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Revert "revert tg calib and opencl cleanup (#37113)" (#37115)

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* Revert "revert tg calib and opencl cleanup (#37113)"

This reverts commit 51312afd3d.

* power draw is a lil higher

* just don't miss a cycle

* fix warp targets

* fix tinygrad dep
This commit is contained in:
Adeeb Shihadeh
2026-02-07 21:36:44 -08:00
committed by GitHub
parent c65cf18c75
commit 667f3bb32f
48 changed files with 309 additions and 5237 deletions
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56
selfdrive/modeld/SConscript
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@@ -1,35 +1,12 @@
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_root = env.Dir("#").abspath
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
# Get model metadata
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
@@ -38,22 +15,35 @@ 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 $HOME in the env
}.get(arch, 'DEV=CPU CPU_LLVM=1')
image_flag = {
'larch64': 'IMAGE=2',
}.get(arch, 'IMAGE=0')
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
warp_targets = []
for cam in [_ar_ox_fisheye, _os_fisheye]:
w, h = cam.width, cam.height
warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
lenv.Command(warp_targets, tinygrad_files + script_files, cmd)
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${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: