mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-06-26 01:32:07 +08:00
IQ.Lvbs CI [bot]
102 lines
4.7 KiB
Python
102 lines
4.7 KiB
Python
import os
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import glob
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
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lenv = env.Clone()
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lenvCython = envCython.Clone()
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libs = [cereal, messaging, visionipc, 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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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) if 'pycache' not in x]
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# Get model metadata
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PC = not os.path.isfile('/TICI')
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if PC:
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inputs = tinygrad_files + [File(Dir("#iqpilot/modeld_v2").File("install_models_pc.py").abspath)]
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outputs = []
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model_dir = Dir("models").abspath
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cmd = f'python3 {Dir("#iqpilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
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for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
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if File(f"models/{model_name}.onnx").exists():
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inputs.append(File(f"models/{model_name}.onnx"))
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inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
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outputs.append(File(f"models/{model_name}_metadata.pkl"))
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if outputs:
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lenv.Command(outputs, inputs, 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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return lenv.Command(
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fn + "_tinygrad.pkl",
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[fn + ".onnx"] + tinygrad_files,
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f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
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)
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# Compile small models
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for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
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if File(f"models/{model_name}.onnx").exists():
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flags = {
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'larch64': 'DEV=QCOM',
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'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
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}.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
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tg_compile(flags, model_name)
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# Compile fused models (op_model16_deep style: warp+vision+on/off policy in one pkl).
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# IMAGE=2 (not upstream's IMAGE=1) for the Adreno the fleet runs. Opt-in: only builds
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# when the fused triplet onnx are dropped into models/.
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from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
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from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
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FUSED_CAMERA_CONFIGS = [(_ar_ox_fisheye.width, _ar_ox_fisheye.height), (_os_fisheye.width, _os_fisheye.height)]
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FUSED_FRAME_SKIP = 4 # MODEL_RUN_FREQ // MODEL_CONTEXT_FREQ (20 // 5)
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FUSED_TRIPLET = ['driving_vision', 'driving_off_policy', 'driving_on_policy']
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def tg_compile_fused(file_prefix, flags):
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
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mdir = Dir("models").abspath
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model_w, model_h = MEDMODEL_INPUT_SIZE
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cam_args = ' '.join(f'{cw}x{ch}' for cw, ch in FUSED_CAMERA_CONFIGS)
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out_pkl = File(f"models/{file_prefix}driving_fused_tinygrad.pkl").abspath
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onnx_deps = [File(f"models/{file_prefix}{m}.onnx") for m in FUSED_TRIPLET]
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cmd = (f'{pythonpath_string} {flags} python3 {Dir("#iqpilot/modeld_v2").abspath}/compile_modeld.py '
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f'--model-size {model_w}x{model_h} --camera-resolutions {cam_args} '
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f'--vision-onnx {mdir}/{file_prefix}driving_vision.onnx '
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f'--off-policy-onnx {mdir}/{file_prefix}driving_off_policy.onnx '
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f'--on-policy-onnx {mdir}/{file_prefix}driving_on_policy.onnx '
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f'--output {out_pkl} --frame-skip {FUSED_FRAME_SKIP}')
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return lenv.Command(out_pkl, onnx_deps + tinygrad_files, cmd)
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if all(File(f"models/{m}.onnx").exists() for m in FUSED_TRIPLET):
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fused_flags = {
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'larch64': 'DEV=QCOM IMAGE=2 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
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'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0 FLOAT16=1',
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}.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0 FLOAT16=1')
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tg_compile_fused('', fused_flags)
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# usbgpu (eGPU): big vision on an external AMD GPU over USB, warp stays on QCOM
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if all(File(f"models/big_{m}.onnx").exists() for m in FUSED_TRIPLET):
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tg_compile_fused('big_', 'DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0')
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