mirror of
https://jihulab.com/mr-one/openpilot.git
synced 2026-10-28 05:23:46 +08:00
1okko
29123201ea
Apply the commaai/openpilot -> sunnypilot master sync while preserving c3xl-dev customizations: bundled CD210 startup, model mirror fallback, pyserial launch fix, hidden UI controls, vendored tinygrad, and local vehicle changes. Keep the four modeld_v2 warp pkls; skip the 740MB chestnut big-model artifact.
74 lines
3.4 KiB
YAML
74 lines
3.4 KiB
YAML
name: Compile warp for sunnypilot modeld
|
|
|
|
on:
|
|
workflow_dispatch:
|
|
schedule:
|
|
- cron: '0 0 * * 0'
|
|
|
|
jobs:
|
|
compile_warps:
|
|
runs-on: [self-hosted, chestnut]
|
|
steps:
|
|
- uses: actions/checkout@v4
|
|
with:
|
|
submodules: recursive
|
|
|
|
- name: Set environment variables
|
|
run: |
|
|
source /etc/profile
|
|
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
|
export UV_PYTHON_PREFERENCE=managed
|
|
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
|
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
|
uv sync --frozen
|
|
printenv >> $GITHUB_ENV
|
|
|
|
- name: Disable powersave
|
|
run: |
|
|
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
|
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
|
|
|
- name: Compile Warp Kernels
|
|
run: |
|
|
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
|
export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
|
|
mkdir -p openpilot/sunnypilot/modeld_v2/models/
|
|
MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
|
|
CAMERA_RES=$(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}')")
|
|
echo "Model size: $MODEL_SIZE"
|
|
echo "Camera resolutions: $CAMERA_RES"
|
|
|
|
for res in $CAMERA_RES; do
|
|
FRAME_PARAM=$(python3 -c "from openpilot.system.camerad.cameras.nv12_info import get_nv12_info; w, h = map(int, '${res}'.split('x')); stride, y_h, uv_h, _ = get_nv12_info(w, h); print(f'{w},{h},{stride},{y_h},{uv_h},{stride * (y_h + uv_h)}')")
|
|
|
|
WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
|
|
echo "Compiling $WARP_PKL on QCOM"
|
|
taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
|
|
--frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${WARP_PKL}"
|
|
|
|
BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
|
|
echo "Compiling $BIG_WARP_PKL on AMD"
|
|
taskset -c 7 env DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
|
|
--frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${BIG_WARP_PKL}"
|
|
done
|
|
|
|
- name: Re-enable powersave
|
|
if: always()
|
|
run: |
|
|
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
|
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
|
|
|
- name: Create Pull Request
|
|
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
|
|
with:
|
|
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
|
token: ${{ secrets.GITHUB_TOKEN }}
|
|
commit-message: "[bot] Update warp pkl for modeld_v2"
|
|
title: "[bot] Update modeld_v2 Warp"
|
|
branch: "auto/compile-warp-kernels"
|
|
base: "master"
|
|
delete-branch: true
|
|
labels: bot
|
|
add-paths: |
|
|
openpilot/sunnypilot/modeld_v2/models/*.pkl
|