Merge pull request #12 from Zeroth-Robotics/runtime2

Runtime2

Author: hatomist

.gitignore

@@ -51,6 +51,8 @@ logs/
 
 # artifacts
 artifacts/
+# Model artifacts directories in models/
+models/*_artifacts/
 
 # gitlab-ci-local
 .gitlab-ci-local/

.gitlab-ci-local/.gitignore

@@ -0,0 +1,2 @@
+*
+!.gitignore

.gitmodules

@@ -7,6 +7,6 @@
 [submodule "runtime/firmware/duo-sdk"]
 	path = runtime/firmware/duo-sdk
 	url = https://github.com/milkv-duo/duo-sdk.git
-[submodule "runtime/models/tpu-mlir"]
-	path = runtime/models/tpu-mlir
-	url = https://github.com/milkv-duo/tpu-mlir
+[submodule "models/tpu-mlir"]
+	path = models/tpu-mlir
+	url = https://github.com/milkv-duo/tpu-mlir.git

runtime/models/README.md renamed to models/README.md

@@ -2,26 +2,22 @@
 
 # Function to print usage
 print_usage() {
-    echo "Usage: MODEL_PATH=/path/to/your/model.pt [MODEL_SHAPE='1,615'] ./convert_model.sh [model_shape]"
-    echo "  MODEL_PATH: Path to your .pt model file (required)"
-    echo "  MODEL_SHAPE: Shape of the input tensor (optional, can be set as env var or command-line arg)"
-    echo "               Default is '1,615' if not specified"
+    echo "Usage: $0 <model_path> [model_shape]"
+    echo "  <model_path>: Path to your .pt model file (required)"
+    echo "  [model_shape]: Shape of the input tensor (optional)"
+    echo "                 Default is '1,615' if not specified"
 }
 
-# Check if MODEL_PATH is set
-if [ -z "$MODEL_PATH" ]; then
-    echo "Error: MODEL_PATH environment variable is not set."
+# Check if at least one argument is provided
+if [ $# -lt 1 ]; then
+    echo "Error: Model path is required."
     print_usage
     exit 1
 fi
 
-# Set default model shape
-MODEL_SHAPE=${MODEL_SHAPE:-"1,615"}
-
-# Override MODEL_SHAPE if provided as command-line argument
-if [ $# -eq 1 ]; then
-    MODEL_SHAPE=$1
-fi
+# Set model path and shape
+MODEL_PATH="$1"
+MODEL_SHAPE="${2:-1,615}"
 
 # Extract directory, filename, and name without extension
 MODEL_DIR=$(dirname "$MODEL_PATH")

runtime/models/convert_model.sh renamed to models/convert_model.sh

@@ -6,6 +6,10 @@ rustflags = [
     "-L", "./firmware/sts3215",
     "-L", "./firmware/tpu-sdk-sg200x/lib",
     "-L", "./firmware/duo-sdk/rootfs/usr/lib",
+    "-L", "./models/tpu-mlir/lib",
+    "-Clink-arg=-Wl,-rpath,../models/tpu-mlir/lib",
+    "-Clink-arg=-Wl,-rpath,./firmware/tpu-sdk-sg200x/lib",
+    "-Clink-arg=-Wl,-rpath,./firmware/duo-sdk/rootfs/lib",
     "-Clink-arg=-Wl,-rpath,./tpu-libs",
     "-Clink-arg=-Wl,-rpath,./sysroot/lib",
     "-Clink-arg=-Wl,-rpath,./sysroot/usr/lib",

models/ppo_standing.pt

@@ -36,22 +36,22 @@ If you're connecting via USB, use the following details:
 SSH:
 `ssh [email protected]`
 
-4. Download Required Artifacts
-Go to OpenLCH Artifacts and download the following:
-`runtime`
-`servo`
-`cviwrapper`
-
-6. Transfer Files to the Target Device
-Run the following commands to copy the necessary files to your device:
-
+4. Build Runtime
 ```bash
-scp -O runtime [email protected]:/usr/local/bin/
-scp -O servo [email protected]:/usr/local/bin/
-scp -O cviwrapper [email protected]:/usr/local/bin/
+cargo check && gitlab-ci-local # check and build
+```
 
+5. Transfer Files to the Target Device
+Find binaries in target/riscv64gc-unknown-linux-musl/release/
 
+`scp -O target/riscv64gc-unknown-linux-musl/release/runtime $MILKV_IP:/usr/local/bin/`
+
+Debug:
+Note that you cannot ping the device in Cursor editor terminal for some reason. Try:
+```bash
+ping 192.168.42.1
 ```
+
 6. Run the Application
 To run the servo setup, execute the following on the target device:
 
@@ -61,27 +61,12 @@ To run the servo setup, execute the following on the target device:
 ls /usr/local/bin/
 
 # Run your desired binary (example: runtime)
-sudo /usr/local/bin/runtime
-```
-
-
-
-
-```
-# Install docker / docker desktop
-brew install gitlab-ci-local
+ /usr/local/bin/runtime
 ```
 
-### Build
 
-```bash
-gitlab-ci-local --stage build-runtime
-```
 
-Find binaries in target/riscv64gc-unknown-linux-musl/release/
 
-### Copy to the milk-v board
-`scp -O target/riscv64gc-unknown-linux-musl/release/runtime $MILKV_IP:/usr/local/bin/`
 
 If the board is connected over usb, ip is `192.168.42.1`