small fixes

Author: haraschax

selfdrive/modeld/SConscript

@@ -19,8 +19,6 @@ def get_camera_configs():
     "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
     "mici": (_os_fisheye.width, _os_fisheye.height),
   }
-  if release or PC or 'CI' in os.environ:
-    return set(DEVICE_RESOLUTIONS.values())
   return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
 
 CAMERA_CONFIGS = get_camera_configs()
@@ -48,7 +46,7 @@ if 'CUDA' in available:
   tg_flags = f'DEV={tg_backend}'
 elif 'QCOM' in available:
   tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
+  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
   tg_backend = 'CPU'
   tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'

selfdrive/modeld/compile_modeld.py

@@ -40,36 +40,6 @@ def fetch_fw(path, name, sha256):
 
 WARP_DEV = os.getenv('WARP_DEV')
 
-_ORIG_TINYGRAD_OPTIMIZE_LOCAL_SIZE = None
-
-
-def _optimize_local_size_or_skip(call, prg):
-  try:
-    return _ORIG_TINYGRAD_OPTIMIZE_LOCAL_SIZE(call, prg)
-  except AssertionError as e:
-    if str(e) != "all optimize_local_size exec failed":
-      raise
-    from dataclasses import replace
-    preferred = (32, 16, 1)
-    local_size = tuple(next(x for x in range(min(preferred[i] if i < len(preferred) else 1, g), 0, -1) if g % x == 0)
-                       for i, g in enumerate(prg.arg.global_size))
-    new_global = tuple(g//l if g % l == 0 else g/l for g, l in zip(prg.arg.global_size, local_size, strict=True))
-    return call.replace(src=(prg.replace(arg=replace(prg.arg, global_size=new_global, local_size=local_size)), *call.src[1:]))
-
-
-def _patch_tinygrad_local_size_optimizer():
-  global _ORIG_TINYGRAD_OPTIMIZE_LOCAL_SIZE
-  from tinygrad.engine import realize
-  from tinygrad.uop.ops import Ops, PatternMatcher, UPat
-
-  _ORIG_TINYGRAD_OPTIMIZE_LOCAL_SIZE = realize.optimize_local_size
-  realize.pm_optimize_local_size = PatternMatcher([
-    (UPat(Ops.CALL, src=(UPat(Ops.PROGRAM, name="prg"),), name="call", allow_any_len=True), _optimize_local_size_or_skip),
-  ])
-
-
-_patch_tinygrad_local_size_optimizer()
-
 
 def make_camera_vars(camera_configs: list[NV12Frame]):
   max_cam_w = max(nv12.width for nv12 in camera_configs)