mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 17:43:54 +08:00
7b5a4fbb03
* squash * bump tg * bump tg * debump tinygrad * bump tinygrad * bump tg * Skip init iteration * fixes * cleanups * skip first test sample * typos * linter unhappy * update cpu usage * OPENCL just zeros for now * imports * Try printing * Runs again, but slower * unused import * Allow more buffer with tg and all on gpu * bump tinygrad * seems ok * stricter timings for driving looser for dm * try llvm * check nvidia * More timeout for now * make test pass * Revert "try llvm" This reverts commit ef136e478320101fea262bae3579e558da991902. * small fixes * whitespace * revert test timeout * No model runners * Always CPU always fast * No onnx runtime GPU * more cores * cleanup * Is this faster * Is this faster * at least runs * FP32 is faster than 16 * fix deps * whitespace * comment --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
58 lines
2.1 KiB
Python
58 lines
2.1 KiB
Python
import glob
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
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lenv = env.Clone()
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lenvCython = envCython.Clone()
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libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
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frameworks = []
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common_src = [
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"models/commonmodel.cc",
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"transforms/loadyuv.cc",
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"transforms/transform.cc",
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]
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# OpenCL is a framework on Mac
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if arch == "Darwin":
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frameworks += ['OpenCL']
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else:
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libs += ['OpenCL']
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# Set path definitions
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for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
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for xenv in (lenv, lenvCython):
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xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
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# Compile cython
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snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
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snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
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snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
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cython_libs = envCython["LIBS"] + libs
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commonmodel_lib = lenv.Library('commonmodel', common_src)
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lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
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tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
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# Get model metadata
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fn = File("models/supercombo").abspath
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cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
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lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
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# Compile tinygrad model
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# TODO this is all super hacky
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
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if arch == 'larch64':
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device_string = 'QCOM=1'
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else:
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device_string = 'CLANG=1 IMAGE=0'
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for model_name in ['supercombo', 'dmonitoring_model']:
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fn = File(f"models/{model_name}").abspath
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cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
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lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
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