openpilot_comma/tinygrad_repo/test/external/external_benchmark_openpilot.py

import time, sys, hashlib
from pathlib import Path
import onnx
from onnx.helper import tensor_dtype_to_np_dtype
from tinygrad.frontend.onnx import OnnxRunner
from tinygrad import Tensor, dtypes, TinyJit
from tinygrad.helpers import IMAGE, GlobalCounters, fetch, colored, getenv, trange
from tinygrad.tensor import _from_np_dtype
import numpy as np

OPENPILOT_MODEL = sys.argv[1] if len(sys.argv) > 1 else "https://github.com/commaai/openpilot/raw/v0.9.4/selfdrive/modeld/models/supercombo.onnx"

if __name__ == "__main__":
  onnx_model = onnx.load(onnx_path := fetch(OPENPILOT_MODEL))
  run_onnx = OnnxRunner(onnx_model)

  Tensor.manual_seed(100)
  input_shapes = {inp.name:tuple(x.dim_value for x in inp.type.tensor_type.shape.dim) for inp in onnx_model.graph.input}
  input_types = {inp.name: tensor_dtype_to_np_dtype(inp.type.tensor_type.elem_type) for inp in onnx_model.graph.input}
  new_inputs = {k:Tensor.randn(*shp, dtype=_from_np_dtype(input_types[k])).mul(8).realize() for k,shp in input_shapes.items()}
  new_inputs_junk = {k:Tensor.randn(*shp, dtype=_from_np_dtype(input_types[k])).mul(8).realize() for k,shp in input_shapes.items()}
  new_inputs_junk_numpy = {k:v.numpy() for k,v in new_inputs_junk.items()}

  # benchmark
  for _ in range(5):
    GlobalCounters.reset()
    st = time.perf_counter_ns()
    ret = next(iter(run_onnx(new_inputs_junk).values())).cast(dtypes.float32).numpy()
    print(f"unjitted: {(time.perf_counter_ns() - st)*1e-6:7.4f} ms")

  # NOTE: the inputs to a JIT must be first level arguments
  run_onnx_jit = TinyJit(lambda **kwargs: run_onnx(kwargs), prune=True)
  for _ in range(20):
    GlobalCounters.reset()
    st = time.perf_counter_ns()
    # Need to cast non-image inputs from numpy, this is only realistic way to run model
    inputs = {**{k:v for k,v in new_inputs_junk.items() if 'img' in k},
              **{k:Tensor(v) for k,v in new_inputs_junk_numpy.items() if 'img' not in k}}
    ret = next(iter(run_onnx_jit(**inputs).values())).cast(dtypes.float32).numpy()
    print(f"jitted:  {(time.perf_counter_ns() - st)*1e-6:7.4f} ms")

  suffix = ""
  if IMAGE.value < 2: suffix += f"_image{IMAGE.value}" # image=2 has no suffix for compatibility
  if getenv("FLOAT16") == 1: suffix += "_float16"
  path = Path(__file__).parent / "openpilot" / f"{hashlib.md5(OPENPILOT_MODEL.encode()).hexdigest()}{suffix}.npy"

  # validate if we have records
  tinygrad_out = next(iter(run_onnx_jit(**new_inputs).values())).cast(dtypes.float32).numpy()
  if getenv("SAVE_OUTPUT"):
    np.save(path, tinygrad_out)
    print(f"saved output to {path}!")
  elif getenv("FUZZ") and path.exists():
    known_good_out = np.load(path)
    for _ in trange(1000):
      ret = next(iter(run_onnx_jit(**new_inputs).values())).cast(dtypes.float32).numpy()
      np.testing.assert_allclose(known_good_out, ret, atol=1e-2, rtol=1e-2)
    print(colored("fuzz validated!", "green"))
  elif path.exists():
    known_good_out = np.load(path)
    np.testing.assert_allclose(known_good_out, tinygrad_out, atol=1e-2, rtol=1e-2)
    print(colored("outputs validated!", "green"))
  else:
    print(colored("skipping validation", "yellow"))