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Chunk big model files (#37134)

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* file chunking

* try this

* more cleanup

* cleaner
This commit is contained in:
Harald Schäfer
2026-02-09 15:29:50 -08:00
committed by GitHub
parent 9aca13cf2d
commit a941e8f78f
5 changed files with 43 additions and 16 deletions
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selfdrive/modeld/SConscript
+8 -4
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@@ -8,6 +8,8 @@ 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))]
chunk_cmd = f'python3 {Dir("#common").abspath}/file_chunker.py'
# Get model metadata
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
fn = File(f"models/{model_name}").abspath
@@ -24,21 +26,23 @@ image_flag = {
'larch64': 'IMAGE=2',
}.get(arch, 'IMAGE=0')
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
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, cmd)
lenv.Command([t + ".chunk00" for t in warp_targets], tinygrad_files + script_files,
f'{compile_warp_cmd} && {chunk_cmd} {" ".join(warp_targets)}')
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"
return lenv.Command(
fn + "_tinygrad.pkl",
pkl + ".chunk00",
[fn + ".onnx"] + tinygrad_files,
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl} && {chunk_cmd} {pkl}'
)
# Compile small models