mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-18 14:43:44 +08:00
Harald Schäfer
6080cc6168
* Ship precompiled eGPU model and camera warps Compile f78ed37d-afad-4dbc-8050-40ea885eedde/12864 through xx/ml_tools/openpilot_compile using the pinned tinygrad version. * Precompile the existing master driving model Use the unchanged master ONNX (SHA-256 6fee5937923c74848df4a63f6239eb6331c6274dd4bdb7a5d6ec0388a8b543d5) instead of updating the trained model. * Compile camera warps on device * Remove obsolete ONNX chunking and big model build check * Chunk model artifacts only during release packaging * Require model and camera warps for Chestnut readiness * Recompile precompiled CPU helpers for the runtime host * Ship the eGPU model with an ARM submission helper * Exempt model pickles from the build product size limit
91 lines
4.2 KiB
Python
91 lines
4.2 KiB
Python
import glob
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import os
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import time
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from SCons.Script import Action, Value
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from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
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from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
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from openpilot.selfdrive.modeld.helpers import chestnut_present
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from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
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Import('env', 'arch')
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lenv = env.Clone()
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lenv.PrependENVPath('PYTHONPATH', Dir('#tinygrad_repo').abspath)
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tinygrad_root = env.Dir("#").abspath
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tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
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if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
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camera_configs = [(c.width, c.height) for c in (_ar_ox_fisheye, _os_fisheye)]
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if arch == 'comma_arm64':
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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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else:
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# JIT=2 disables graph batching, which produces incorrect outputs after buffers change.
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tg_flags = 'DEV=METAL JIT=2' if arch == 'Darwin' else 'DEV=CPU:LLVM'
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CHESTNUT = chestnut_present()
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if CHESTNUT:
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chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32'
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# the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
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chestnut_lock = File("models/.chestnut.lock").abspath
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# tinygrad calls brew which needs a $HOME in the env
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mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
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warp_deps = [File("#openpilot/system/camerad/cameras/nv12_info.py")]
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compiler = Dir('#tinygrad_repo/examples/openpilot').abspath
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# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
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taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
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def chestnut_action(command):
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def do_compile(target, source, env):
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from openpilot.system.hardware.chestnut.flash import link_up
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# chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
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for _ in range(10):
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if link_up():
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break
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time.sleep(1)
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else:
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print("Chestnut not ready, skipping warp build")
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return
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return env.Execute(command)
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return Action(do_compile, " [CHESTNUT] $TARGET")
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def compile_model(onnx_path, pkl_path):
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onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
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cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_onnx.py" '
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f'"{onnx_path}" "{target_pkl_path}" --device-input "*" --out-of-band --benchmark-runs 1')
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lenv.Command(
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target_pkl_path,
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tinygrad_files + [onnx_path, Value(cmd)],
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Action(cmd, " [ONNX] $TARGET"),
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)
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compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
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compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
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model_w, model_h = MEDMODEL_INPUT_SIZE
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for chestnut in [False, True] if CHESTNUT else [False]:
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file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
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for cam_w, cam_h in camera_configs:
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warp_pkl_path = File(f"models/{file_prefix}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
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stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
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cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
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f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
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f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
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f'--output {warp_pkl_path}')
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action = chestnut_action(cmd) if chestnut else cmd
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node = lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], action)
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if chestnut:
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lenv.SideEffect(chestnut_lock, node)
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dm_w, dm_h = DM_INPUT_SIZE
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for cam_w, cam_h in camera_configs:
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dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
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stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
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cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '
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f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{frame_size} --warp-to {dm_w}x{dm_h} '
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f'--layout luma --border-fill 16 --transform-device NPY --output {dm_pkl_path}')
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lenv.Command(dm_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
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