mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
ad5ccabce3
* Added wide cam vipc client and bigmodel transform logic
* Added wide_frame to ModelState, should still work normally
* Refactored image input into addImage method, should still work normally
* Updated thneed/compile.cc
* Bigmodel, untested: 44f83118-b375-4d4c-ae12-2017124f0cf4/200
* Have to initialize extra buffer in SNPEModel
* Default paramater value in the wrong place I think
* Move USE_EXTRA to SConscript
* New model: 6c34d59a-acc3-4877-84bd-904c10745ba6/250
* move use extra check to runtime, not on C2
* this is always true
* more C2 checks
* log if frames are out of sync
* more logging on no frame
* store in pointer
* print sof
* add sync logic
* log based on sof difference as well
* keep both models
* less assumptions
* define above thneed
* typo
* simplify
* no need for second client is main is already wide
* more comments update
* no optional reference
* more logging to debug lags
* add to release files
* both defines
* New model: 6831a77f-2574-4bfb-8077-79b0972a2771/950
* Path offset no longer relevant
* Remove duplicate execute
* Moved bigmodel back to big_supercombo.dlc
* add wide vipc stream
* Tici must be tici
* Needs state too
* add wide cam support to model replay
* handle syncing better
* ugh, c2
* print that
* handle ecam lag
* skip first one
* so close
* update refs
Co-authored-by: mitchellgoffpc <mitchellgoffpc@gmail.com>
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 85efde269d
91 lines
2.7 KiB
Python
91 lines
2.7 KiB
Python
import os
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Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
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lenv = env.Clone()
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libs = [cereal, messaging, common, visionipc, gpucommon,
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'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'zmq', 'kj', 'yuv']
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def get_dlsym_offset():
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"""Returns the offset between dlopen and dlsym in libdl.so"""
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import ctypes
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libdl = ctypes.PyDLL('libdl.so')
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dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
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dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
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return dlsym - dlopen
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common_src = [
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"models/commonmodel.cc",
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"runners/snpemodel.cc",
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"transforms/loadyuv.cc",
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"transforms/transform.cc"
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]
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thneed_src = [
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"thneed/thneed.cc",
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"thneed/serialize.cc",
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"thneed/optimizer.cc",
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"runners/thneedmodel.cc",
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]
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use_thneed = not GetOption('no_thneed')
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use_extra = True # arch == "larch64"
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lenv['CXXFLAGS'].append('-DUSE_EXTRA=true' if use_extra else '-DUSE_EXTRA=false')
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if arch == "aarch64" or arch == "larch64":
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libs += ['gsl', 'CB']
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libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
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if use_thneed:
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common_src += thneed_src
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dlsym_offset = get_dlsym_offset()
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lenv['CXXFLAGS'].append("-DUSE_THNEED")
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lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
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else:
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libs += ['pthread']
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if not GetOption('snpe'):
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# for onnx support
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common_src += ['runners/onnxmodel.cc']
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# tell runners to use onnx
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lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
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lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
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if arch == "Darwin":
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# fix OpenCL
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del libs[libs.index('OpenCL')]
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lenv['FRAMEWORKS'] = ['OpenCL']
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# no SNPE on Mac
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del libs[libs.index('SNPE')]
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del libs[libs.index('symphony-cpu')]
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del common_src[common_src.index('runners/snpemodel.cc')]
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common_model = lenv.Object(common_src)
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# build thneed model
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if use_thneed and arch in ("aarch64", "larch64"):
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fn = "../../models/big_supercombo" if use_extra else "../../models/supercombo"
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compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
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cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} {fn}.dlc {fn}.thneed --binary"
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lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
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kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels")
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cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path})
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kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")]
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cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd)
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lenv.Program('_dmonitoringmodeld', [
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"dmonitoringmodeld.cc",
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"models/dmonitoring.cc",
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]+common_model, LIBS=libs)
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lenv.Program('_modeld', [
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"modeld.cc",
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"models/driving.cc",
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]+common_model, LIBS=libs)
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