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rename usbgpu to chestnut (#38703)

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chestnut: rename eGPU interfaces
This commit is contained in:
Daniel Koepping
2026-08-26 15:42:59 -07:00
committed by GitHub
parent 63548ce10d
commit 5cfdb2f4da
15 changed files with 88 additions and 88 deletions
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openpilot/selfdrive/modeld/SConscript
+13 -13
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@@ -7,7 +7,7 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, chestnut_present, modeld_pkl_path
CAMERA_CONFIGS = [
@@ -36,18 +36,18 @@ else:
tg_devices = { # which device to put jit inputs to at runtime
'openpilot.selfdrive.modeld.modeld': {
'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
'chestnut': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
},
'openpilot.selfdrive.modeld.dmonitoringmodeld': {
'default': {'DEV': tg_backend}
},
}
USBGPU = usbgpu_present()
if USBGPU:
usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
CHESTNUT = chestnut_present()
if CHESTNUT:
chestnut_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
# the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
usbgpu_lock = File("models/.usb_gpu.lock").abspath
chestnut_lock = File("models/.chestnut.lock").abspath
def write_tg_devices(target, source, env):
with open(str(target[0]), "w") as f:
@@ -73,10 +73,10 @@ compile_modeld_script = [
model_w, model_h = MEDMODEL_INPUT_SIZE
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
# BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a USB GPU
file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
for chestnut in [False, True] if CHESTNUT else [False]:
target_pkl_path = File(modeld_pkl_path(chestnut)).abspath
# BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a chestnut
file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
@@ -103,14 +103,14 @@ for usbgpu in [False, True] if USBGPU else [False]:
chunk_file(pkl, chunks)
def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
chunk_file(pkl, chunks)
actions = Action(do_compile, " [USBGPU] $TARGET") if usbgpu else [cmd, Action(do_chunk, " [CHUNK] $TARGET")]
actions = Action(do_compile, " [CHESTNUT] $TARGET") if chestnut else [cmd, Action(do_chunk, " [CHUNK] $TARGET")]
node = lenv.Command(
chunk_targets,
tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
actions,
)
if usbgpu:
lenv.SideEffect(usbgpu_lock, node)
if chestnut:
lenv.SideEffect(chestnut_lock, node)
# get model metadata
fn = File(f"models/dmonitoring_model").abspath