mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 16:23:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

add thneed optimizer (#23772)

Browse Source 
* add thneed optimizer

* local work group opt

* kernels and final mods

* release files

* build system touchups

* fix kernel path, rand inputs for self test

* broken since extra is gone

* update model replay ref

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 90beaebefba444aacf16054d3b23847b26f05c47
This commit is contained in:
George Hotz
2022-02-15 16:32:00 -07:00
committed by GitHub
parent e57c3413df
commit 37349c0fef
12 changed files with 903 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/SConscript
+10 -3
View File
@@ -1,3 +1,5 @@
import os
Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
lenv = env.Clone()
@@ -23,6 +25,7 @@ common_src = [
thneed_src = [
"thneed/thneed.cc",
"thneed/serialize.cc",
"thneed/optimizer.cc",
"runners/thneedmodel.cc",
]
@@ -62,12 +65,16 @@ common_model = lenv.Object(common_src)
# build thneed model
if use_thneed and arch in ("aarch64", "larch64"):
fn = "../../models/supercombo"
compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} ../../models/supercombo.dlc ../../models/supercombo.thneed --binary"
cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} {fn}.dlc {fn}.thneed --binary"
lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}"})
cenv.Command("../../models/supercombo.thneed", ["../../models/supercombo.dlc", compiler], cmd)
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",