StarPilot/scripts/model_compiler.py

#!/usr/bin/env python3
"""Compile staged ONNX sources without installing or selecting the result."""
import argparse
import hashlib
import json
import os
from pathlib import Path
import re
import subprocess
import sys
import tempfile

REPO_ROOT = Path(__file__).resolve().parents[1]
COMPONENTS = {
  "supercombo": ("driving_supercombo", "supercombo"),
  "off-policy": ("driving_off_policy", "off_policy", "offpolicy"),
  "on-policy": ("driving_on_policy", "on_policy", "onpolicy"),
  "policy": ("driving_policy", "policy"),
  "vision": ("driving_vision", "vision"),
}


def source_files(directory: Path, model: str) -> dict[str, Path]:
  selected = directory / model if (directory / model).is_dir() else directory
  found = {}
  for path in sorted(selected.glob("*.onnx")):
    stem = path.stem.lower()
    for component, aliases in COMPONENTS.items():
      if any(stem == alias or stem == f"{model}_{alias}" for alias in aliases):
        if component in found:
          raise ValueError(f"Ambiguous {component} source: {found[component]} and {path}")
        found[component] = path.resolve()
        break
  return found


def driving_compile_args(files: dict[str, Path], requested: str) -> tuple[str, list[str]]:
  selected = "supercombo" if requested == "auto" and "supercombo" in files else requested
  if selected == "supercombo":
    if "supercombo" not in files:
      raise ValueError("Supercombo input requires driving_supercombo.onnx")
    return "supercombo", ["--supercombo-onnx", str(files["supercombo"])]
  if "vision" not in files or not ({"policy", "on-policy"} & files.keys()):
    raise ValueError("Split input requires driving_vision.onnx and driving_policy.onnx or driving_on_policy.onnx")
  result = ["--vision-onnx", str(files["vision"])]
  primary = files.get("on-policy", files.get("policy"))
  if "off-policy" in files:
    return "vision_multi_policy", [*result, "--on-policy-onnx", str(primary), "--off-policy-onnx", str(files["off-policy"])]
  return "vision_policy", [*result, "--policy-onnx", str(primary)]


def sha256_file(path: Path) -> str:
  digest = hashlib.sha256()
  with path.open("rb") as source:
    for block in iter(lambda: source.read(1024 * 1024), b""):
      digest.update(block)
  return digest.hexdigest()


def compile_env(gpu: bool = False) -> dict[str, str]:
  env = dict(os.environ)
  env["PYTHONPATH"] = os.pathsep.join((str(REPO_ROOT), str(REPO_ROOT / "tinygrad_repo"), env.get("PYTHONPATH", "")))
  defaults = {"DEV": "QCOM", "IMAGE": "1", "FLOAT16": "1", "NOLOCALS": "1", "JIT_BATCH_SIZE": "0", "OPENPILOT_HACKS": "1"}
  for key, value in defaults.items():
    env.setdefault(key, value)
  if gpu:
    for key in ("IMAGE", "NOLOCALS", "OPENPILOT_HACKS"):
      env.pop(key, None)
    env.update(DEV="USB+AMD:LLVM", WARP_DEV="QCOM", GMMU="0", TC_OPT="2", TC_MIN_GLOBALS="32")
  return env


def parse_args(argv=None):
  parser = argparse.ArgumentParser(description=__doc__)
  parser.add_argument("--model", help="Stable output model ID")
  parser.add_argument("--version", required=True, choices=tuple(f"v{value}" for value in range(8, 17)))
  parser.add_argument("--input-dir", type=Path, default=Path("/data/openpilot/uncompiledmodels"))
  parser.add_argument("--output-dir", type=Path, default=Path("/data/openpilot/compiledmodels"))
  parser.add_argument("--input-format", choices=("auto", "supercombo", "split"), default="auto")
  parser.add_argument("--gpu", action="store_true")
  parser.add_argument("--image-history-pipeline", choices=("policy", "warp"), default="policy")
  parser.add_argument("--frame-skip", type=int)
  args, unknown = parser.parse_known_args(argv)
  if unknown:
    if len(unknown) != 1 or not unknown[0].startswith("--") or args.model:
      parser.error("Use --model ID or one --ID flag")
    args.model = unknown[0][2:]
  if not args.model or not re.fullmatch(r"[a-z0-9][a-z0-9_-]{0,63}", args.model):
    parser.error("A lowercase model ID containing letters, digits, hyphens or underscores is required")
  if args.frame_skip is not None and args.frame_skip < 1:
    parser.error("--frame-skip must be positive")
  return args


