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Jason Wen
2025-01-05 07:35:41 -05:00
parent 5c125f5fa4
commit 158a76289e
1 changed files with 9 additions and 7 deletions
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sunnypilot/modeld/SConscript
+9 -7
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@@ -52,7 +52,7 @@ 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)
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
# Get model metadata
fn = File("models/supercombo").abspath
@@ -60,12 +60,14 @@ cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.on
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
# Build thneed model
if arch == "larch64" or GetOption('pc_thneed'):
tinygrad_opts = []
if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 examples/openpilot/compile3.py {fn}.onnx {fn}.thneed"
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
if arch == 'larch64':
device_string = 'QCOM=1'
else:
device_string = 'CLANG=1 IMAGE=0'
if arch == "larch64":
fn = File(f"models/supercombo").abspath
cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}.thneed'
lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)