SConscript

import glob
import json
import os
from SCons.Script import Value
from openpilot.common.file_chunker import chunk_file, get_chunk_paths
from tinygrad import Device

Import('env', 'arch')
chunker_file = File("#common/file_chunker.py")
lenv = env.Clone()

tinygrad_root = env.Dir("#").abspath
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]

def estimate_pickle_max_size(onnx_size):
  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty

# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
# get fastest TG config
available = set(Device.get_available_devices())
if 'CUDA' in available:
  tg_backend = 'CUDA'
  tg_flags = f'DEV={tg_backend}'
elif 'QCOM' in available:
  tg_backend = 'QCOM'
  tg_flags = f'DEV={tg_backend} FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0'
else:
  tg_backend = 'CPU' if arch == 'Darwin' else 'CPU:LLVM'
  tg_flags = f'DEV={tg_backend} THREADS=0'

def write_tg_compiled_flags(target, source, env):
  with open(str(target[0]), "w") as f:
    json.dump({"DEV": tg_backend}, f)
    f.write("\n")

compiled_flags_node = lenv.Command(
  File("models/tg_compiled_flags.json").abspath,
  tinygrad_files + [Value(tg_backend)],
  write_tg_compiled_flags,
)

# tinygrad calls brew which needs a $HOME in the env
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''

# Get model metadata
for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
  fn = File(f"models/{model_name}").abspath
  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
  cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [compiled_flags_node], cmd)

image_flag = {
     'larch64': 'IMAGE=2',
}.get(arch, 'IMAGE=0')
script_files = [File(Dir("#selfdrive/modeld").File("compile_modeld.py").abspath)]
# nuke stale cached pkl+chunks before compiling (UNSAFE CI checkout keeps gitignored files)
compile_modeld_cmd = f'rm -f {Dir("#selfdrive/modeld").abspath}/models/driving_*_tinygrad.pkl* && {tg_flags} {mac_brew_string} {image_flag} python3 {Dir("#selfdrive/modeld").abspath}/compile_modeld.py '
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
driving_onnx_deps = [File(f"models/{m}.onnx").abspath for m in ['driving_vision', 'driving_on_policy', 'driving_off_policy']]
driving_metadata_deps = [File(f"models/{m}_metadata.pkl").abspath for m in ['driving_vision', 'driving_on_policy']]
modeld_targets = []
policy_pkls = []
for cam in [_ar_ox_fisheye, _os_fisheye]:
  w, h = cam.width, cam.height
  policy_pkls.append(File(f"models/driving_{w}x{h}_tinygrad.pkl").abspath)
  modeld_targets += [File(f"models/driving_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
compile_node = lenv.Command(modeld_targets, tinygrad_files + script_files + driving_onnx_deps + driving_metadata_deps + [chunker_file], compile_modeld_cmd)

# chunk the combined policy pkls (they contain model weights)
for policy_pkl in policy_pkls:
  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
  chunk_targets = get_chunk_paths(policy_pkl, 2.0 * onnx_sizes_sum + 10 * 1024 * 1024)
  def do_chunk(target, source, env, pkl=policy_pkl, chunks=chunk_targets):
    chunk_file(pkl, chunks)
  lenv.Command(chunk_targets, compile_node, do_chunk)

def tg_compile(flags, model_name):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
  fn = File(f"models/{model_name}").abspath
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
  compile_node = lenv.Command(
    pkl,
    [onnx_path] + tinygrad_files + [chunker_file, compiled_flags_node],
    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
  )
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
    compile_node,
    do_chunk,
  )

# Compile dmonitoring model (driving models are in the combined policy JIT)
tg_compile(tg_flags, 'dmonitoring_model')