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Cleaned up modeld SConscript (#29646)

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This commit is contained in:
Mitchell Goff
2023-08-30 15:29:33 -07:00
committed by GitHub
parent 151ac4bf76
commit 88a36f4464
1 changed files with 31 additions and 41 deletions
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72
selfdrive/modeld/SConscript
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@@ -1,17 +1,14 @@
import os
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']
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_common = [
@@ -23,64 +20,57 @@ 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']
# 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']
# tell runners to use onnx
lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
if arch == "Darwin":
# fix OpenCL
del libs[libs.index('OpenCL')]
lenv['FRAMEWORKS'] = ['OpenCL']
if arch == "Darwin" or arch == "aarch64":
# no SNPE on Mac and ARM Linux
del libs[libs.index('SNPE')]
del common_src[common_src.index('runners/snpemodel.cc')]
# Use onnx on PC
if arch != "larch64" and not GetOption('snpe'):
common_src += ['runners/onnxmodel.cc']
lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
# Set path definitions
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
for xenv in (lenv, lenvCython):
xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
common_frameworks = []
common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq']
if arch == "Darwin":
common_frameworks.append('OpenCL')
else:
common_libs.append('OpenCL')
# Compile cython
cython_libs = envCython["LIBS"] + libs
onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
commonmodel_lib = lenv.Library('commonmodel', common_src)
driving_lib = lenv.Library('driving', ['models/driving.cc'])
lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks)
lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, cereal, messaging, *common_libs, 'capnp', 'kj'] + transformations, FRAMEWORKS=common_frameworks)
lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
# Compile binaries
lenv['FRAMEWORKS'] = frameworks
common_model = lenv.Object(common_src)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common_model, LIBS=libs)
]+common_model, LIBS=libs + snpe_lib)
lenv.Program('_navmodeld', [
"navmodeld.cc",
"models/nav.cc",
]+common_model, LIBS=libs)
]+common_model, LIBS=libs + snpe_lib)
# build thneed model
# Build thneed model
if arch == "larch64" or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath