efee1712aa
* fix.. speed_limit error... * draw tpms settings. * fix.. traffic light stopping only.. * fix.. waze cam * fix.. waze... * add setting (Enable comma connect ) * auto detect LFA2 * fix.. cruisespeed1 * vff2 driving model. * fix.. * agnos 12.3 * fix.. * ff * ff * test * ff * fix.. drawTurnInfo.. * Update drive_helpers.py * fix.. support eng voice eng sounds fix settings... english fix.. mph.. fix.. roadlimit speed bug.. * new vff model.. 250608 * fix soundd.. * fix safe exit speed.. * fix.. sounds. * fix.. radar timeStep.. * KerryGold model * Update drive_helpers.py * fix.. model. * fix.. * fix.. * Revert "fix.." This reverts commit b09ec459afb855c533d47fd7e8a1a6b1a09466e7. * Revert "fix.." This reverts commit 290bec6b83a4554ca232d531a911edccf94a2156. * fix esim * add more acc table. 10kph * kg update.. * fix cruisebutton mode3 * test atc..cond. * fix.. canfd * fix.. angle control limit
50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
import sys, onnx
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from tinygrad import Tensor, fetch, GlobalCounters
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from tinygrad.uop import UOp
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from tinygrad.frontend.onnx import OnnxRunner
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from tinygrad.engine.grouper import get_kernelize_map
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from tinygrad.engine.schedule import create_schedule_with_vars
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from tinygrad.engine.realize import run_schedule
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# NOLOCALS=1 GPU=1 IMAGE=2 FLOAT16=1 VIZ=1 DEBUG=2 python3 examples/openpilot/compile4.py
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OPENPILOT_MODEL = sys.argv[1] if len(sys.argv) > 1 else "https://github.com/commaai/openpilot/raw/v0.9.7/selfdrive/modeld/models/supercombo.onnx"
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OUTPUT = sys.argv[2] if len(sys.argv) > 2 else "/tmp/openpilot.pkl"
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if __name__ == "__main__":
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fn = fetch(OPENPILOT_MODEL)
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onnx_file = fetch(OPENPILOT_MODEL)
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onnx_model = onnx.load(onnx_file)
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run_onnx = OnnxRunner(onnx_model)
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inputs = run_onnx.get_empty_input_data("npy")
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out: Tensor = next(iter(run_onnx({k:v.to(None) for k,v in inputs.items()}).values())).to('cpu')
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root = out.lazydata
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targets = [x.lazydata for x in inputs.values()]
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print(targets)
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# TODO: abstract this from gradient?
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# compute the target path (top down)
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in_target_path: dict[UOp, bool] = {}
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for u in root.toposort(): in_target_path[u] = any(x in targets or in_target_path[x] for x in u.src)
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independent_set = {}
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for u in root.toposort():
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if in_target_path[u]:
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for s in u.src:
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if not in_target_path[s]:
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independent_set[s] = None
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independent = UOp.sink(*independent_set.keys())
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kernelized = get_kernelize_map(independent)
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independent = independent.substitute(kernelized)
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schedule, var_vals, becomes_map = create_schedule_with_vars(independent)
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run_schedule(schedule)
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print("**** real ****")
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GlobalCounters.reset()
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out.lazydata = root.substitute(kernelized).substitute(becomes_map)
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out.kernelize()
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# realize
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out.realize()
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