openpilot fixups

extra/thneed.py

@@ -290,51 +290,3 @@ def run(self):
       print(f"total runtime: {total_runtime/1e6:.2f} ms   wall time: {et*1000.0:.2f} ms")
       return total_runtime/1e9
     return et
-
-  def optimize_local_workgroup(self):
-    MAX_WORKGROUP = CL.cl_ctx.devices[0].max_work_group_size
-    local_cl_cache = []
-    for prg, args in self.cl_cache:
-      potential_locals = [tuple(args[1])] if args[1] is not None else []
-      runtimes = []
-      args = list(args)
-
-      # NOTE: if args[1] is not None, it may use local variables and you shouldn't change this
-      if args[1] is None and len(args[0]) == 1:
-        for l1 in [args[0][0], 1, 4, 16, MAX_WORKGROUP//4, MAX_WORKGROUP]:
-          potential_locals.append((l1,))
-
-      if args[1] is None and len(args[0]) == 2:
-        for l2 in [1, 4, 16, MAX_WORKGROUP//4, MAX_WORKGROUP]:
-          potential_locals.append((min(MAX_WORKGROUP, args[0][0]), l2))
-
-      if args[1] is None and len(args[0]) == 3:
-        for l2 in [16,args[0][1],MAX_WORKGROUP]:
-          for l3 in [4,16,args[0][2],MAX_WORKGROUP]:
-            for l1 in [max(1, MAX_WORKGROUP//(l2*l3)), args[0][0], 4, 16, MAX_WORKGROUP]:
-              if l1 > args[0][0] or l2 > args[0][1] or l3 > args[0][2]: continue
-              potential_locals.append((l1, l2, l3))
-
-      for local_args in potential_locals:
-        if prod(local_args) > MAX_WORKGROUP: continue
-        args[1] = local_args
-        # 3 runs just in case
-        for i in range(3):
-          try:
-            e = prg.clprg(CL.cl_queue, *args)
-          except (cl.LogicError, cl.RuntimeError):
-            # INVALID_WORK_GROUP_SIZE
-            continue
-          CL.cl_queue.finish()
-          runtime = e.profile.end - e.profile.start
-          #print(runtime, args[0], args[1])
-          runtimes.append((runtime, local_args))
-
-        if len(runtimes) > 0:
-          args[1] = sorted(runtimes)[0][1]
-        else:
-          args[1] = None
-          print("couldn't optimize", args[0])
-
-      local_cl_cache.append((prg, args))
-    self.cl_cache = local_cl_cache

openpilot/compile.py

@@ -79,9 +79,6 @@ def compile(dat, output_fn):
   from extra.thneed import Thneed
   t = Thneed(cl_cache, {k:v._cl for k,v in input_rawbuffers.items()})
 
-  if getenv("OPTWG", 0):
-    t.optimize_local_workgroup()
-
   # save thneed (before run)
   t.save(output_fn)
 

openpilot/go.sh

@@ -1,3 +1,2 @@
 #!/bin/bash
-FLOAT16=1 DEBUGCL=1 NATIVE_EXPLOG=1 VALIDHACKS=1 OPTWG=1 IMAGE=2 GPU=1 CLCACHE=0 python3 openpilot/compile.py
-
+FLOAT16=1 DEBUGCL=1 NATIVE_EXPLOG=1 VALIDHACKS=1 OPTLOCAL=1 IMAGE=2 GPU=1 ENABLE_METHOD_CACHE=1 python3 openpilot/compile.py

tinygrad/image.py

@@ -1,4 +1,5 @@
 from tinygrad.helpers import IMAGE
+from tinygrad.lazy import get_single_root
 
 def image_conv2d_decorator(normal_conv):
   if IMAGE == 0: return normal_conv
@@ -32,8 +33,9 @@ def image_conv2d(self, weight, bias=None, groups=1, stride=1, dilation=1, paddin
     elif cin_last: w = w.reshape(cout//4,4,cin//4,4,H,W).permute(0,4,2,5,1,3).reshape(cout//4, H*cin//4*W*4, 4)
     else: w = w.reshape(cout//4,4,cin//4,4,H,W).permute(0,4,2,5,3,1).reshape(cout//4, H*cin//4*W*4, 4)
 
-    # contiguous creates the image, and early realize static weights (TODO: don't always realize)
-    x, w = x.contiguous(), w.contiguous().realize()
+    # contiguous creates the image, and early realize static weights (TODO: test for the static weight)
+    x, w = x.contiguous(), w.contiguous()
+    if get_single_root(w.lazydata).realized: w.realize()
 
     # expand out
     rcin_hi, rcin_lo = cin//4 if cin >= 4 else 1, 4 if cin >= 4 else 1