mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-25 12:02:05 +08:00
Jason Wen
60 lines
2.4 KiB
Python
60 lines
2.4 KiB
Python
import os
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import glob
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Import('env', 'arch')
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lenv = env.Clone()
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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]
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# Get model metadata
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PC = not os.path.isfile('/TICI')
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if PC:
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inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
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outputs = []
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model_dir = Dir("models").abspath
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cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
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for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
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if File(f"models/{model_name}.onnx").exists():
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inputs.append(File(f"models/{model_name}.onnx"))
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inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
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outputs.append(File(f"models/{model_name}_metadata.pkl"))
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if outputs:
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lenv.Command(outputs, inputs, cmd)
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tg_flags = {
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'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
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'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
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}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
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image_flag = {
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'larch64': 'IMAGE=2',
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}.get(arch, 'IMAGE=0')
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def tg_compile(flags, model_name):
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
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fn = File(f"models/{model_name}").abspath
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out = fn + "_tinygrad.pkl"
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return lenv.Command(
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out,
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[fn + ".onnx"] + tinygrad_files,
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f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
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)
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# Compile models
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for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']:
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if File(f"models/{model_name}.onnx").exists():
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tg_compile(tg_flags, model_name)
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script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
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pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
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compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
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from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
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warp_targets = []
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for cam in [_ar_ox_fisheye, _os_fisheye]:
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w, h = cam.width, cam.height
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for bl in [2, 5]:
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warp_targets.append(File(f"models/warp_{w}x{h}_b{bl}_tinygrad.pkl").abspath)
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lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
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