mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 10:02:06 +08:00
firestar5683
74 lines
2.0 KiB
Python
74 lines
2.0 KiB
Python
import json
|
|
import os
|
|
from pathlib import Path
|
|
|
|
from tinygrad.device import Device
|
|
|
|
MODELS_DIR = Path(__file__).resolve().parent / "models"
|
|
TG_INPUT_DEVICES_PATH = MODELS_DIR / "tg_input_devices.json"
|
|
USBGPU_VID = 0xADD1
|
|
USBGPU_PID = 0x0001
|
|
|
|
|
|
def _default_tinygrad_backend() -> str:
|
|
env_dev = os.getenv("DEV", "").strip()
|
|
if env_dev:
|
|
return env_dev.split(":", 1)[0].split("+", 1)[-1] or env_dev
|
|
|
|
try:
|
|
default = Device.DEFAULT
|
|
except Exception:
|
|
default = ""
|
|
|
|
if isinstance(default, str) and default:
|
|
return default.split(":", 1)[0].split("+", 1)[-1] or default
|
|
return "QCOM" if Path("/dev/kgsl-3d0").exists() else "CPU"
|
|
|
|
|
|
def _load_tg_devices() -> dict:
|
|
if not TG_INPUT_DEVICES_PATH.is_file():
|
|
return {}
|
|
with open(TG_INPUT_DEVICES_PATH) as f:
|
|
return json.load(f)
|
|
|
|
|
|
def _fallback_tg_devices(process_name: str, usbgpu: bool) -> dict[str, str]:
|
|
backend = _default_tinygrad_backend()
|
|
if process_name == "selfdrive.modeld.dmonitoringmodeld":
|
|
return {"DEV": backend}
|
|
|
|
queue_dev = backend
|
|
if usbgpu:
|
|
try:
|
|
available = {name.split(":", 1)[0] for name in Device.get_available_devices()}
|
|
except Exception:
|
|
available = set()
|
|
if "AMD" in available:
|
|
queue_dev = "AMD"
|
|
return {"WARP_DEV": backend, "QUEUE_DEV": queue_dev}
|
|
|
|
|
|
def get_tg_input_devices(process_name: str, usbgpu: bool) -> dict[str, str]:
|
|
tg_devices = _load_tg_devices()
|
|
process_devices = tg_devices.get(process_name, {})
|
|
profile = "usbgpu" if usbgpu else "default"
|
|
if profile in process_devices:
|
|
return process_devices[profile]
|
|
return _fallback_tg_devices(process_name, usbgpu)
|
|
|
|
|
|
def modeld_pkl_path(usbgpu: bool):
|
|
prefix = "big_" if usbgpu else ""
|
|
return MODELS_DIR / f"{prefix}driving_tinygrad.pkl"
|
|
|
|
|
|
def usbgpu_present() -> bool:
|
|
for d in Path("/sys/bus/usb/devices").glob("*"):
|
|
try:
|
|
if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
|
|
int((d / "idProduct").read_text(), 16) == USBGPU_PID:
|
|
return True
|
|
except Exception:
|
|
pass
|
|
return False
|