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External GPU support for big models (#35172)

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* usb gpu

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Adeeb Shihadeh
2025-05-13 17:12:32 -07:00
committed by GitHub
parent 478015e788
commit d0bf2be6f0
2 changed files with 19 additions and 12 deletions
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19
selfdrive/modeld/SConscript
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@@ -1,3 +1,4 @@
import os
import glob
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
@@ -13,7 +14,6 @@ common_src = [
"transforms/transform.cc",
]
# OpenCL is a framework on Mac
if arch == "Darwin":
frameworks += ['OpenCL']
@@ -40,15 +40,16 @@ for model_name in ['driving_vision', 'driving_policy']:
# Compile tinygrad model
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
if arch == 'larch64':
device_string = 'QCOM=1'
elif arch == 'Darwin':
device_string = 'CLANG=1 IMAGE=0 JIT=2'
else:
device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
if "USBGPU" in os.environ and not model_name.startswith("dmon"):
device_string = "AMD=1 AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
elif arch == 'larch64':
device_string = 'QCOM=1'
elif arch == 'Darwin':
device_string = 'CLANG=1 IMAGE=0 JIT=2'
else:
device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
fn = File(f"models/{model_name}").abspath
cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)