From 038b83ac4a725466b59219a5591876bebefac36b Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 4 Jun 2026 23:52:55 -0500
Subject: [PATCH] this outta be good

---
 selfdrive/modeld/modeld_v16.py       | 28 ++++++++++--
 tinygrad_repo/tinygrad/engine/jit.py | 65 ++++++++++++++++++++++++++--
 2 files changed, 87 insertions(+), 6 deletions(-)

diff --git a/selfdrive/modeld/modeld_v16.py b/selfdrive/modeld/modeld_v16.py
index 287dc48f7..bfd31764b 100644
--- a/selfdrive/modeld/modeld_v16.py
+++ b/selfdrive/modeld/modeld_v16.py
@@ -18,6 +18,7 @@ from msgq.visionipc import VisionBuf, VisionIpcClient, VisionStreamType
 from opendbc.car.car_helpers import get_demo_car_params
 from setproctitle import setproctitle
 from tinygrad.dtype import dtypes
+from tinygrad.engine.jit import get_out_buffers_for_ei
 from tinygrad.tensor import Tensor
 
 from openpilot.common.file_chunker import read_file_chunked
@@ -214,6 +215,23 @@ class ModelState:
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     return {key: model_outputs[np.newaxis, value] for key, value in output_slices.items()}
 
+  def read_captured_outputs(self) -> tuple[np.ndarray, np.ndarray, np.ndarray] | None:
+    captured = getattr(self.run_policy, "captured", None)
+    ret_output_map = getattr(captured, "ret_output_map", None)
+    if captured is None or ret_output_map is None or len(ret_output_map) != 3:
+      return None
+
+    jit_outs = []
+    for ji in captured.jit_cache:
+      jit_outs.extend(get_out_buffers_for_ei(ji))
+
+    outputs = []
+    for idx in ret_output_map:
+      if idx is None or idx >= len(jit_outs):
+        return None
+      outputs.append(np.frombuffer(bytes(jit_outs[idx].as_memoryview()), dtype=np.float32).copy())
+    return tuple(outputs)
+
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray], inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     inputs[self.desire_key][0] = 0
     self.npy["desire"][:] = np.where(inputs[self.desire_key] - self.prev_desire > 0.99, inputs[self.desire_key], 0)
@@ -245,9 +263,13 @@ class ModelState:
       big_img=self.vision_inputs["big_img"],
     )
 
-    vision_output = vision_output.numpy().flatten()
-    policy_output = policy_output.numpy().flatten()
-    off_policy_output = off_policy_output.numpy().flatten()
+    captured_outputs = self.read_captured_outputs()
+    if captured_outputs is not None:
+      vision_output, policy_output, off_policy_output = captured_outputs
+    else:
+      vision_output = vision_output.numpy().flatten()
+      policy_output = policy_output.numpy().flatten()
+      off_policy_output = off_policy_output.numpy().flatten()
 
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
     off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(off_policy_output, self.off_policy_output_slices))
diff --git a/tinygrad_repo/tinygrad/engine/jit.py b/tinygrad_repo/tinygrad/engine/jit.py
index 79fe034d3..2103c87f6 100644
--- a/tinygrad_repo/tinygrad/engine/jit.py
+++ b/tinygrad_repo/tinygrad/engine/jit.py
@@ -166,6 +166,48 @@ def update_depends(depends:set[Buffer|None], jit_cache:list[ExecItem]):
   for ei in jit_cache:
     if any(b in depends for b in ei.bufs): depends.update(get_out_buffers_for_ei(ei))
 
