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openpilot v0.9.9 release (#35334)

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* openpilot v0.9.9 release

date: 2025-06-05T19:54:08
master commit: 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5

* AGNOS 12.4 (#35558)

agnos12.4

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2025-06-17 16:32:08 -07:00
committed by GitHub
parent dd778596b7
commit 100f89a161
1240 changed files with 310104 additions and 30549 deletions
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selfdrive/modeld/SConscript
+31 -13
View File
@@ -1,3 +1,4 @@
import os
import glob
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
@@ -13,7 +14,6 @@ common_src = [
"transforms/transform.cc",
]
# OpenCL is a framework on Mac
if arch == "Darwin":
frameworks += ['OpenCL']
@@ -38,17 +38,35 @@ for model_name in ['driving_vision', 'driving_policy']:
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
# Compile tinygrad model
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
if arch == 'larch64':
device_string = 'QCOM=1'
elif arch == 'Darwin':
device_string = 'CLANG=1 IMAGE=0'
else:
device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
fn = File(f"models/{model_name}").abspath
cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
return lenv.Command(
fn + "_tinygrad.pkl",
[fn + ".onnx"] + tinygrad_files,
f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
)
# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
flags = {
'larch64': 'QCOM=1',
'Darwin': 'CPU=1 IMAGE=0 JIT=2',
}.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2')
tg_compile(flags, model_name)
# Compile BIG model if USB GPU is available
import subprocess
from tinygrad import Device
# 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)
if b"AMD" in devs:
del Device
print("USB GPU detected... building")
flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=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")