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Calibrate in tg (#36621)

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* squash

* bump tg

* fix linmt

* Ready to merge

* cleaner

* match modeld

* more dead stuff
This commit is contained in:
Harald Schäfer
2026-02-06 14:13:46 -08:00
committed by GitHub
parent 187d3a079c
commit 593c3a0c8e
17 changed files with 280 additions and 660 deletions
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49
selfdrive/modeld/SConscript
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@@ -1,35 +1,10 @@
import os
import glob
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
Import('env', 'arch')
lenv = env.Clone()
lenvCython = envCython.Clone()
libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
frameworks = []
common_src = [
"models/commonmodel.cc",
"transforms/loadyuv.cc",
"transforms/transform.cc",
]
# OpenCL is a framework on Mac
if arch == "Darwin":
frameworks += ['OpenCL']
else:
libs += ['OpenCL']
# Set path definitions
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
for xenv in (lenv, lenvCython):
xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
# Compile cython
cython_libs = envCython["LIBS"] + libs
commonmodel_lib = lenv.Library('commonmodel', common_src)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x])
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', 'dmonitoring_model']:
@@ -38,22 +13,30 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
# compile warp
tg_flags = {
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
}.get(arch, 'DEV=CPU CPU_LLVM=1')
image_flag = {
'larch64': 'IMAGE=2',
}.get(arch, 'IMAGE=0')
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
lenv.Command(fn + "warp_tinygrad.pkl", tinygrad_files + script_files, cmd)
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
fn = File(f"models/{model_name}").abspath
return lenv.Command(
fn + "_tinygrad.pkl",
[fn + ".onnx"] + tinygrad_files,
f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
)
# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
flags = {
'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)
tg_compile(tg_flags, model_name)
# Compile BIG model if USB GPU is available
if "USBGPU" in os.environ: