mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 17:43:54 +08:00
65 lines
2.9 KiB
Python
65 lines
2.9 KiB
Python
import os
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import glob
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Import('env', 'arch')
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lenv = env.Clone()
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tinygrad_root = env.Dir("#").abspath
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tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
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if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
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chunk_cmd = f'python3 {Dir("#common").abspath}/file_chunker.py'
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# Get model metadata
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for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
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fn = File(f"models/{model_name}").abspath
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script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").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 + script_files, cmd)
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# compile warp
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tg_flags = {
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'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
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'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
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}.get(arch, 'DEV=CPU CPU_LLVM=1')
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image_flag = {
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'larch64': 'IMAGE=2',
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}.get(arch, 'IMAGE=0')
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script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
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compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
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from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
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warp_targets = []
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for cam in [_ar_ox_fisheye, _os_fisheye]:
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w, h = cam.width, cam.height
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warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
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lenv.Command([t + ".chunk00" for t in warp_targets], tinygrad_files + script_files,
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f'{compile_warp_cmd} && {chunk_cmd} {" ".join(warp_targets)}')
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def tg_compile(flags, model_name):
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
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fn = File(f"models/{model_name}").abspath
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pkl = fn + "_tinygrad.pkl"
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return lenv.Command(
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pkl + ".chunk00",
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[fn + ".onnx"] + tinygrad_files,
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f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl} && {chunk_cmd} {pkl}'
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)
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# Compile small models
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for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
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tg_compile(tg_flags, model_name)
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# Compile BIG model if USB GPU is available
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if "USBGPU" in os.environ:
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import subprocess
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# because tg doesn't support multi-process
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devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
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if b"AMD" in devs:
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print("USB GPU detected... building")
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flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
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bp = tg_compile(flags, "big_driving_policy")
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bv = tg_compile(flags, "big_driving_vision")
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lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially
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else:
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print("USB GPU not detected... skipping")
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