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Rewrite modeld in python (#29230)

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* Added modeld.py (WIP)

* No more VisionIpcBufExtra

* Started work on cython bindings for runmodel

* Got ONNXModel cython bindings mostly working, added ModelFrame bindings

* Got modeld main loop running without model eval

* Move everything into ModelState

* Doesn't crash!

* Moved ModelState into modeld.py

* Added driving_pyx

* Added cython bindings for message generation

* Moved CLContext definition to visionipc.pxd

* *facepalm*

* Move cl_pyx into commonmodel_pyx

* Split out ONNXModel into a subclass of RunModel

* Added snpemodel/thneedmodel bindings

* Removed modeld.cc

* Fixed scons for macOS

* Fixed sconscript

* Added flag for thneedmodel

* paths are now relative to openpilot root dir

* Set cl kernel paths in SConscript

* Set LD_PRELOAD=libthneed.so to fix ioctl interception

* Run from root dir

* A few more fixes

* A few more minor fixes

* Use C update_calibration for now to exactly match refs

* Add nav_instructions input

* Link driving_pyx.pyx with transformations

* Checked python FirstOrderFilter against C++ FirstOrderFilter

* Set process name to fix test_onroad

* Revert changes to onnxmodel.cc

* Fixed bad onnx_runner.py path in onnxmodel.cc

* Import all constants from driving.h

* logging -> cloudlog

* pylint import-error suppressions no longer needed?

* Loop in SConscript

* Added parens

* Bump modeld cpu usage in test_onroad

* Get rid of use_nav

* use config_realtime_process

* error message from ioctl sniffer was messing up pyenv

* cast distance_idx to int

* Removed cloudlog.infos in model.run

* Fixed rebase conflicts

* Clean up driving.pxd/pyx

* Fixed linter error
This commit is contained in:
Mitchell Goff
2023-08-25 14:36:26 -07:00
committed by GitHub
parent c6c6877263
commit 72a3c987c0
10 changed files with 445 additions and 473 deletions
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21
selfdrive/modeld/SConscript
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@@ -17,7 +17,6 @@ common_src = [
thneed_src_common = [
"thneed/thneed_common.cc",
"thneed/serialize.cc",
"runners/thneedmodel.cc",
]
thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
@@ -28,10 +27,6 @@ use_thneed = not GetOption('no_thneed')
if arch == "larch64":
libs += ['gsl', 'CB', 'pthread', 'dl']
if use_thneed:
common_src += thneed_src_qcom
lenv['CXXFLAGS'].append("-DUSE_THNEED")
else:
libs += ['pthread']
@@ -71,11 +66,13 @@ else:
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)
common_model = lenv.Object(common_src)
@@ -102,14 +99,6 @@ if (use_thneed and arch == "larch64") or GetOption('pc_thneed'):
tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
llenv = lenv.Clone()
if GetOption('pc_thneed'):
llenv['CFLAGS'].append("-DUSE_THNEED")
llenv['CXXFLAGS'].append("-DUSE_THNEED")
common_model += llenv.Object(thneed_src_pc)
libs += ['dl']
llenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common_model, LIBS=libs + transformations)
thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl'])
thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'zmq', 'OpenCL'])