Use CuPy Device API instead of CUDA_VISIBLE_DEVICES for JIT compatibility on sm_120

lidar_pipeline/gpu.py

@@ -1,8 +1,10 @@
 """GPU acceleration helpers for LiDAR pipeline.
 
-Auto-selects the best NVIDIA GPU that works with CuPy.
+Auto-selects the best NVIDIA GPU (highest compute capability first).
-Tries each card in order of compute capability; falls back to CPU
+Uses CuPy Device API (not CUDA_VISIBLE_DEVICES) so JIT compilation
-if none work.  All workers share the selected GPU.
+works correctly for any architecture (sm_89, sm_120, etc.).
+
+All workers share the selected GPU.
 """
 
 import logging
@@ -24,12 +26,7 @@ _gpu_reason = None
 
 
 def _pick_gpu() -> int | None:
-    """Pick the best GPU that CuPy can actually use.
+    """Pick the best GPU from the system (highest compute capability first)."""
-
-    Tries each card in order of compute capability (highest first).
-    Returns the index of the first GPU whose compute capability is
-    known to work with the installed CuPy version.
-    """
     try:
         import subprocess
         result = subprocess.run(
@@ -53,7 +50,7 @@ def _pick_gpu() -> int | None:
             mem_mi = int(parts[3])
             major, minor = (int(x) for x in cap_str.split('.'))
             score = major * 1000 + minor * 100 + mem_mi
-            gpus.append((idx, name, cap_str, mem_mi, score, major))
+            gpus.append((idx, name, cap_str, mem_mi, score))
 
         if not gpus:
             return None
@@ -61,16 +58,13 @@ def _pick_gpu() -> int | None:
         _NUM_GPUS = len(gpus)
         gpus.sort(key=lambda g: g[4], reverse=True)
 
-        # CuPy 13.4 + CUDA 11.8 JIT compiles kernels at runtime for any
+        # Use the best GPU (highest compute capability)
-        # architecture (sm_89, sm_120, etc.).  All NVIDIA GPUs are usable.
+        best = gpus[0]
-        for gpu in gpus:
+        _best_gpu_id = best[0]
-            idx, name, cap_str, mem_mi, score, major = gpu
+        _gpu_name = best[1]
-            _best_gpu_id = idx
+        _gpu_mem_gb = best[3] // 1024
-            _gpu_name = name
+        HAS_GPU = True
-            _gpu_mem_gb = mem_mi // 1024
+        return _best_gpu_id
-            HAS_GPU = True
-            return _best_gpu_id
-        return None
 
     except (FileNotFoundError, subprocess.TimeoutExpired, Exception):
         return None
@@ -79,7 +73,7 @@ def _pick_gpu() -> int | None:
 _best_gpu_id = _pick_gpu()
 
 # ---------------------------------------------------------------------------
-# Lazy CuPy initialization
+# Lazy CuPy initialization — uses Device API, not CUDA_VISIBLE_DEVICES
 # ---------------------------------------------------------------------------
 _xp = np
 _cp = None
@@ -88,7 +82,13 @@ _gpu_initialized = False
 
 
 def _init_gpu():
-    """Lazily initialize CuPy on first GPU use."""
+    """Lazily initialize CuPy on first GPU use.
+
+    Uses cupy.cuda.Device() to select the target GPU instead of
+    CUDA_VISIBLE_DEVICES, so JIT compilation (CUPY_CUDA_COMPILE_WITH_CACHE)
+    has access to the full device topology and can compile kernels for
+    architectures not in the pre-built wheel (sm_89, sm_120, etc.).
+    """
     global _xp, _cp, _cp_ndimage, _gpu_initialized, HAS_GPU
     if _gpu_initialized:
         return
@@ -99,29 +99,27 @@ def _init_gpu():
         _cp = None
         _cp_ndimage = None
         HAS_GPU = False
-        if _gpu_reason:
-            logger.info(f"Pas de GPU — {_gpu_reason}")
         return
 
     try:
-        os.environ['CUDA_VISIBLE_DEVICES'] = str(_best_gpu_id)
-
         import cupy as _real_cupy
         import cupyx.scipy.ndimage as _real_cupy_ndimage
 
-        # Warm-up: verify kernel execution works
+        # Select the target GPU using Device API
-        _test = _real_cupy.array([1.0, 2.0, 3.0], dtype=_real_cupy.float32)
+        with _real_cupy.cuda.Device(_best_gpu_id):
-        _result = _real_cupy.sum(_test * _test)
+            # Warm-up: verify kernel execution works on this GPU
-        _ = _result.get()
+            _test = _real_cupy.array([1.0, 2.0, 3.0], dtype=_real_cupy.float32)
-        del _test, _result
+            _result = _real_cupy.sum(_test * _test)
+            _ = _result.get()
+            del _test, _result
+
+        # Make this device the default for all subsequent operations
+        _real_cupy.cuda.Device(_best_gpu_id).use()
 
         _xp = _real_cupy
         _cp = _real_cupy
         _cp_ndimage = _real_cupy_ndimage
 
-        # Memory pool management removed — CuPy 13.x uses its own allocator.
-        # OOM protection handled at the application level (gpu_cleanup() calls).
-
     except (ImportError, Exception) as e:
         logger.warning(f"GPU {_best_gpu_id} ({_gpu_name}) non utilisable — mode CPU: {e}")
         _xp = np
@@ -164,15 +162,16 @@ def log_gpu_status():
     """Log GPU detection result. Called after logging is configured."""
     if _gpu_available():
         try:
-            name = _cp.cuda.runtime.getDeviceProperties(0)['name']
+            with _cp.cuda.Device(_best_gpu_id):
-            if isinstance(name, bytes):
+                name = _cp.cuda.runtime.getDeviceProperties(_best_gpu_id)['name']
-                name = name.decode()
+                if isinstance(name, bytes):
-            mem_gb = _cp.cuda.runtime.getDeviceProperties(0)['totalGlobalMem'] // (1024**3)
+                    name = name.decode()
-            gpu_info = f"GPU: {name} ({mem_gb} Go VRAM) — ID {_best_gpu_id}"
+                mem_gb = _cp.cuda.runtime.getDeviceProperties(_best_gpu_id)['totalGlobalMem'] // (1024**3)
+                gpu_info = f"GPU: {name} ({mem_gb} Go VRAM) — ID {_best_gpu_id}"
         except Exception:
             gpu_info = f"GPU: {_gpu_name} ({_gpu_mem_gb} Go VRAM)"
         logger.info(gpu_info)
-        
+
         # List other GPUs for info
         try:
             import subprocess
@@ -192,7 +191,7 @@ def log_gpu_status():
         except Exception:
             pass
     else:
-        logger.info(f"Pas de GPU utilisable — mode CPU uniquement ({_gpu_reason or 'aucun GPU détecté'})")
+        logger.info(f"Pas de GPU utilisable — mode CPU uniquement")
 
 
 # ---------------------------------------------------------------------------