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modeld: cleanup tg flags (#37903)

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* modeld: remove deprecated tg flags

* trigger ci

* JIT_BATCH_SIZE still a thing
This commit is contained in:
Armand du Parc Locmaria
2026-04-29 21:28:59 -07:00
committed by GitHub
parent ae0962cd0c
commit b3f369612d
1 changed files with 5 additions and 9 deletions
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selfdrive/modeld/SConscript
+5 -9
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@@ -36,11 +36,10 @@ if 'CUDA' in available:
tg_flags = f'DEV={tg_backend}'
elif 'QCOM' in available:
tg_backend = 'QCOM'
tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
else:
tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
tg_flags = f'DEV={tg_backend} THREADS=0'
tg_flags = f'DEV={tg_backend}'
def write_tg_compiled_flags(target, source, env):
with open(str(target[0]), "w") as f:
@@ -63,9 +62,6 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)
image_flag = {
'larch64': 'IMAGE=2',
}.get(arch, 'IMAGE=0')
modeld_dir = Dir("#selfdrive/modeld").abspath
compile_modeld_script = [File(f"{modeld_dir}/compile_modeld.py")]
compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
@@ -75,7 +71,7 @@ driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['dri
model_w, model_h = MEDMODEL_INPUT_SIZE
frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
for cfg in MODELD_CONFIGS:
cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_modeld.py '
cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
f'--model-size {model_w}x{model_h} '
f'--nv12 {",".join(str(x) for x in cfg.nv12)} '
f'--vision-onnx {File("models/driving_vision.onnx").abspath} '
@@ -91,7 +87,7 @@ for cfg in MODELD_CONFIGS:
dm_w, dm_h = DM_INPUT_SIZE
for cfg in DM_WARP_CONFIGS:
cmd = (f'{tg_flags} {mac_brew_string} {image_flag} python3 {modeld_dir}/compile_dm_warp.py '
cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
f'--nv12 {",".join(str(x) for x in cfg.nv12)} --warp-to {dm_w}x{dm_h} '
f'--output {cfg.pkl_path}')
lenv.Command(cfg.pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [compiled_flags_node], cmd)
@@ -105,7 +101,7 @@ def tg_compile(flags, model_name):
compile_node = lenv.Command(
pkl,
[onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
)
def do_chunk(target, source, env):
chunk_file(pkl, chunk_targets)