modeld: autodetect tinygrad backend

.gitignore

@@ -70,9 +70,8 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh
 
-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
+selfdrive/modeld/models/*.json
 
 *.bz2
 *.zst

selfdrive/modeld/SConscript

@@ -14,9 +14,11 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-# OpenCL is a framework on Mac
 if arch == "Darwin":
+  # OpenCL is a framework on Mac
   frameworks += ['OpenCL']
+  # Fix for "Error: $HOME must be set to run brew"
+  lenv['ENV']['HOME'] = os.environ['HOME']
 else:
   libs += ['OpenCL']
 
@@ -47,22 +49,40 @@ def tg_compile(flags, model_name):
     f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
   )
 
-# Compile small models
+def tg_dump_flags(flags, prefix):
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  flags_dict = {}
-  flags = {
+  for flag_pair in flags.split():
-    'larch64': 'QCOM=1',
+      k, v = flag_pair.split('=')
-    'Darwin': 'CPU=1 IMAGE=0 JIT=2',
+      flags_dict[k] = v
-  }.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2')
+  import json
-  tg_compile(flags, model_name)
+  with open(f'models/{prefix}_flags.json', 'w') as f:
+      json.dump(flags_dict, f)
 
-# Compile BIG model if USB GPU is available
 import subprocess
-from tinygrad import Device
 
 # because tg doesn't support multi-process
 devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
+print("Available tinygrad devices:", devs)
+
+if b"QCOM" in devs:
+  flags = 'QCOM=1'
+elif b"METAL" in devs:
+  flags = 'METAL=1 IMAGE=0 NOLOCALS=0'
+elif b"GPU" in devs:
+  flags = 'GPU=1'
+elif b"LLVM" in devs:
+  flags = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
+else:
+  flags = 'CPU=1 IMAGE=0 JIT=2'
+
+# Compile small models
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  tg_compile(flags, model_name)
+
+tg_dump_flags(flags, 'dmonitoringmodeld')
+
+# Compile BIG model if USB GPU is available
 if b"AMD" in devs:
-  del Device
   print("USB GPU detected... building")
   flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
   bp = tg_compile(flags, "big_driving_policy")
@@ -70,3 +90,5 @@ if b"AMD" in devs:
   lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
 else:
   print("USB GPU not detected... skipping")
+
+tg_dump_flags(flags, 'modeld')

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+from pathlib import Path
 from openpilot.system.hardware import TICI
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
@@ -7,13 +8,15 @@ if TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
+  import json
+  with open(Path(__file__).parent / 'models/dmonitoringmodeld_flags.json') as f:
+    flags = json.load(f)
+    os.environ.update(flags)
 import math
 import time
 import pickle
 import ctypes
 import numpy as np
-from pathlib import Path
 from setproctitle import setproctitle
 
 from cereal import messaging

selfdrive/modeld/modeld.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+from pathlib import Path
 from openpilot.system.hardware import TICI
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
@@ -9,8 +10,10 @@ elif TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
+  import json
-  os.environ['JIT'] = '2'
+  with open(Path(__file__).parent / 'models/modeld_flags.json') as f:
+    flags = json.load(f)
+    os.environ.update(flags)
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import time
@@ -18,7 +21,6 @@ import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf

tools/mac_setup.sh

@@ -43,7 +43,7 @@ brew "glfw"
 brew "libarchive"
 brew "libusb"
 brew "libtool"
-brew "llvm"
+brew "llvm@19"
 brew "openssl@3.0"
 brew "qt@5"
 brew "zeromq"