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IQ.Pilot Release Commit @ f2a861c

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IQ.Lvbs CI [bot]
2026-09-02 15:07:09 -05:00
parent b42569dbca
commit e8748fd704
5497 changed files with 316070 additions and 179848 deletions
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16
iqpilot/selfdrive/iqmodeld/SConscript
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@@ -4,7 +4,7 @@ Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed
import glob
import os
Import("env", "envCython", "arch", "cereal", "messaging", "common", "visionipc")
Import("env", "envCython", "arch", "cereal", "messaging", "common", "visionipc", "tinygrad_dir")
lenv = env.Clone()
lenvCython = envCython.Clone()
@@ -23,9 +23,7 @@ def _inject_path_define(symbol, filename):
def _tinygrad_sources():
root = env.Dir("#tinygrad_repo").relpath
workspace = env.Dir("#").abspath
return ["#" + path for path in glob.glob(root + "/**", recursive=True, root_dir=workspace) if "pycache" not in path]
return [path for path in glob.glob(tinygrad_dir + "/**", recursive=True) if "pycache" not in path]
def _present_models():
@@ -84,13 +82,12 @@ _queue_metadata_generation(present_models, tinygrad_files)
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
fn = File(f"models/{model_name}").abspath
return lenv.Command(
fn + "_tinygrad.pkl",
[fn + ".onnx"] + tinygrad_files,
lenv.PrettyAction(
f'${{PYWARN}} {pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl',
f'${{PYWARN}} {flags} python3 {Dir("#iqpilot/selfdrive/iqmodeld/tools").abspath}/compile_model.py {fn}.onnx {fn}_tinygrad.pkl',
'MODEL', logfile='${TARGET}.log')
)
@@ -98,22 +95,21 @@ def tg_compile(flags, model_name):
for model_name in present_models:
tg_compile(_tinygrad_flags(), model_name)
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
from iqpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
from iqpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
FUSED_CAMERA_CONFIGS = [(_ar_ox_fisheye.width, _ar_ox_fisheye.height), (_os_fisheye.width, _os_fisheye.height)]
FUSED_FRAME_SKIP = 4
def tg_compile_fused(file_prefix, flags):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
model_dir = Dir("models").abspath
model_w, model_h = MEDMODEL_INPUT_SIZE
camera_args = " ".join(f"{cw}x{ch}" for cw, ch in FUSED_CAMERA_CONFIGS)
out_pkl = File(f"models/{file_prefix}driving_fused_tinygrad.pkl").abspath
onnx_deps = [File(f"models/{file_prefix}{model_name}.onnx") for model_name in FUSED_TRIPLET]
cmd = (
f'${{PYWARN}} {pythonpath_string} {flags} python3 {Dir("#iqpilot/selfdrive/iqmodeld/tools").abspath}/compile_daemon.py '
f'${{PYWARN}} {flags} python3 {Dir("#iqpilot/selfdrive/iqmodeld/tools").abspath}/compile_daemon.py '
f'--model-size {model_w}x{model_h} --camera-resolutions {camera_args} '
f'--vision-onnx {model_dir}/{file_prefix}driving_vision.onnx '
f'--off-policy-onnx {model_dir}/{file_prefix}driving_off_policy.onnx '