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some fixes

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This commit is contained in:
Jason Wen
2025-01-06 18:59:14 -05:00
parent 76ba8fe22b
commit 0ce1af1d28
5 changed files with 14 additions and 5 deletions
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.gitignore
+2
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@@ -75,6 +75,8 @@ selfdrive/modeld/thneed/compile
selfdrive/modeld/models/*.thneed
selfdrive/modeld/models/*.pkl
sunnypilot/modeld/thneed/compile
sunnypilot/modeld/models/*.thneed
sunnypilot/modeld/models/*.pkl
*.bz2
*.zst
sunnypilot/modeld/SConscript
+8 -1
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@@ -52,7 +52,14 @@ lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=c
lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
if arch == 'larch64' or GetOption('pc_thneed'):
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
# Get model metadata
fn = File("models/supercombo").abspath
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
if arch == "larch64":
thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
sunnypilot/modeld/modeld.py
+1 -1
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@@ -170,7 +170,7 @@ def main(demo=False):
if demo:
CP =get_demo_car_params()
CP = get_demo_car_params()
else:
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
sunnypilot/modeld/models/commonmodel.cc
+1 -1
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@@ -47,4 +47,4 @@ ModelFrame::~ModelFrame() {
CL_CHECK(clReleaseMemObject(u_cl));
CL_CHECK(clReleaseMemObject(y_cl));
CL_CHECK(clReleaseCommandQueue(q));
}
}
sunnypilot/modeld/models/commonmodel_pyx.pyx
+2 -2
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@@ -7,8 +7,8 @@ from libc.string cimport memcpy
from msgq.visionipc.visionipc cimport cl_mem
from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
from .commonmodel cimport mat3, ModelFrame as cppModelFrame
from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
cdef class CLContext(BaseCLContext):