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https://github.com/sunnypilot/sunnypilot.git
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d5b25e14fd
# Conflicts: # .github/workflows/auto_pr_review.yaml # .gitignore # opendbc_repo # panda # selfdrive/ui/mici/layouts/home.py # selfdrive/ui/mici/layouts/onboarding.py # selfdrive/ui/mici/layouts/settings/device.py # selfdrive/ui/tests/diff/replay.py # selfdrive/ui/translations/app_fr.po # system/ui/mici_setup.py Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` Sync: `commaai/panda:master` → `sunnypilot/panda:master`
78 lines
3.4 KiB
Python
78 lines
3.4 KiB
Python
import os
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import glob
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from openpilot.common.file_chunker import chunk_file, get_chunk_paths
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Import('env', 'arch')
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chunker_file = File("#common/file_chunker.py")
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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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def estimate_pickle_max_size(onnx_size):
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return 1.2 * onnx_size + 10 * 1024 * 1024 # 20% + 10MB is plenty
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# compile warp
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# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
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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 THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
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}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0')
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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'{tg_flags} 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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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(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
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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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onnx_path = fn + ".onnx"
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chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
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compile_node = lenv.Command(
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pkl,
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[onnx_path] + tinygrad_files + [chunker_file],
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f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
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)
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def do_chunk(target, source, env):
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chunk_file(pkl, chunk_targets)
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return lenv.Command(
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chunk_targets,
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compile_node,
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do_chunk,
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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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