mirror of
https://github.com/sunnypilot/sunnypilot.git
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7da824b050
# Conflicts: # .gitmodules # .lfsconfig # opendbc_repo # openpilot/selfdrive/modeld/SConscript # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/ui/mici/layouts/settings/toggles.py # openpilot/system/sentry.py # panda # scripts/lint/lint.sh # tinygrad_repo # tools/release/build_stripped.sh # tools/release/check-submodules.sh # uv.lock
74 lines
3.4 KiB
YAML
74 lines
3.4 KiB
YAML
name: Compile warp for sunnypilot modeld
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on:
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workflow_dispatch:
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schedule:
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- cron: '0 0 * * 0'
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jobs:
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compile_warps:
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runs-on: [self-hosted, chestnut]
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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: 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 Warp Kernels
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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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mkdir -p openpilot/sunnypilot/modeld_v2/models/
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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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echo "Model size: $MODEL_SIZE"
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echo "Camera resolutions: $CAMERA_RES"
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for res in $CAMERA_RES; do
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NV12_INFO=$(python3 -c "from openpilot.system.camerad.cameras.nv12_info import get_nv12_info; w, h = map(int, '${res}'.split('x')); print(','.join(map(str, get_nv12_info(w, h))))")
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WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
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echo "Compiling $WARP_PKL on QCOM"
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taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
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--frame ${res/x/,},${NV12_INFO} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${WARP_PKL}"
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BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
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echo "Compiling $BIG_WARP_PKL on AMD"
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taskset -c 7 env DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
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--frame ${res/x/,},${NV12_INFO} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${BIG_WARP_PKL}"
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done
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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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- name: Create Pull Request
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uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
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with:
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author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
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token: ${{ secrets.GITHUB_TOKEN }}
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commit-message: "[bot] Update warp pkl for modeld_v2"
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title: "[bot] Update modeld_v2 Warp"
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branch: "auto/compile-warp-kernels"
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base: "master"
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delete-branch: true
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labels: bot
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add-paths: |
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openpilot/sunnypilot/modeld_v2/models/*.pkl
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