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Update251203 (#233)

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carrot
2025-12-03 10:28:27 +09:00
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parent d6899edd97
commit c5ebcbcb97
347 changed files with 8678 additions and 13489 deletions
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12
selfdrive/modeld/SConscript
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@@ -1,11 +1,11 @@
import os
import glob
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
lenv = env.Clone()
lenvCython = envCython.Clone()
libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
frameworks = []
common_src = [
@@ -32,7 +32,7 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
# Get model metadata
for model_name in ['driving_vision', 'driving_policy']:
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
fn = File(f"models/{model_name}").abspath
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -50,9 +50,9 @@ def tg_compile(flags, model_name):
# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
flags = {
'larch64': 'DEV=QCOM',
'Darwin': 'DEV=CPU IMAGE=0',
}.get(arch, 'DEV=LLVM IMAGE=0')
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
}.get(arch, 'DEV=CPU CPU_LLVM=1')
tg_compile(flags, model_name)
# Compile BIG model if USB GPU is available