From 302f3ad892038144edabc5626bda2294a4ff9b11 Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Fri, 4 Sep 2026 16:52:09 -0700
Subject: [PATCH] ci: compile dm warp (#1989)

---
 .github/workflows/build-default-models.yaml    | 18 ++++++++++++++++++
 .../download-hf-model-chunks/action.yml        |  7 +++++++
 2 files changed, 25 insertions(+)

diff --git a/.github/workflows/build-default-models.yaml b/.github/workflows/build-default-models.yaml
index d748d3ac1..4f22002ae 100644
--- a/.github/workflows/build-default-models.yaml
+++ b/.github/workflows/build-default-models.yaml
@@ -484,11 +484,29 @@ jobs:
           print(f'Chunked {pkl} into {len(targets)} chunks')
           "
 
+      - name: Compile DM warp
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
+          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+
+          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
+            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
+            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
+              --camera-resolution ${res} \
+              --warp-to ${DM_SIZE} \
+              --output ${WARP_PKL}
+          done
+
       - name: Prepare DM output
         run: |
           mkdir -p dm_output
           cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
           cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
+          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/
 
       - name: Upload DM artifact
         uses: actions/upload-artifact@v4
diff --git a/.github/workflows/download-hf-model-chunks/action.yml b/.github/workflows/download-hf-model-chunks/action.yml
index 01ab5385d..677385f1d 100644
--- a/.github/workflows/download-hf-model-chunks/action.yml
+++ b/.github/workflows/download-hf-model-chunks/action.yml
@@ -46,6 +46,13 @@ runs:
             printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
           done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
           echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
+
+          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
+            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
+              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
+              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
+            done
+          fi
         }
 
         echo "$MODELS_JSON" | jq -c '.[]' | while IFS= read -r model; do