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Prereqs deep models (#38125)

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* deep pre-req

* modeld changes

* fix parsing

* comment

* fix reporter
This commit is contained in:
Harald Schäfer
2026-06-01 18:43:47 -07:00
committed by GitHub
parent 0f17a98793
commit 249cafe897
8 changed files with 68 additions and 47 deletions
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selfdrive/modeld/SConscript
+6 -5
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@@ -2,7 +2,7 @@ import glob
import json
import os
import sys, subprocess
from SCons.Script import Value
from SCons.Script import Action, Value
from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
@@ -87,14 +87,14 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
for usbgpu in [False, True] if USBGPU else [False]:
target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_policy']
driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
f'--model-size {model_w}x{model_h} '
f'--camera-resolutions {camera_res_args} '
f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
f'--policy-onnx {File(f"models/{file_prefix}driving_policy.onnx").abspath} '
f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
f'--output {target_pkl_path} --frame-skip {frame_skip}')
onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
@@ -103,7 +103,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
node = lenv.Command(
chunk_targets,
tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
[cmd, do_chunk],
[cmd, Action(do_chunk, " [CHUNK] $TARGET")],
)
if usbgpu:
lenv.SideEffect(usbgpu_lock, node)
@@ -134,7 +134,8 @@ def tg_compile(flags, model_name):
return lenv.Command(
chunk_targets,
[onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
[f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}', do_chunk],
[f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
Action(do_chunk, " [CHUNK] $TARGET")],
)
tg_compile(tg_flags, 'dmonitoring_model')