commaai · adeebshihadeh · May 21, 2025 · May 21, 2025 · May 21, 2025
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
@@ -38,18 +38,35 @@ for model_name in ['driving_vision', 'driving_policy']:
   cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
   lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
 
-# Compile tinygrad model
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  fn = File(f"models/{model_name}").abspath
+  return lenv.Command(
+    fn + "_tinygrad.pkl",
+    [fn + ".onnx"] + tinygrad_files,
+    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  )
+
+# Compile small models
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  if "USBGPU" in os.environ and not model_name.startswith("dmon"):
-    device_string = "AMD=1 AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-  elif arch == 'larch64':
-    device_string = 'QCOM=1'
-  elif arch == 'Darwin':
-    device_string = 'CPU=1 IMAGE=0 JIT=2'
-  else:
-    device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2'
+  flags = {
+    'larch64': 'QCOM=1',
+    'Darwin': 'CPU=1 IMAGE=0 JIT=2',
+  }.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2')
+  tg_compile(flags, model_name)
 
-  fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+# Compile BIG model if USB GPU is available
+import subprocess
+from tinygrad import Device
+
+# because tg doesn't support multi-process
+devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
+if b"AMD" in devs:
+  del Device
+  print("USB GPU detected... building")
+  flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+  bp = tg_compile(flags, "big_driving_policy")
+  bv = tg_compile(flags, "big_driving_vision")
+  lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+else:
+  print("USB GPU not detected... skipping")
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
@@ -4,6 +4,7 @@
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['AMD'] = '1'
+  os.environ['AMD_IFACE'] = 'USB'
 elif TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
@@ -196,11 +197,12 @@ def main(demo=False):
     # also need to move the aux USB interrupts for good timings
     config_realtime_process(7, 54)
 
+  st = time.monotonic()
   cloudlog.warning("setting up CL context")
   cl_context = CLContext()
   cloudlog.warning("CL context ready; loading model")
   model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # visionipc clients
   while True:

diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -0,0 +1 @@
+driving_policy.onnx
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1 @@
+driving_vision.onnx
diff --git a/tinygrad_repo b/tinygrad_repo
+303 −0		test/test_edgecases.py
+1 −1		tinygrad/runtime/ops_amd.py