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openpilot v0.9.5 release

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date: 2023-11-17T23:53:40
master commit: d3aad9ca46
This commit is contained in:
Vehicle Researcher
2023-11-17 23:53:40 +00:00
parent eff388b1b6
commit b2f2dabe71
861 changed files with 33808 additions and 28421 deletions
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119
selfdrive/modeld/SConscript
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@@ -1,103 +1,72 @@
import os
Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
lenv = env.Clone()
lenvCython = envCython.Clone()
libs = [cereal, messaging, common, visionipc, gpucommon,
'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
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
libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread']
frameworks = []
common_src = [
"models/commonmodel.cc",
"runners/snpemodel.cc",
"transforms/loadyuv.cc",
"transforms/transform.cc"
"transforms/transform.cc",
]
thneed_src = [
thneed_src_common = [
"thneed/thneed_common.cc",
"thneed/thneed_qcom2.cc",
"thneed/serialize.cc",
"runners/thneedmodel.cc",
]
use_thneed = not GetOption('no_thneed')
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
if arch == "larch64":
libs += ['gsl', 'CB', 'pthread', 'dl']
# SNPE except on Mac and ARM Linux
snpe_lib = []
if arch != "Darwin" and arch != "aarch64":
common_src += ['runners/snpemodel.cc']
snpe_lib += ['SNPE']
if use_thneed:
common_src += thneed_src
dlsym_offset = get_dlsym_offset()
lenv['CXXFLAGS'].append("-DUSE_THNEED")
lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
# OpenCL is a framework on Mac
if arch == "Darwin":
frameworks += ['OpenCL']
else:
libs += ['pthread']
libs += ['OpenCL']
if not GetOption('snpe'):
# for onnx support
common_src += ['runners/onnxmodel.cc']
# 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}\\"')
# tell runners to use onnx
lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
# 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]
if arch == "Darwin":
# fix OpenCL
del libs[libs.index('OpenCL')]
lenv['FRAMEWORKS'] = ['OpenCL']
cython_libs = envCython["LIBS"] + libs
snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
commonmodel_lib = lenv.Library('commonmodel', common_src)
# no SNPE on Mac
del libs[libs.index('SNPE')]
del common_src[common_src.index('runners/snpemodel.cc')]
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)
common_model = lenv.Object(common_src)
# Get model metadata
fn = File("models/supercombo").abspath
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.endswith("get_model_metadata.py")], [])
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common_model, LIBS=libs)
# build thneed model
if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath
tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
# Build thneed model
if arch == "larch64" or GetOption('pc_thneed'):
tinygrad_opts = []
if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed"
tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
llenv = lenv.Clone()
if GetOption('pc_thneed'):
pc_thneed_src = [
"thneed/thneed_common.cc",
"thneed/thneed_pc.cc",
"thneed/serialize.cc",
"runners/thneedmodel.cc",
]
llenv['CFLAGS'].append("-DUSE_THNEED")
llenv['CXXFLAGS'].append("-DUSE_THNEED")
common_model += llenv.Object(pc_thneed_src)
libs += ['dl']
llenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common_model, LIBS=libs + transformations)
lenv.Program('_navmodeld', [
"navmodeld.cc",
"models/nav.cc",
]+common_model, LIBS=libs + transformations)
thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', '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', 'zmq', 'OpenCL'])