mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-11 04:43:43 +08:00
ci: compile default models with stock modeld (#1954)
* ci: compile default big model with stock modeld * Revert "Revert big RL model (#38627)" This reverts commit516ec1e682. * ci: compile default small model with stock modeld compiler * Reapply "Revert big RL model (#38627)" This reverts commitd06cfabb62.
This commit is contained in:
Jason Wen
@@ -72,18 +72,237 @@ jobs:
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echo "tinygrad_ref=${TINYGRAD_REF}" >> $GITHUB_OUTPUT
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echo "dm_onnx_ref=${DM_ONNX_REF}" >> $GITHUB_OUTPUT
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build_driving_model:
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build_small_model:
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needs: resolve
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uses: ./.github/workflows/sunnypilot-build-model.yaml
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with:
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upstream_branch: ${{ needs.resolve.outputs.onnx_ref }}
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custom_name: ${{ needs.resolve.outputs.model_name }}
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target_hardware: ${{ needs.resolve.outputs.target_hardware }}
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secrets: inherit
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if: ${{ inputs.target == 'small' }}
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runs-on: [self-hosted, tici]
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env:
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SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
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SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Pull ONNX via LFS
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run: git lfs pull -I "${{ env.SMALL_ONNX }}"
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- name: Set environment variables
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run: |
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source /etc/profile
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export UV_PROJECT_ENVIRONMENT=${HOME}/venv
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export UV_PYTHON_PREFERENCE=managed
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export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
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export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
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uv sync --frozen
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printenv >> $GITHUB_ENV
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- name: Disable powersave
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
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- name: Compile small model with stock compiler
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
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MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
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CAMERA_RES=$(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}')")
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FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
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TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
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env ${TG_FLAGS} python3 \
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${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
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--onnx ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
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--model-size $MODEL_SIZE \
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--camera-resolutions $CAMERA_RES \
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--frame-skip $FRAME_SKIP \
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--output ${{ github.workspace }}/${{ env.SMALL_PKL }}
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- name: Chunk small pkl
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH=${{ github.workspace }}
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python3 -c "
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from openpilot.common.file_chunker import chunk_file, get_chunk_targets
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import os
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pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
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size = os.path.getsize(pkl)
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targets = get_chunk_targets(pkl, size)
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chunk_file(pkl, targets)
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print(f'Chunked into {len(targets)} files')
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"
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- name: Prepare output
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env:
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MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH=${{ github.workspace }}
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MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
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OUTPUT_DIR="${{ github.workspace }}/small_output"
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PKL_BASE="driving_tinygrad.pkl"
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mkdir -p "$OUTPUT_DIR"
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cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
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cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
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python3 "${{ github.workspace }}/release/ci/model_generator.py" \
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--model-dir "$MODELS_DIR" \
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--output-dir "$OUTPUT_DIR" \
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--custom-name "$MODEL_NAME" \
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--upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
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echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
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- name: Upload small model artifact
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uses: actions/upload-artifact@v4
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with:
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name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
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path: ${{ github.workspace }}/small_output/
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- name: Upload artifact name file
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uses: actions/upload-artifact@v4
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with:
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name: artifact-name-${{ needs.resolve.outputs.model_name }}
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path: ${{ github.workspace }}/small_output/artifact_name.txt
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- name: Re-enable powersave
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if: always()
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
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build_big_model:
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needs: resolve
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if: ${{ inputs.target == 'big' }}
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runs-on: [self-hosted, usbgpu]
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env:
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BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
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BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Pull big ONNX via LFS
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run: git lfs pull -I "${{ env.BIG_ONNX }}"
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- name: Set environment variables
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run: |
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source /etc/profile
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export UV_PROJECT_ENVIRONMENT=${HOME}/venv
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export UV_PYTHON_PREFERENCE=managed
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export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
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export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
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uv sync --frozen
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printenv >> $GITHUB_ENV
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- name: Disable powersave
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
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- name: Wait for chestnut PCIe link
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
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python3 -c "
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import time
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from openpilot.system.hardware.chestnut.flash import link_up
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for i in range(10):
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if link_up():
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print(f'PCIe link up after {i+1} attempt(s)')
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break
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time.sleep(1)
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else:
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raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
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"
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- name: Compile big model with stock compiler
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
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MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
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CAMERA_RES=$(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}')")
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FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
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TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
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env ${TG_FLAGS} python3 \
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${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
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--onnx ${{ github.workspace }}/${{ env.BIG_ONNX }} \
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--model-size $MODEL_SIZE \
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--camera-resolutions $CAMERA_RES \
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--frame-skip $FRAME_SKIP \
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--output ${{ github.workspace }}/${{ env.BIG_PKL }}
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- name: Chunk big pkl
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH=${{ github.workspace }}
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python3 -c "
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from openpilot.common.file_chunker import chunk_file, get_chunk_targets
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import os
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pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
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size = os.path.getsize(pkl)
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targets = get_chunk_targets(pkl, size)
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chunk_file(pkl, targets)
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print(f'Chunked into {len(targets)} files')
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"
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- name: Prepare output
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env:
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MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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export PYTHONPATH=${{ github.workspace }}
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MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
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OUTPUT_DIR="${{ github.workspace }}/big_output"
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PKL_BASE="big_driving_tinygrad.pkl"
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mkdir -p "$OUTPUT_DIR"
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cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
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cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
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python3 "${{ github.workspace }}/release/ci/model_generator.py" \
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--model-dir "$MODELS_DIR" \
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--output-dir "$OUTPUT_DIR" \
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--custom-name "$MODEL_NAME" \
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--upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
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echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
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- name: Upload big model artifact
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uses: actions/upload-artifact@v4
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with:
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name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
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path: ${{ github.workspace }}/big_output/
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- name: Upload artifact name file
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uses: actions/upload-artifact@v4
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with:
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name: artifact-name-${{ needs.resolve.outputs.model_name }}
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path: ${{ github.workspace }}/big_output/artifact_name.txt
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- name: Re-enable powersave
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if: always()
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run: |
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source ${UV_PROJECT_ENVIRONMENT}/bin/activate
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PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
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upload_defaults:
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needs: [ resolve, build_driving_model, build_dm_model ]
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if: ${{ !cancelled() && needs.build_driving_model.result == 'success' && (inputs.target != 'small' || needs.build_dm_model.result == 'success') }}
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needs: [ resolve, build_small_model, build_big_model, build_dm_model ]
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if: |
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${{
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!cancelled() &&
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(inputs.target == 'big' && needs.build_big_model.result == 'success' ||
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inputs.target == 'small' && needs.build_small_model.result == 'success') &&
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(inputs.target != 'small' || needs.build_dm_model.result == 'success')
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}}
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runs-on: ubuntu-24.04
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permissions:
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id-token: write
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