def bank_compiler_revision() -> str:
  # The global runtime can advance while the compiled bank keeps its own ABI.
  old_path = sys.path[:]
  try:
    sys.path.insert(0, str(REPO_ROOT))
    from openpilot.starpilot.models import catalog
    from openpilot.starpilot.models.runtime_bridge import bootstrap, runtime
    for module, relative in ((catalog, "catalog.py"), (bootstrap, "runtime_bridge/bootstrap.py"),
                             (runtime, "runtime_bridge/runtime.py")):
      if Path(module.__file__).resolve() != (REPO_ROOT / "openpilot/starpilot/models" / relative).resolve():
        raise ValueError("Model compiler identity came from a different checkout")
    revision = catalog.COMPILER_REVISION
    if not isinstance(revision, str) or re.fullmatch(r"[0-9a-f]{40}", revision) is None:
      raise ValueError("Invalid bank compiler revision")
    if revision != bootstrap.LEGACY_REVISION or revision != runtime.LEGACY_REVISION:
      raise ValueError("Bank compiler revision does not match the selected compiler runtime")
    return revision
  finally:
    sys.path[:] = old_path


def main(argv=None):
  args = parse_args(argv)
  model_type, source_args = driving_compile_args(source_files(args.input_dir, args.model), args.input_format)
  sources = [Path(source_args[index]) for index in range(1, len(source_args), 2)]
  for source in sources:
    with source.open("rb") as file:
      prefix = file.read(128)
    if not prefix or prefix.startswith(b"version https://git-lfs.github.com/spec/v1"):
      raise ValueError(f"Expected ONNX model bytes, not an empty file or Git LFS pointer: {source}")
  before = {path.name: sha256_file(path) for path in sources}
  output_dir = args.output_dir.resolve()
  output_dir.mkdir(parents=True, exist_ok=True)
  output = output_dir / f"{args.model}_driving_tinygrad.pkl"
  env = compile_env(args.gpu)
  with tempfile.TemporaryDirectory(prefix=f".{args.model}-compile-", dir=output_dir) as temporary:
    env["TMPDIR"] = temporary
    staged = Path(temporary) / output.name
    command = [sys.executable, "-m", "openpilot.starpilot.models.compile", "--model-type", model_type,
               "--model-size", "512x256", "--camera-resolutions", "1928x1208", "1344x760",
               "--behavior-version", args.version, "--output", str(staged), "--out-of-band",
               "--image-history-pipeline", args.image_history_pipeline, *source_args]
    if args.frame_skip is not None:
      command += ["--frame-skip", str(args.frame_skip)]
    subprocess.run(command, cwd=REPO_ROOT, env=env, check=True)
    if {path.name: sha256_file(path) for path in sources} != before:
      raise ValueError("ONNX source changed during compilation")
    revision = bank_compiler_revision()
    receipt = {"model_id": args.model, "behavior_version": args.version, "model_type": model_type,
               "artifact_abi": "tinygrad_single_v1_arena", "compiler_revision": revision,
               "source_sha256": before, "artifact_sha256": sha256_file(staged), "artifact_size": staged.stat().st_size,
               "execution_device": env["DEV"], "warp_device": env.get("WARP_DEV", env["DEV"]),
               "image_history_pipeline": args.image_history_pipeline, "camera_resolutions": [[1928, 1208], [1344, 760]]}
    staged.replace(output)
    receipt_path = output.with_suffix(".build.json")
    temporary_receipt = Path(temporary) / receipt_path.name
    temporary_receipt.write_text(json.dumps(receipt, indent=2) + "\n")
    temporary_receipt.replace(receipt_path)
  print(f"Compiled {output}; build receipt {receipt_path}")
  return 0


if __name__ == "__main__":
  raise SystemExit(main())