sunnypilot/selfdrive/modeld/SConscript

import glob
import json
import os
import sys, subprocess
from SCons.Script import Action, Value
from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path


CAMERA_CONFIGS = [
  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
]

Import('env', 'arch')
chunker_file = File("#common/file_chunker.py")
lenv = env.Clone()

tinygrad_root = env.Dir("#").abspath
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]

def estimate_pickle_max_size(onnx_size):
  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty

# get fastest TG config
# probe in subprocess so usbgpu locks gets released on process exit
def probe_devices():
  return set(subprocess.run(
    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
    capture_output=True, text=True, check=True).stdout.strip().splitlines())

available = probe_devices()
if 'CUDA' in available:
  tg_backend = 'CUDA'
  tg_flags = f'DEV={tg_backend}'
elif 'QCOM' in available:
  tg_backend = 'QCOM'
  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
else:
  tg_backend = 'CPU'
  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'

tg_devices = { # which device to put jit inputs to at runtime
  'selfdrive.modeld.modeld': {
    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
  },
  'selfdrive.modeld.dmonitoringmodeld': {
    'default': {'DEV': tg_backend}
  },
}

USBGPU = usbgpu_present() # or release # TODO always build big model on release
if USBGPU:
  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
  usbgpu_lock = File("models/.usb_gpu.lock").abspath

def write_tg_devices(target, source, env):
  with open(str(target[0]), "w") as f:
    json.dump(tg_devices, f)
    f.write("\n")

tg_devices_node = lenv.Command(
  str(TG_INPUT_DEVICES_PATH),
  [Value(tg_devices)],
  write_tg_devices,
)

# tinygrad calls brew which needs a $HOME in the env
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''

modeld_dir = Dir("#selfdrive/modeld").abspath
compile_modeld_script = [
  File(f"{modeld_dir}/compile_modeld.py"),
  File(f"{modeld_dir}/get_model_metadata.py"),
  File("#system/camerad/cameras/nv12_info.py"),
  File("#system/hardware/hw.py"),
]
model_w, model_h = MEDMODEL_INPUT_SIZE
frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ

for usbgpu in [False, True] if USBGPU else [False]:
  target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
                       for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
        f'--model-size {model_w}x{model_h} '
        f'--camera-resolutions {camera_res_args} '
        f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
        f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
        f'--output {target_pkl_path} --frame-skip {frame_skip}')
  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
  def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
    chunk_file(pkl, chunks)
  node = lenv.Command(
    chunk_targets,
    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
    [cmd, Action(do_chunk, "  [CHUNK] $TARGET")],
  )
  if usbgpu:
    lenv.SideEffect(usbgpu_lock, node)

# get model metadata
fn = File(f"models/dmonitoring_model").abspath
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)

dm_w, dm_h = DM_INPUT_SIZE
compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
for cam_w, cam_h in CAMERA_CONFIGS:
  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
         f'--output {dm_pkl_path}')
  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)

def tg_compile(flags, model_name):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
  fn = File(f"models/{model_name}").abspath
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
     Action(do_chunk, "  [CHUNK] $TARGET")],
  )

tg_compile(tg_flags, 'dmonitoring_model')