mirror of
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.
48 lines
3.0 KiB
Python
48 lines
3.0 KiB
Python
import ctypes, struct, platform, pathlib, shutil
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from tinygrad.device import Compiler
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from tinygrad.helpers import DEBUG, system, fetch
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from tinygrad.runtime.support.compiler_mesa import disas_adreno
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# see https://github.com/sirhcm/tinydreno
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from tinygrad.runtime.autogen import llvm_qcom
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def _read_lib(lib, off) -> int: return struct.unpack("I", lib[off:off+4])[0]
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class QCOMCompiler(Compiler):
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def __init__(self, arch:str):
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assert arch.split(',')[0] == "a630", "only a630 supported"
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if platform.machine() == "aarch64": self.arch, self.chip_id, self.llvm_inst = arch, 0x6030001, llvm_qcom.cl_compiler_create_llvm_instance()
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else:
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# extract once into the download cache, all processes share the rootfs (extract=True)
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self.arch, self.chip_id = arch, 0x6030001
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fs, root = fetch('https://git.tinygrad.win/tinygrad/images/releases/download/v2/qcomcl.tar.gz', extract=True), pathlib.Path(__file__).parents[3]
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self.compiler_process = self.server(f"{qemu} -cpu max,pauth=off -L {fs} {fs}/usr/bin/python3" if (qemu:=shutil.which("qemu-aarch64-static"))
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else (f"docker run --rm -i --platform linux/aarch64 -v {fs}/usr:/usr -v {root}:{root} "
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f"-e PYTHONPATH={root} -e QEMU_CPU=max,pauth=off gcr.io/distroless/static python3"), arch)
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super().__init__(f"compile_qcomcl_{arch}")
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def __del__(self): llvm_qcom.cl_compiler_destroy_llvm_instance(self.llvm_inst) if platform.machine() == "aarch64" else self.compiler_process.kill()
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def __reduce__(self): return QCOMCompiler, (self.arch,)
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def checked(self, handle):
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if not handle or (data:=(hc.executable if (hc:=handle.contents).type == llvm_qcom.CL_HANDLE_LINKED else hc.compiled).contents).error_code != 0:
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llvm_qcom.cl_compiler_destroy_llvm_instance(self.llvm_inst)
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self.llvm_inst = llvm_qcom.cl_compiler_create_llvm_instance()
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raise RuntimeError("QCOM Compilation Error" + ("" if not handle else f": {ctypes.string_at(data.build_log).decode()}"))
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return handle
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def compile(self, src) -> bytes:
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if platform.machine() != "aarch64": return self.compile_server(src, self.compiler_process)
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ch = self.checked(llvm_qcom.cl_compiler_compile_source(self.llvm_inst, self.chip_id, llvm_qcom.CL_MODE_64BIT, b"", 0, 0, 0, src.encode(), 0,
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llvm_qcom.CL_SRC_STR, None))
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if DEBUG >= 8: print(system("llvm-dis", input=ctypes.string_at((comp:=ch.contents.compiled.contents).llvm_bitcode, comp.llvm_bitcode_size)))
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lh = self.checked(llvm_qcom.cl_compiler_link_program(self.llvm_inst, self.chip_id, llvm_qcom.CL_MODE_64BIT, None, 1, ch))
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llvm_qcom.cl_compiler_handle_create_binary(lh, ctypes.byref(ptr:=ctypes.c_void_p()), ctypes.byref(sz:=ctypes.c_size_t()))
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for h in [ch, lh]: llvm_qcom.cl_compiler_free_handle(h)
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ret = ctypes.string_at(ptr, sz.value)
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llvm_qcom.cl_compiler_free_assembly(ptr)
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return ret
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def disassemble(self, lib: bytes): disas_adreno(lib[(ofs:=_read_lib(lib, 0xc0)):ofs+_read_lib(lib, 0x100)], self.chip_id)
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