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Add option to avoid thneed (#21577)

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* add option to avoid thneed

* cleaner

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* fix USE_THNEED in modeld

* cleanup

Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
robbederks
2021-07-13 16:40:20 +02:00
committed by GitHub
parent 45d4f8301b
commit 2f22207ece
3 changed files with 14 additions and 7 deletions
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5
SConstruct
View File

@@ -51,6 +51,11 @@ AddOption('--external-sconscript',
dest='external_sconscript',
help='add an external SConscript to the build')
AddOption('--no-thneed',
action='store_true',
dest='no_thneed',
help='avoid using thneed')
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"

14
selfdrive/modeld/SConscript
View File

@@ -26,14 +26,17 @@ thneed_src = [
"runners/thneedmodel.cc",
]
use_thneed = not GetOption('no_thneed')
if arch == "aarch64" or arch == "larch64":
libs += ['gsl', 'CB']
libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
common_src += thneed_src
dlsym_offset = get_dlsym_offset()
lenv['CXXFLAGS'].append("-DUSE_THNEED")
lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
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}")
else:
libs += ['pthread']
@@ -58,7 +61,7 @@ else:
common_model = lenv.Object(common_src)
# build thneed model
if arch == "aarch64" or arch == "larch64":
if use_thneed and arch in ("aarch64", "larch64"):
compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
@@ -75,4 +78,3 @@ lenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common_model, LIBS=libs)

2
selfdrive/modeld/models/driving.cc
View File

@@ -61,7 +61,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
constexpr int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
s->output.resize(output_size);
#if defined(QCOM) || defined(QCOM2)
#if (defined(QCOM) || defined(QCOM2)) && defined(USE_THNEED)
s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed", &s->output[0], output_size, USE_GPU_RUNTIME);
#else
s->m = std::make_unique<DefaultRunModel>("../../models/supercombo.dlc", &s->output[0], output_size, USE_GPU_RUNTIME);