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feat: log openpilot 0.10.1 times (#12816)

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wozeparrot
2025-10-20 18:30:34 -07:00
committed by GitHub
parent 565a7a6218
commit 990e8b97ee
2 changed files with 11 additions and 3 deletions
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6
.github/workflows/benchmark.yml vendored
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@@ -626,11 +626,11 @@ jobs:
- name: benchmark openpilot 0.9.9 dmonitoring
run: BENCHMARK_LOG=openpilot_0_9_9_dmonitoring PYTHONPATH=. NOLOCALS=1 FLOAT16=1 IMAGE=2 QCOM=1 taskset -c 4-7 python3 test/external/external_benchmark_openpilot.py https://github.com/commaai/openpilot/raw/v0.9.9/selfdrive/modeld/models/dmonitoring_model.onnx
- name: openpilot compile3 0.10.1 driving_vision
run: PYTHONPATH="." ASSERT_MIN_STEP_TIME=25 DEV=QCOM FLOAT16=1 IMAGE=2 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/cf6376aa9a090f0da26c280ef69eabf9bbdd51d1faac9ed392919c3db69be916
run: BENCHMARK_LOG=openpilot_0_10_1_vision PYTHONPATH="." ASSERT_MIN_STEP_TIME=25 DEV=QCOM FLOAT16=1 IMAGE=2 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://gitlab.com/commaai/openpilot-lfs.git/gitlab-lfs/objects/cf6376aa9a090f0da26c280ef69eabf9bbdd51d1faac9ed392919c3db69be916
- name: openpilot compile3 0.10.1 driving_policy
run: PYTHONPATH="." ASSERT_MIN_STEP_TIME=7 DEV=QCOM FLOAT16=1 IMAGE=2 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/refs/heads/master/selfdrive/modeld/models/driving_policy.onnx
run: BENCHMARK_LOG=openpilot_0_10_1_policy PYTHONPATH="." ASSERT_MIN_STEP_TIME=7 DEV=QCOM FLOAT16=1 IMAGE=2 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/refs/heads/master/selfdrive/modeld/models/driving_policy.onnx
- name: openpilot compile3 0.10.1 dmonitoring
run: PYTHONPATH="." ASSERT_MIN_STEP_TIME=12 DEV=QCOM FLOAT16=1 IMAGE=2 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/refs/heads/master/selfdrive/modeld/models/dmonitoring_model.onnx
run: BENCHMARK_LOG=openpilot_0_10_1_dmonitoring PYTHONPATH="." ASSERT_MIN_STEP_TIME=12 DEV=QCOM FLOAT16=1 IMAGE=2 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/refs/heads/master/selfdrive/modeld/models/dmonitoring_model.onnx
- name: benchmark MobileNetV2 on DSP
run: |
# generate quantized weights

8
examples/openpilot/compile3.py
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@@ -121,6 +121,12 @@ def test_vs_onnx(new_inputs, test_val, onnx_file, tol):
print("test vs onnx passed")
return timings
def bench(run, inputs):
from extra.bench_log import WallTimeEvent, BenchEvent
for _ in range(10):
with WallTimeEvent(BenchEvent.STEP):
run(**inputs).numpy()
if __name__ == "__main__":
onnx_file = fetch(OPENPILOT_MODEL)
inputs, outputs = compile(onnx_file)
@@ -131,3 +137,5 @@ if __name__ == "__main__":
if not getenv("FLOAT16"):
test_vs_onnx(inputs, outputs, onnx_file, 1e-4)
if getenv("BENCHMARK_LOG", ""):
bench(pickle_loaded, inputs)