ddf05d7126
* chore: sync tinygrad Runs great in sim. now we need to rebuild some models * oops forgot to unblock this after testing * helpers * oh yeah * latest tg * this wont do anything empriically * reduce complexity * okay lint * Update tinygrad_runner.py * Update modeld.py * Update build-all-tinygrad-models.yaml * tinygrad bump * Update modeld.py * Update tinygrad_runner.py * bump * Update SConscript * Update SConscript * com * Update fetcher.py * Update helpers.py * life is froughtless, when you're thoughtless * lint * ozdust ballroom * shiz * Update tinygrad_runner.py * Update tinygrad_runner.py * slough it off as i do * try old support one last time * support mixed input dtypes * use internal * dont need that shiz * Update fill_model_msg.py * Update onnx_runner.py * Update onnx_runner.py * Update model_runner.py * see if this speeds up execution if not, revert me * no * Update helpers.py * rebase * more * planplus --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
60 lines
2.4 KiB
Python
60 lines
2.4 KiB
Python
import os
|
|
import glob
|
|
|
|
Import('env', 'arch')
|
|
lenv = env.Clone()
|
|
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
|
|
PC = not os.path.isfile('/TICI')
|
|
if PC:
|
|
inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
|
|
outputs = []
|
|
model_dir = Dir("models").abspath
|
|
cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
|
|
|
|
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
|
|
if File(f"models/{model_name}.onnx").exists():
|
|
inputs.append(File(f"models/{model_name}.onnx"))
|
|
inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
|
|
outputs.append(File(f"models/{model_name}_metadata.pkl"))
|
|
if outputs:
|
|
lenv.Command(outputs, inputs, cmd)
|
|
|
|
tg_flags = {
|
|
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
|
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
|
|
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
|
|
|
|
image_flag = {
|
|
'larch64': 'IMAGE=2',
|
|
}.get(arch, 'IMAGE=0')
|
|
|
|
def tg_compile(flags, model_name):
|
|
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
|
|
fn = File(f"models/{model_name}").abspath
|
|
out = fn + "_tinygrad.pkl"
|
|
|
|
return lenv.Command(
|
|
out,
|
|
[fn + ".onnx"] + tinygrad_files,
|
|
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
|
|
)
|
|
|
|
# Compile models
|
|
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
|
|
if File(f"models/{model_name}.onnx").exists():
|
|
tg_compile(tg_flags, model_name)
|
|
|
|
script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
|
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
|
|
compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
|
|
|
|
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
|
|
for bl in [2, 5]:
|
|
warp_targets.append(File(f"models/warp_{w}x{h}_b{bl}_tinygrad.pkl").abspath)
|
|
lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
|