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modeld: faster compile (#37929)

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This commit is contained in:
Armand du Parc Locmaria
2026-04-29 18:31:03 -07:00
committed by GitHub
parent dab51a864f
commit f00ff77c55
1 changed files with 9 additions and 11 deletions
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selfdrive/modeld/compile_modeld.py
+9 -11
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@@ -174,7 +174,6 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
vision_features_slice, frame_skip, prepare_only)
run_policy_jit = TinyJit(_run, prune=True)
N_RUNS = 3
SEED = 42
def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
@@ -182,7 +181,10 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
np.random.seed(seed)
Tensor.manual_seed(seed)
for i in range(N_RUNS):
testing = test_val is not None or test_buffers is not None
n_runs = 1 if testing else 3
for i in range(n_runs):
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
for v in npy.values():
@@ -191,15 +193,13 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
st = time.perf_counter()
outs = fn(**input_queues, frame=frame, big_frame=big_frame)
mt = time.perf_counter()
for o in outs:
# .realize() not needed once jitted, but needed for unjitted fn
o.realize()
Device.default.synchronize()
et = time.perf_counter()
print(f" [{i+1}/{N_RUNS}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
print(f" [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
val = [np.copy(v.numpy()) for v in outs]
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
if i == 0:
val = [np.copy(v.numpy()) for v in outs]
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
if test_val is not None:
match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
@@ -209,10 +209,8 @@ def compile_modeld(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
return fn, val, buffers
print('run unjitted')
_, test_val, test_buffers = random_inputs_run_fn(_run, seed=SEED)
print('capture + replay')
run_policy_jit, _, _ = random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers)
run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
print('pickle round trip')
with open(pkl_path, "wb") as f: