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modeld: Move from SNPE to tinygrad (#25207)

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* compiling, won't work yet

* running with inputs and outputs

* there's some magic chance this works

* no more dlc, include onnx

* yolo tests plz

* bump tinygrad

* files_common + delete dlc

* tinygrad_repo -> tinygrad

* pre commit config

* llops needed

* extra in files_common

* bump tinygrad

* fix indent

* tinygrad/nn/__init__

* tinygrad_repo

* bump tinygrad repo

* bump tinygrad

* bump with native_exp, match maybe

* native_explog is argument

* pyopencl no cache

* 5% chance this matches

* work in float32?

* bump tinygrad

* fix build

* no __init__

* fix recip

* dumb hack

* adding thneed PC support

* fix pc segfault

* pc thneed is working

* to_image

* prints stuff with debug=2

* it sort of works

* copy host ptr is simpler

* bug fix

* build on c3

* this correct?

* reenable float16

* fix private, fixup copy_inputs internal

* bump tinygrad and update ref commit

* fix OPTWG on PC

* maybe fix non determinism

* revert model replay ref commit

* comments, init zeroed out buffers

* upd ref commit

* bump tinygrad to fix initial image

* try this ref

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
George Hotz
2022-09-01 10:31:14 -07:00
committed by GitHub
parent 4bb399ba3c
commit 40d6f4b65c
17 changed files with 143 additions and 39 deletions
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selfdrive/modeld/SConscript
+54 -14
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@@ -62,25 +62,65 @@ else:
common_model = lenv.Object(common_src)
# build thneed model
if use_thneed and arch == "larch64":
fn = File("models/supercombo").abspath
compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}.thneed --binary --optimize"
lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels")
cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path})
kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")]
cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common_model, LIBS=libs)
lenv.Program('_modeld', [
# build thneed model
if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath
if GetOption('pc_thneed'):
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
else:
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 PYOPENCL_NO_CACHE=1 MATMUL=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
# is there a better way then listing all of tinygrad?
lenv.Command(fn + ".thneed", [fn + ".onnx",
"#tinygrad_repo/openpilot/compile.py",
"#tinygrad_repo/accel/opencl/conv.cl",
"#tinygrad_repo/accel/opencl/matmul.cl",
"#tinygrad_repo/accel/opencl/ops_opencl.py",
"#tinygrad_repo/accel/opencl/preprocessing.py",
"#tinygrad_repo/extra/onnx.py",
"#tinygrad_repo/extra/utils.py",
"#tinygrad_repo/tinygrad/llops/ops_gpu.py",
"#tinygrad_repo/tinygrad/llops/ops_opencl.py",
"#tinygrad_repo/tinygrad/helpers.py",
"#tinygrad_repo/tinygrad/mlops.py",
"#tinygrad_repo/tinygrad/ops.py",
"#tinygrad_repo/tinygrad/shapetracker.py",
"#tinygrad_repo/tinygrad/tensor.py",
"#tinygrad_repo/tinygrad/nn/__init__.py"
], cmd)
# old thneed compiler. TODO: remove this once tinygrad stuff is stable
#compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
#cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}.thneed --binary --optimize"
#lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
#kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels")
#cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path})
#kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")]
#cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd)
llenv = lenv.Clone()
if GetOption('pc_thneed'):
pc_thneed_src = [
"thneed/thneed_common.cc",
"thneed/thneed_pc.cc",
"thneed/serialize.cc",
"runners/thneedmodel.cc",
]
llenv['CFLAGS'].append("-DUSE_THNEED")
llenv['CXXFLAGS'].append("-DUSE_THNEED")
common_model += llenv.Object(pc_thneed_src)
libs += ['dl']
llenv.Program('_modeld', [
"modeld.cc",
"models/driving.cc",
]+common_model, LIBS=libs + transformations)