tiny my BUTT

selfdrive/modeld/SConscript

@@ -32,104 +32,29 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI
 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]
 skip_dm_tinygrad_pkl = os.getenv("SP_SKIP_DM_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"}
 allow_host_tinygrad_pkl = os.getenv("SP_ALLOW_HOST_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"}
-build_model_tinygrad_pkl = os.getenv("SP_BUILD_MODEL_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"}
-has_qcom_gpu = os.path.exists('/dev/kgsl-3d0')
-
-# Compile camera warp artifacts used by modeld/dmonitoringmodeld on C4.
-if arch == 'larch64':
-  compile_warp_flags = 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0' \
-    if os.path.exists('/dev/kgsl-3d0') else 'DEV=CPU CPU=1 THREADS=0 NOLOCALS=1 DEBUG=0 HOME=/tmp'
-else:
-  compile_warp_flags = {
-    'Darwin': f'DEV=CPU THREADS=0 NOLOCALS=1 DEBUG=0 HOME={os.path.expanduser("~")}',
-  }.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 NOLOCALS=1 DEBUG=0')
-
-build_warp_artifacts = os.getenv("SP_BUILD_WARP_ARTIFACTS", "").lower() in {"1", "true", "yes", "on"}
-if build_warp_artifacts:
-  default_warp_resolutions = [(1928, 1208), (1344, 760)]
-  raw_warp_resolutions = os.getenv("SP_WARP_RESOLUTIONS", "").strip()
-  if raw_warp_resolutions:
-    selected_warp_resolutions = []
-    seen_warp_resolutions = set()
-    for token in raw_warp_resolutions.replace(";", ",").split(","):
-      token = token.strip().lower()
-      if not token:
-        continue
-      w_str, h_str = token.split("x", 1)
-      wh = (int(w_str), int(h_str))
-      if wh not in seen_warp_resolutions:
-        seen_warp_resolutions.add(wh)
-        selected_warp_resolutions.append(wh)
-    if not selected_warp_resolutions:
-      selected_warp_resolutions = default_warp_resolutions
-  else:
-    selected_warp_resolutions = default_warp_resolutions
-
-  compile_warp_script = "#selfdrive/modeld/compile_warp.py"
-  warp_targets = []
-  # Camera resolutions required by modeld compile_warp.py
-  for w, h in selected_warp_resolutions:
-    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 + [compile_warp_script],
-    f'{compile_warp_flags} python3 selfdrive/modeld/compile_warp.py',
-  )
-else:
-  print("Skipping model warp precompile (set SP_BUILD_WARP_ARTIFACTS=1 to enable)")
-
-# Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  model_rel_path = f"selfdrive/modeld/models/{model_name}"
-  model_node_path = f"#{model_rel_path}"
+build_dm_artifacts = os.getenv("SP_BUILD_MODEL_TINYGRAD_PKL", "").lower() in {"1", "true", "yes", "on"} or allow_host_tinygrad_pkl
+if build_dm_artifacts and not skip_dm_tinygrad_pkl:
+  dm_rel_path = "selfdrive/modeld/models/dmonitoring_model"
+  dm_node_path = f"#{dm_rel_path}"
   metadata_script = "#selfdrive/modeld/get_model_metadata.py"
-  cmd = f'python3 selfdrive/modeld/get_model_metadata.py {model_rel_path}.onnx'
-  lenv.Command(model_node_path + "_metadata.pkl", [model_node_path + ".onnx"] + tinygrad_files + [metadata_script], cmd)
-
-def tg_compile(flags, model_name):
-  tinygrad_root = "tinygrad_repo"
-  compile_script = "#tinygrad_repo/examples/openpilot/compile3.py"
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + tinygrad_root + '"'
-  model_rel_path = f"selfdrive/modeld/models/{model_name}"
-  model_node_path = f"#{model_rel_path}"
-  model_input = f"./{model_rel_path}.onnx"
-  return lenv.Command(
-    model_node_path + "_tinygrad.pkl",
-    [model_node_path + ".onnx"] + tinygrad_files + [compile_script],
-    f'{pythonpath_string} {flags} python3 tinygrad_repo/examples/openpilot/compile3.py {model_input} {model_rel_path}_tinygrad.pkl'
+  lenv.Command(
+    dm_node_path + "_metadata.pkl",
+    [dm_node_path + ".onnx", metadata_script],
+    f'python3 selfdrive/modeld/get_model_metadata.py {dm_rel_path}.onnx',
   )
 
-compile_model_tinygrad_pkl = build_model_tinygrad_pkl or allow_host_tinygrad_pkl
-if not compile_model_tinygrad_pkl:
-  print("Skipping tinygrad model PKL compile (set SP_BUILD_MODEL_TINYGRAD_PKL=1 or SP_ALLOW_HOST_TINYGRAD_PKL=1 to enable)")
-
-# Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  if model_name == 'dmonitoring_model' and skip_dm_tinygrad_pkl:
-    print("Skipping dmonitoring_model_tinygrad.pkl compile (SP_SKIP_DM_TINYGRAD_PKL enabled)")
-    continue
-  if not compile_model_tinygrad_pkl:
-    continue
-  if arch == 'larch64':
-    # On real devices keep QCOM codegen.
-    flags = 'DEV=QCOM QCOM=1 FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0 DEBUG=0'
-  else:
-    # Opt-in host compile (for debugging only).
-    flags = {
-      'Darwin': 'DEV=CPU CPU=1 IMAGE=0 NOLOCALS=1 DEBUG=0 HOME=/tmp',
-    }.get(arch, 'DEV=CPU CPU=1 IMAGE=0 NOLOCALS=1 DEBUG=0')
-  tg_compile(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=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0 DEBUG=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")
+  flags = (
+    'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0 DEBUG=0'
+    if arch == 'larch64'
+    else 'DEV=CPU IMAGE=0 NOLOCALS=1 DEBUG=0 HOME=/tmp'
+  )
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:tinygrad_repo"'
+  compile_script = "#tinygrad_repo/examples/openpilot/compile3.py"
+  lenv.Command(
+    dm_node_path + "_tinygrad.pkl",
+    [dm_node_path + ".onnx"] + tinygrad_files + [compile_script],
+    f'{pythonpath_string} {flags} python3 tinygrad_repo/examples/openpilot/compile3.py '
+    f'{dm_rel_path}.onnx {dm_rel_path}_tinygrad.pkl',
+  )
+else:
+  print("Using prebuilt unified driving and driver-monitoring artifacts")