modeld: autodetect tinygrad backend (#35405)

* modeld: autodetect tinygrad backend

* modeld: autodetect tinygrad CUDA backend

* Revert "modeld: autodetect tinygrad CUDA backend"

This reverts commit 0e9755fb3c.

* comment why llvm@19

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* backend from jit

* fix static analysis

* simplify

* compile flags log

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

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 METAL Error: $HOME must be set to run brew
+  lenv['ENV']['HOME'] = os.environ['HOME']
 else:
   libs += ['OpenCL']
 
@@ -47,19 +49,30 @@ def tg_compile(flags, model_name):
     f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
   )
 
+# because tg doesn't support multi-process
+import subprocess
+devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+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'
+
+print(f"Compiling models with flags: '{flags}'")
+
 # Compile small models
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  flags = {
-    'larch64': 'QCOM=1',
-    'Darwin': 'CPU=1 IMAGE=0 JIT=2',
-  }.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2')
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available
 if "USBGPU" in os.environ:
-  import subprocess
-  # 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, cwd=env.Dir('#').abspath)
   if b"AMD" in devs:
     print("USB GPU detected... building")
     flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"

selfdrive/modeld/dmonitoringmodeld.py

@@ -7,7 +7,7 @@ if TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import backend_from_jit
 import math
 import time
 import pickle
@@ -79,6 +79,11 @@ class ModelState:
     with open(MODEL_PKL_PATH, "rb") as f:
       self.model_run = pickle.load(f)
 
+    if not TICI:
+      backend = backend_from_jit(self.model_run)
+      os.environ[backend] = '1'
+      cloudlog.warning(f"dmonitoringmodeld backend set to {backend}")
+
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 

selfdrive/modeld/modeld.py

@@ -9,8 +9,7 @@ elif TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
-  os.environ['JIT'] = '2'
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import backend_from_jit
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import time
@@ -131,6 +130,11 @@ class ModelState:
     with open(POLICY_PKL_PATH, "rb") as f:
       self.policy_run = pickle.load(f)
 
+    if not TICI and not USBGPU:
+      backend = backend_from_jit(self.vision_run)
+      os.environ[backend] = '1'
+      cloudlog.warning(f"modeld backend set to {backend}")
+
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
     return parsed_model_outputs

selfdrive/modeld/runners/tinygrad_helpers.py

@@ -1,4 +1,3 @@
-
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import to_mv
 
@@ -6,3 +5,7 @@ def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
   cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
   rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
   return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
+
+def backend_from_jit(jit):
+  for cached_item in jit.captured.jit_cache:
+    return cached_item.prg.device

tools/mac_setup.sh

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