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96 lines
3.3 KiB
96 lines
3.3 KiB
import os
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import glob
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
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lenv = env.Clone()
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lenvCython = envCython.Clone()
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libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
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frameworks = []
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common_src = [
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"models/commonmodel.cc",
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"transforms/loadyuv.cc",
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"transforms/transform.cc",
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]
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if arch == "Darwin":
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# OpenCL is a framework on Mac
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frameworks += ['OpenCL']
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# Fix for "Error: $HOME must be set to run brew"
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lenv['ENV']['HOME'] = os.environ['HOME']
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else:
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libs += ['OpenCL']
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# Set path definitions
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for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
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for xenv in (lenv, lenvCython):
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xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
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# Compile cython
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cython_libs = envCython["LIBS"] + libs
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commonmodel_lib = lenv.Library('commonmodel', common_src)
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lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
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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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for model_name in ['driving_vision', 'driving_policy']:
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fn = File(f"models/{model_name}").abspath
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script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
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cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
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lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
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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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return lenv.Command(
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fn + "_tinygrad.pkl",
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[fn + ".onnx"] + tinygrad_files,
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f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
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)
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def tg_dump_flags(flags, prefix):
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flags_dict = {}
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for flag_pair in flags.split():
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k, v = flag_pair.split('=')
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flags_dict[k] = v
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import json
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with open(f'models/{prefix}_flags.json', 'w') as f:
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json.dump(flags_dict, f)
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import subprocess
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# because tg doesn't support multi-process
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devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
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print("Available tinygrad devices:", devs)
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if b"QCOM" in devs:
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flags = 'QCOM=1'
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elif b"METAL" in devs:
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flags = 'METAL=1 IMAGE=0 NOLOCALS=0'
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elif b"CUDA" in devs:
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flags = 'CUDA=1 IMAGE=0'
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elif b"GPU" in devs:
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flags = 'GPU=1'
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elif b"LLVM" in devs:
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flags = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
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else:
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flags = 'CPU=1 IMAGE=0 JIT=2'
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# Compile small models
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for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
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tg_compile(flags, model_name)
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tg_dump_flags(flags, 'dmonitoringmodeld')
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# Compile BIG model if USB GPU is available
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if b"AMD" in devs:
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print("USB GPU detected... building")
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flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
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bp = tg_compile(flags, "big_driving_policy")
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bv = tg_compile(flags, "big_driving_vision")
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lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially
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else:
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print("USB GPU not detected... skipping")
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tg_dump_flags(flags, 'modeld')
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