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https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
import sys, time
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from tinygrad import TinyJit, GlobalCounters, fetch, getenv
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from tinygrad.nn.onnx import OnnxRunner
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from extra.onnx_helpers import get_example_inputs, validate
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def load_onnx_model(onnx_file):
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run_onnx = OnnxRunner(onnx_file)
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run_onnx_jit = TinyJit(lambda **kwargs: next(iter(run_onnx({k:v.to(None) for k,v in kwargs.items()}).values())), prune=True)
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return run_onnx_jit, run_onnx.graph_inputs
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if __name__ == "__main__":
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onnx_file = fetch(sys.argv[1])
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run_onnx_jit, input_specs = load_onnx_model(onnx_file)
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print("loaded model")
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for i in range(3):
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new_inputs = get_example_inputs(input_specs)
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GlobalCounters.reset()
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print(f"run {i}")
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run_onnx_jit(**new_inputs)
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# run 20 times
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for _ in range(20):
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new_inputs = get_example_inputs(input_specs)
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GlobalCounters.reset()
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st = time.perf_counter()
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out = run_onnx_jit(**new_inputs)
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mt = time.perf_counter()
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val = out.numpy()
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et = time.perf_counter()
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print(f"enqueue {(mt-st)*1e3:6.2f} ms -- total run {(et-st)*1e3:6.2f} ms")
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if getenv("ORT"):
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validate(onnx_file, new_inputs, rtol=1e-3, atol=1e-3)
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print("model validated")
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