|
|
|
# SNPE except on Mac and ARM Linux
|
|
snpe_lib = []
|
|
if arch != "Darwin" and arch != "aarch64":
|
|
common_src += ['runners/snpemodel.cc']
|
|
snpe_lib += ['SNPE']
|
|
|
|
# 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
|
|
snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
|
|
snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
|
|
snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
|
|
|
|
cython_libs = envCython["LIBS"] + libs
|
|
snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
|
|
commonmodel_lib = lenv.Library('commonmodel', common_src)
|
|
|
|
lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
|
|
lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
|
|
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
|
|
|
|
if arch == 'larch64' or GetOption('pc_thneed'):
|
|
thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
|
|
thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
|
|
lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
|