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use later models

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Bruce Wayne
2025-10-17 14:28:23 -07:00
parent b8da47113b
commit 075efea4ca
2 changed files with 4 additions and 17 deletions
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11
.github/workflows/test.yml vendored
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@@ -372,17 +372,12 @@ jobs:
deps: testing
opencl: 'true'
llvm: 'true'
- name: Test openpilot model kernel count and gate usage
run: |
ALLOWED_KERNEL_COUNT=190 ALLOWED_READ_IMAGE=2081 ALLOWED_GATED_READ_IMAGE=28 CL=1 IMAGE=2 NOLOCALS=1 FLOAT16=1 python examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.9.4/selfdrive/modeld/models/supercombo.onnx
- name: Test openpilot CL compile fp16
run: FLOAT16=1 DEBUGCL=1 CL=1 IMAGE=2 python examples/openpilot/compile3.py https://github.com/haraschax/filedump/raw/refs/heads/master/driving_vision.onnx
- name: Test openpilot CL compile fp32
run: FLOAT16=1 DEBUGCL=1 CL=1 IMAGE=2 python examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/cf6376aa9a090f0da26c280ef69eabf9bbdd51d1faac9ed392919c3db69be916
- name: Test openpilot CL compile fp32 (test correctness)
run: DEBUGCL=1 CL=1 IMAGE=2 python examples/openpilot/compile3.py https://github.com/haraschax/filedump/raw/refs/heads/master/driving_vision_fp32.onnx
- name: Test openpilot LLVM compile fp16
run: CPU=1 CPU_LLVM=1 FLOAT16=1 python examples/openpilot/compile3.py https://github.com/haraschax/filedump/raw/refs/heads/master/driving_vision.onnx
- name: Test openpilot LLVM compile fp32
run: CPU=1 CPU_LLVM=1 python examples/openpilot/compile3.py https://github.com/haraschax/filedump/raw/refs/heads/master/driving_vision_fp32.onnx
run: FLOAT16=1 CPU=1 CPU_LLVM=1 python examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/cf6376aa9a090f0da26c280ef69eabf9bbdd51d1faac9ed392919c3db69be916
- name: Run process replay tests
uses: ./.github/actions/process-replay

10
examples/openpilot/compile3.py
View File

@@ -52,12 +52,6 @@ def compile(onnx_file):
for v in [m.group(1) for m in re.finditer(r'(val\d+)\s*=\s*read_imagef\(', ei.prg.p.src)]:
if len(re.findall(fr'[\?\:]{v}\.[xyzw]', ei.prg.p.src)) > 0: gated_read_image_count += 1
print(f"{kernel_count=}, {read_image_count=}, {gated_read_image_count=}")
if (allowed_kernel_count:=getenv("ALLOWED_KERNEL_COUNT", -1)) != -1:
assert kernel_count == allowed_kernel_count, f"different kernels! {kernel_count=}, {allowed_kernel_count=}"
if (allowed_read_image:=getenv("ALLOWED_READ_IMAGE", -1)) != -1:
assert read_image_count == allowed_read_image, f"different read_image! {read_image_count=}, {allowed_read_image=}"
if (allowed_gated_read_image:=getenv("ALLOWED_GATED_READ_IMAGE", -1)) != -1:
assert gated_read_image_count == allowed_gated_read_image, f"different gated read_image! {gated_read_image_count=}, {allowed_gated_read_image=}"
with open(OUTPUT, "wb") as f:
pickle.dump(run_onnx_jit, f)
@@ -104,8 +98,6 @@ def test_vs_onnx(new_inputs, test_val, onnx_file, tol):
ORT_TO_NP_DTYPES: dict[str, np.dtype] = {
'tensor(float)': np.dtype('float32'),
'tensor(float16)': np.dtype('float16'),
'tensor(int64)': np.dtype('int64'),
'tensor(int32)': np.dtype('int32'),
'tensor(uint8)': np.dtype('uint8'),
}
@@ -130,7 +122,7 @@ if __name__ == "__main__":
with open(OUTPUT, "rb") as f: pickle_loaded = pickle.load(f)
test_vs_compile(pickle_loaded, inputs, outputs)
if not getenv("NO_ORT_TEST"):
if not getenv("NO_ORT"):
tol = 1 if getenv("FLOAT16") else 1e-4 # This tolerance is absurd, but better than nothing
test_vs_onnx(inputs, outputs, onnx_file, tol)