From f67a830deee43670eba159ff6a978d1a88922222 Mon Sep 17 00:00:00 2001
From: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
Date: Fri, 21 Mar 2025 16:05:13 +0900
Subject: [PATCH] autoware_tenssort_common): validate TensorRT engine version
for cached engine
Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
---
.../tensorrt_common/tensorrt_common.hpp | 11 ++++++
.../src/tensorrt_common.cpp | 37 ++++++++++++++++++-
2 files changed, 47 insertions(+), 1 deletion(-)
diff --git a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp
index 9355732962e23..d35efbfd0ab4a 100644
--- a/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp
+++ b/perception/autoware_tensorrt_common/include/autoware/tensorrt_common/tensorrt_common.hpp
@@ -46,6 +46,10 @@ using ProfileDimsPtr = std::unique_ptr<std::vector<ProfileDims>>;
using TensorsVec = std::vector<std::pair<void *, nvinfer1::Dims>>;
using TensorsMap = std::unordered_map<const char *, std::pair<void *, nvinfer1::Dims>>;
+constexpr int TRT_MAJOR_IDX = 24;
+constexpr int TRT_MINOR_IDX = 25;
+constexpr int TRT_PATCH_IDX = 26;
+
/**
* @class TrtCommon
* @brief TensorRT common library.
@@ -317,6 +321,13 @@ class TrtCommon // NOLINT
*/
bool buildEngineFromOnnx();
+ /**
+ * @brief Validate TensorRT engine.
+ *
+ * @return Whether TensorRT version used for building engine is compatible.
+ */
+ bool validateEngine();
+
/**
* @brief Load TensorRT engine.
*
diff --git a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp
index ba422277416ab..1cd9c58667992 100644
--- a/perception/autoware_tensorrt_common/src/tensorrt_common.cpp
+++ b/perception/autoware_tensorrt_common/src/tensorrt_common.cpp
@@ -115,7 +115,15 @@ bool TrtCommon::setup(ProfileDimsPtr profile_dims, NetworkIOPtr network_io)
// Load engine file if it exists
if (fs::exists(trt_config_->engine_path)) {
logger_->log(nvinfer1::ILogger::Severity::kINFO, "Loading engine");
- if (!loadEngine()) {
+ if (!validateEngine()) {
+ logger_->log(
+ nvinfer1::ILogger::Severity::kWARNING,
+ "Engine validation failed for loaded engine from file. Rebuilding engine");
+ // Rebuild engine if version mismatch occurred
+ if (!build_engine_with_log()) {
+ return false;
+ }
+ } else if (!loadEngine()) {
return false;
}
logger_->log(nvinfer1::ILogger::Severity::kINFO, "Network validation");
@@ -543,6 +551,33 @@ bool TrtCommon::buildEngineFromOnnx()
return true;
}
+bool TrtCommon::validateEngine()
+{
+#if (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSOR_PATCH >= 8600
+ std::ifstream engine_file(trt_config_->engine_path);
+ std::stringstream engine_buffer;
+ engine_buffer << engine_file.rdbuf();
+ std::string engine_str = engine_buffer.str();
+
+ auto const blob = reinterpret_cast<uint8_t *>(engine_str.data());
+ logger_->log(
+ nvinfer1::ILogger::Severity::kINFO, "Plan was created with TensorRT %d.%d.%d",
+ static_cast<int32_t>(blob[TRT_MAJOR_IDX]), static_cast<int32_t>(blob[TRT_MINOR_IDX]),
+ static_cast<int32_t>(blob[TRT_PATCH_IDX]));
+ auto plan_ver = static_cast<int32_t>(blob[TRT_MAJOR_IDX]) * 1000 +
+ static_cast<int32_t>(blob[TRT_MINOR_IDX]) * 100 +
+ static_cast<int32_t>(blob[TRT_PATCH_IDX]);
+ if (plan_ver != (NV_TENSORRT_MAJOR * 1000) + (NV_TENSORRT_MINOR * 100) + NV_TENSORRT_PATCH) {
+ logger_->log(
+ nvinfer1::ILogger::Severity::kWARNING,
+ "Plan was created with a different version of TensorRT! Current version: %d.%d.%d",
+ NV_TENSORRT_MAJOR, NV_TENSORRT_MINOR, NV_TENSORRT_PATCH);
+ return false;
+ }
+#endif
+ return true;
+}
+
bool TrtCommon::loadEngine()
{
std::ifstream engine_file(trt_config_->engine_path);