openpilot v0.11.0

2026-10-01 03:43:51 +08:00 · 2026-03-14 04:07:09 +00:00
commit a1af07d967
3631 changed files with 1305576 additions and 0 deletions
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+import os
+import glob
+from openpilot.common.file_chunker import chunk_file, get_chunk_paths
+
+Import('env', 'arch')
+chunker_file = File("#common/file_chunker.py")
+lenv = env.Clone()
+
+tinygrad_root = env.Dir("#").abspath
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
+                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
+
+def estimate_pickle_max_size(onnx_size):
+  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
+
+# compile warp
+# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
+tg_flags = {
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
+
+# Get model metadata
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+
+image_flag = {
+     'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
+compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+warp_targets = []
+for cam in [_ar_ox_fisheye, _os_fisheye]:
+  w, h = cam.width, cam.height
+  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
+
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  fn = File(f"models/{model_name}").abspath
+  pkl = fn + "_tinygrad.pkl"
+  onnx_path = fn + ".onnx"
+  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  def do_chunk(target, source, env):
+    chunk_file(pkl, chunk_targets)
+  return lenv.Command(
+    chunk_targets,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+     do_chunk]
+  )
+
+# Compile small models
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  tg_compile(tg_flags, model_name)
+
+# Compile BIG model if USB GPU is available
+if "USBGPU" in os.environ:
+  import subprocess
+  # because tg doesn't support multi-process
+  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+  if b"AMD" in devs:
+    print("USB GPU detected... building")
+    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    bp = tg_compile(flags, "big_driving_policy")
+    bv = tg_compile(flags, "big_driving_vision")
+    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+  else:
+    print("USB GPU not detected... skipping")