Update SNPE to 1.61.0.3358 (commaai#24253)

* update snpe to snpe-1.61.0.3358

* fix new snpe build

* fix snpe dir in files_tici

Co-authored-by: Comma Device <device@comma.ai>

release/files_tici

@@ -1,5 +1,5 @@
 third_party/snpe/larch64**
-third_party/snpe/aarch64-linux-gcc4.9/*
+third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 
 selfdrive/timezoned.py

selfdrive/modeld/SConscript

@@ -4,7 +4,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 lenv = env.Clone()
 
 libs = [cereal, messaging, common, visionipc, gpucommon,
-        'OpenCL', 'SNPE', 'symphony-cpu', 'capnp', 'zmq', 'kj', 'yuv']
+        'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
 
 def get_dlsym_offset():
   """Returns the offset between dlopen and dlsym in libdl.so"""
@@ -57,7 +57,6 @@ else:
 
     # no SNPE on Mac
     del libs[libs.index('SNPE')]
-    del libs[libs.index('symphony-cpu')]
     del common_src[common_src.index('runners/snpemodel.cc')]
 
 common_model = lenv.Object(common_src)

third_party/snpe/include/DlSystem/DlEnums.hpp

@@ -1,6 +1,6 @@
 //==============================================================================
 //
-//  Copyright (c) 2014-2020 Qualcomm Technologies, Inc.
+//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -76,6 +76,8 @@ enum class RuntimeCheckOption_t
    NORMAL_CHECK = 0,
    /// Perform basic runtime available check, may be runtime specific
    BASIC_CHECK = 1,
+   /// Perform unsignedPD runtime available check
+   UNSIGNEDPD_CHECK = 2,
 };
 
 /**
@@ -196,6 +198,36 @@ enum class ImageEncoding_t
    BGR = 6
 };
 
+/**
+ * Enumeration that lists the supported LogLevels that can be set by users.
+ */
+enum class LogLevel_t
+{
+    /// Enumeration variable to be used by user to set logging level to FATAL.
+    LOG_FATAL = 0,
+
+    /// Enumeration variable to be used by user to set logging level to ERROR.
+    LOG_ERROR = 1,
+
+    /// Enumeration variable to be used by user to set logging level to WARN.
+    LOG_WARN = 2,
+
+    /// Enumeration variable to be used by user to set logging level to INFO.
+    LOG_INFO = 3,
+
+    /// Enumeration variable to be used by user to set logging level to VERBOSE.
+    LOG_VERBOSE = 4
+};
+
+typedef enum : int
+{
+   UNSPECIFIED = 0,
+   FLOATING_POINT_32 = 1,
+   FLOATING_POINT_16 = 2,
+   FIXED_POINT_8 =  3,
+   FIXED_POINT_16 = 4
+} IOBufferDataType_t;
+
 }} // namespaces end
 
 

third_party/snpe/include/DlSystem/DlError.hpp

@@ -1,6 +1,6 @@
 //==============================================================================
 //
-//  Copyright (c) 2016-2020 Qualcomm Technologies, Inc.
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -59,6 +59,7 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
    SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
    SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
+   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
 
    SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
    SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
@@ -89,6 +90,7 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
    SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
    SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
+   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
 
    // Host runtime errors
    SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
@@ -140,6 +142,13 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
    SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
    SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
    SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
+   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
+   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
+   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
+   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
+   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
+   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
+   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
 
    // Model validataion errors
    SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
@@ -196,7 +205,10 @@ enum class ZDL_EXPORT ErrorCode : uint32_t {
 
    // Infrastructure Errors
    SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601
+   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
+
+   // Memory Errors
+   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
 
 };
 

third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp

@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+
+#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
+
+#include <cstddef>
+#include <memory>
+#include "DlSystem/DlEnums.hpp"
+
+namespace DlSystem
+{
+   // Forward declaration of IOBufferDataTypeMapImpl implementation.
+   class IOBufferDataTypeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The IoBufferDataTypeMap class definition
+ */
+class ZDL_EXPORT IOBufferDataTypeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new Buffer Data type map
+    *
+    */
+   IOBufferDataTypeMap();
+
+   /**
+    * @brief Adds a name and the corresponding buffer data type
+    *        to the map
+    *
+    * @param[name] name The name of the buffer
+    * @param[bufferDataType] buffer Data Type of the buffer
+    *
+    * @note If a buffer with the same name already exists, no new
+    *       buffer is added.
+    */
+   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
+
+   /**
+    * @brief Removes a buffer name from the map
+    *
+    * @param[name] name The name of the buffer
+    *
+    */
+   void remove(const char* name);
+
+   /**
+    * @brief Returns the type of the named buffer
+    *
+    * @param[name] name The name of the buffer
+    *
+    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
+
+   /**
+    * @brief Returns the type of the first buffer
+    *
+    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
+    *
+    */
+   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
+
+   /**
+    * @brief Returns the size of the buffer type map.
+    *
+    * @return The size of the map
+    *
+    */
+   size_t size();
+
+   /**
+    * @brief Checks the existence of the named buffer in the map
+    *
+    * @return True if the named buffer exists, false otherwise.
+    *
+    */
+   bool find(const char* name);
+
+   /**
+    * @brief Resets the map
+    *
+    */
+   void clear();
+
+   /**
+    * @brief Checks whether the map is empty
+    *
+    * @return True if the map is empty, false otherwise.
+    *
+    */
+   bool empty();
+
+   /**
+    * @brief Destroys the map
+    *
+    */
+   ~IOBufferDataTypeMap();
+
+private:
+   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
+};
+}
+
+}
+#endif

third_party/snpe/include/DlSystem/IUDL.hpp

@@ -1,6 +1,6 @@
 //=============================================================================
 //
-//  Copyright (c) 2016-2017 Qualcomm Technologies, Inc.
+//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
 //  All Rights Reserved.
 //  Confidential and Proprietary - Qualcomm Technologies, Inc.
 //
@@ -13,10 +13,10 @@
 
 namespace zdl {
 namespace DlSystem {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
 
 /**
+ * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+ *
  * @brief .
  *
  * Base class user concrete UDL implementation.
@@ -32,13 +32,17 @@ namespace DlSystem {
 class ZDL_EXPORT IUDL {
 public:
    /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
     * @brief .
     *
     * Destructor
     */
    virtual ~IUDL() = default;
 
    /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
     * @brief Sets up the user's environment.
     * This is called by the SNPE framework to allow the user the
     * opportunity to setup anything which is needed for running
@@ -66,6 +70,8 @@ class ZDL_EXPORT IUDL {
                       size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
 
    /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
     * @brief Close the instance. Invoked by the SNPE
     * framework to allow the user the opportunity to release any resources
     * allocated during setup.
@@ -75,6 +81,8 @@ class ZDL_EXPORT IUDL {
    virtual void close(void *cookie) noexcept = 0;
 
    /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
+    *
     * @brief Execute the user defined layer
     *
     * @param cookie User provided opaque data returned by the SNPE 
@@ -89,7 +97,6 @@ class ZDL_EXPORT IUDL {
     */
    virtual bool execute(void *cookie, const float **input, float **output)  = 0;
 };
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
 
 } // ns DlSystem