mirror of
https://jihulab.com/mr-one/openpilot.git
synced 2026-10-27 21:13:42 +08:00
1okko
8d0bf5ee0a
The current recompiled42 model catalog declares tinygrad_ref=fe5d3169b. The old vendored e837 runtime accepted the pkl but left policy outputs at zero, so sync the runtime package to the compiler version used by the downloaded models.
48 lines
3.0 KiB
Python
48 lines
3.0 KiB
Python
import ctypes, struct, platform, pathlib, shutil
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from tinygrad.device import Compiler
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from tinygrad.helpers import DEBUG, system, fetch
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from tinygrad.runtime.support.compiler_mesa import disas_adreno
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# see https://github.com/sirhcm/tinydreno
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from tinygrad.runtime.autogen import llvm_qcom
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def _read_lib(lib, off) -> int: return struct.unpack("I", lib[off:off+4])[0]
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class QCOMCompiler(Compiler):
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def __init__(self, arch:str):
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assert arch.split(',')[0] == "a630", "only a630 supported"
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if platform.machine() == "aarch64": self.arch, self.chip_id, self.llvm_inst = arch, 0x6030001, llvm_qcom.cl_compiler_create_llvm_instance()
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else:
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# extract once into the download cache, all processes share the rootfs (extract=True)
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self.arch, self.chip_id = arch, 0x6030001
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fs, root = fetch('https://git.tinygrad.win/tinygrad/images/releases/download/v2/qcomcl.tar.gz', extract=True), pathlib.Path(__file__).parents[3]
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self.compiler_process = self.server(f"{qemu} -cpu max,pauth=off -L {fs} {fs}/usr/bin/python3" if (qemu:=shutil.which("qemu-aarch64-static"))
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else (f"docker run --rm -i --platform linux/aarch64 -v {fs}/usr:/usr -v {root}:{root} "
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f"-e PYTHONPATH={root} -e QEMU_CPU=max,pauth=off gcr.io/distroless/static python3"), arch)
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super().__init__(f"compile_qcomcl_{arch}")
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def __del__(self): llvm_qcom.cl_compiler_destroy_llvm_instance(self.llvm_inst) if platform.machine() == "aarch64" else self.compiler_process.kill()
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def __reduce__(self): return QCOMCompiler, (self.arch,)
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def checked(self, handle):
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if not handle or (data:=(hc.executable if (hc:=handle.contents).type == llvm_qcom.CL_HANDLE_LINKED else hc.compiled).contents).error_code != 0:
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llvm_qcom.cl_compiler_destroy_llvm_instance(self.llvm_inst)
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self.llvm_inst = llvm_qcom.cl_compiler_create_llvm_instance()
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raise RuntimeError("QCOM Compilation Error" + ("" if not handle else f": {ctypes.string_at(data.build_log).decode()}"))
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return handle
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def compile(self, src) -> bytes:
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if platform.machine() != "aarch64": return self.compile_server(src, self.compiler_process)
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ch = self.checked(llvm_qcom.cl_compiler_compile_source(self.llvm_inst, self.chip_id, llvm_qcom.CL_MODE_64BIT, b"", 0, 0, 0, src.encode(), 0,
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llvm_qcom.CL_SRC_STR, None))
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if DEBUG >= 8: print(system("llvm-dis", input=ctypes.string_at((comp:=ch.contents.compiled.contents).llvm_bitcode, comp.llvm_bitcode_size)))
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lh = self.checked(llvm_qcom.cl_compiler_link_program(self.llvm_inst, self.chip_id, llvm_qcom.CL_MODE_64BIT, None, 1, ch))
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llvm_qcom.cl_compiler_handle_create_binary(lh, ctypes.byref(ptr:=ctypes.c_void_p()), ctypes.byref(sz:=ctypes.c_size_t()))
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for h in [ch, lh]: llvm_qcom.cl_compiler_free_handle(h)
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ret = ctypes.string_at(ptr, sz.value)
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llvm_qcom.cl_compiler_free_assembly(ptr)
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return ret
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def disassemble(self, lib: bytes): disas_adreno(lib[(ofs:=_read_lib(lib, 0xc0)):ofs+_read_lib(lib, 0x100)], self.chip_id)
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