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Openpilot compile: fix for openpilot use (#8338)

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* compile3 changes

* merge conflict

* merge conflict

* give dm npy for now

* Revert "give dm npy for now"

This reverts commit bfd980da7d2c2bab5b073127442c361922032ba1.

* updates

* Always float32 floats

* Update compile3.py

* Update compile3.py

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
This commit is contained in:
Harald Schäfer
2024-12-19 16:43:15 -08:00
committed by GitHub
parent 7153f7709f
commit 7059459648
1 changed files with 3 additions and 2 deletions
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5
examples/openpilot/compile3.py
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@@ -15,7 +15,7 @@ from onnx.helper import tensor_dtype_to_np_dtype
from extra.onnx import get_run_onnx # TODO: port to main tinygrad
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"
OUTPUT = "/tmp/openpilot.pkl"
OUTPUT = sys.argv[2] if len(sys.argv) > 2 else "/tmp/openpilot.pkl"
def compile(onnx_file):
onnx_model = onnx.load(onnx_file)
@@ -27,7 +27,8 @@ def compile(onnx_file):
input_shapes = {inp.name:tuple(x.dim_value for x in inp.type.tensor_type.shape.dim) for inp in onnx_model.graph.input}
input_types = {inp.name: tensor_dtype_to_np_dtype(inp.type.tensor_type.elem_type) for inp in onnx_model.graph.input}
if getenv("FLOAT16", 0) == 0: input_types = {k:(np.float32 if v==np.float16 else v) for k,v in input_types.items()}
# Float inputs and outputs to tinyjits for openpilot are always float32
input_types = {k:(np.float32 if v==np.float16 else v) for k,v in input_types.items()}
Tensor.manual_seed(100)
new_inputs = {k:Tensor.randn(*shp, dtype=_from_np_dtype(input_types[k])).mul(8).realize() for k,shp in sorted(input_shapes.items())}
new_inputs_numpy = {k:v.numpy() for k,v in new_inputs.items()}