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Added cython bindings for model runners and commonmodel (#29607)

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* Added cython bindings for model runners and commonmodel

* Removed cython language_level=3

* loop to set CXXFLAGS for both envs
This commit is contained in:
Mitchell Goff
2023-08-24 17:00:26 -07:00
committed by GitHub
parent 8205590624
commit e2e39d100b
16 changed files with 232 additions and 3 deletions
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27
selfdrive/modeld/SConscript
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@@ -1,7 +1,8 @@
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']
@@ -53,8 +54,28 @@ else:
del common_src[common_src.index('runners/snpemodel.cc')]
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
path = File(fn).abspath
lenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{path}\\"')
for xenv in (lenv, lenvCython):
xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
if (use_thneed and arch == "larch64") or GetOption('pc_thneed'):
lenvCython['CFLAGS'].append("-DUSE_THNEED")
lenvCython['CXXFLAGS'].append("-DUSE_THNEED")
common_frameworks = []
common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq']
if arch == "Darwin":
common_frameworks.append('OpenCL')
else:
common_libs.append('OpenCL')
onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
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=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)
common_model = lenv.Object(common_src)