import glob
import os
import time
from SCons.Script import Action, Value
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
from openpilot.selfdrive.modeld.helpers import chestnut_present
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info


Import('env', 'arch')
lenv = env.Clone()
lenv.PrependENVPath('PYTHONPATH', Dir('#tinygrad_repo').abspath)

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))]

camera_configs = [(c.width, c.height) for c in (_ar_ox_fisheye, _os_fisheye)]

if arch == 'comma_arm64':
  tg_flags = 'DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
else:
  # JIT=2 disables graph batching, which produces incorrect outputs after buffers change.
  tg_flags = 'DEV=METAL JIT=2' if arch == 'Darwin' else 'DEV=CPU:LLVM'

CHESTNUT = chestnut_present()
if CHESTNUT:
  chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32'
  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
  chestnut_lock = File("models/.chestnut.lock").abspath

# tinygrad calls brew which needs a $HOME in the env
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''

warp_deps = [File("#openpilot/system/camerad/cameras/nv12_info.py")]
compiler = Dir('#tinygrad_repo/examples/openpilot').abspath
# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''

def chestnut_action(command):
  def do_compile(target, source, env):
    from openpilot.system.hardware.chestnut.flash import link_up
    # chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
    for _ in range(10):
      if link_up():
        break
      time.sleep(1)
    else:
      print("Chestnut not ready, skipping warp build")
      return
    return env.Execute(command)
  return Action(do_compile, "  [CHESTNUT] $TARGET")

def compile_model(onnx_path, pkl_path):
  onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
  cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_onnx.py" '
         f'"{onnx_path}" "{target_pkl_path}" --device-input "*" --out-of-band --benchmark-runs 1')
  lenv.Command(
    target_pkl_path,
    tinygrad_files + [onnx_path, Value(cmd)],
    Action(cmd, "  [ONNX] $TARGET"),
  )

compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')

model_w, model_h = MEDMODEL_INPUT_SIZE
for chestnut in [False, True] if CHESTNUT else [False]:
  file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
  for cam_w, cam_h in camera_configs:
    warp_pkl_path = File(f"models/{file_prefix}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
    stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
    cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
           f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
           f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
           f'--output {warp_pkl_path}')
    action = chestnut_action(cmd) if chestnut else cmd
    node = lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], action)
    if chestnut:
      lenv.SideEffect(chestnut_lock, node)

dm_w, dm_h = DM_INPUT_SIZE
for cam_w, cam_h in camera_configs:
  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
  stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
  cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '
         f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{frame_size} --warp-to {dm_w}x{dm_h} '
         f'--layout luma --border-fill 16 --transform-device NPY --output {dm_pkl_path}')
  lenv.Command(dm_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)