+def get_ret_tensors(ret:Any) -> list[Tensor]:
+  if isinstance(ret, Tensor): return [ret]
+  if isinstance(ret, (tuple, list)): return flatten([get_ret_tensors(x) for x in ret])
+  if isinstance(ret, dict): return flatten([get_ret_tensors(x) for x in ret.values()])
+  return []
+
+def get_jit_outs(jit_cache:list[ExecItem]) -> list[Buffer]:
+  return flatten([get_out_buffers_for_ei(ei) for ei in jit_cache])
+
+def get_ret_output_map(ret:Any, jit_cache:list[ExecItem]) -> list[int|None]:
+  output_map = {id(buf): idx for idx, buf in enumerate(get_jit_outs(jit_cache))}
+  ret_output_map: list[int|None] = []
+  for t in get_ret_tensors(ret):
+    realized = t.uop.base.realized
+    ret_output_map.append(output_map.get(id(realized)) if realized is not None else None)
+  return ret_output_map
+
+def get_ret_spec(ret:Any, jit_cache:list[ExecItem]) -> Any:
+  output_map = {id(buf): idx for idx, buf in enumerate(get_jit_outs(jit_cache))}
+  if isinstance(ret, Tensor):
+    realized = ret.uop.base.realized
+    if realized is not None and (out_idx:=output_map.get(id(realized))) is not None:
+      return ("tensor", out_idx, ret.uop, ret.requires_grad)
+    return ("value", ret)
+  if isinstance(ret, tuple): return ("tuple", tuple(get_ret_spec(x, jit_cache) for x in ret))
+  if isinstance(ret, list): return ("list", [get_ret_spec(x, jit_cache) for x in ret])
+  if isinstance(ret, dict): return ("dict", [(k, get_ret_spec(v, jit_cache)) for k, v in ret.items()])
+  return ("value", ret)
+
+def rebuild_ret_from_spec(spec:Any, jit_outs:list[Buffer]) -> Any:
+  tag, payload = spec[0], spec[1:]
+  if tag == "tensor":
+    out_idx, template_uop, requires_grad = payload
+    target_buf = jit_outs[out_idx]
+    buf_uop = UOp.new_buffer(target_buf.device, target_buf.size, template_uop.base.dtype)
+    bound = UOp(buf_uop.op, buf_uop.dtype, buf_uop.src, buf_uop.arg, buf_uop.tag, _buffer=target_buf)
+    return Tensor(template_uop.substitute({template_uop.base: bound}, name="rebuild captured jit ret"), requires_grad=requires_grad)
+  if tag == "tuple": return tuple(rebuild_ret_from_spec(x, jit_outs) for x in payload[0])
+  if tag == "list": return [rebuild_ret_from_spec(x, jit_outs) for x in payload[0]]
+  if tag == "dict": return {k: rebuild_ret_from_spec(v, jit_outs) for k, v in payload[0]}
+  return payload[0]
+
 ReturnType = TypeVar('ReturnType')
 @dataclass
 class CapturedJit(Generic[ReturnType]):
@@ -175,10 +217,14 @@ class CapturedJit(Generic[ReturnType]):
   extra_view_inputs: list[tuple[int, int, str, int, DType]]
   expected_names: list[int|str]
   expected_input_info: list[tuple[UOp, tuple[Variable, ...], DType, str]]  # (view, variables, dtype, device) per input
+  ret_output_map: list[int|None]|None = None
+  ret_spec: Any = None
 
   def __reduce__(self):
     # TODO: free_intermediates here? replan_buffers_memory_layout here?
-    return self.__class__, (self.ret, self.jit_cache, self.input_replace, self.extra_view_inputs, self.expected_names, self.expected_input_info)
+    return self.__class__, (
+      self.ret, self.jit_cache, self.input_replace, self.extra_view_inputs, self.expected_names, self.expected_input_info, self.ret_output_map, self.ret_spec,
+    )
 
   def __post_init__(self):
     self._jit_cache: list[ExecItem] = self.jit_cache
@@ -189,6 +235,18 @@ class CapturedJit(Generic[ReturnType]):
     self._input_to_max_reader: dict[int, int] = {}
     for (j, _), idx in self.input_replace.items(): self._input_to_max_reader[idx] = max(self._input_to_max_reader.get(idx, -1), j)
     self._clear_inputs()
+    self._rebind_ret_outputs()
+
+  def _rebind_ret_outputs(self):
+    if self.ret_output_map is None: return
+    jit_outs = get_jit_outs(self.jit_cache)
+    for t, out_idx in zip(get_ret_tensors(self.ret), self.ret_output_map):
+      if out_idx is None or out_idx >= len(jit_outs) or t.uop.base.op is not Ops.BUFFER: continue
+      target_buf = jit_outs[out_idx]
+      if t.uop.base.realized is target_buf: continue
+      buf_uop = UOp.new_buffer(target_buf.device, target_buf.size, t.uop.base.dtype)
+      new_base = UOp(buf_uop.op, buf_uop.dtype, buf_uop.src, buf_uop.arg, buf_uop.tag, _buffer=target_buf)
+      t.uop = t.uop.substitute({t.uop.base: new_base}, name="rebind captured jit outputs")
 
   def _clear_inputs(self):
     for (j,i) in self._input_replace.keys(): self._jit_cache[j].bufs[i] = None
@@ -244,7 +302,7 @@ class CapturedJit(Generic[ReturnType]):
     if DEBUG >= 1 and len(self._jit_cache) >= 10: print(f"jit execs {len(self._jit_cache)} kernels")
     for ei in self._jit_cache: ei.run(var_vals, jit=True)
     self._clear_inputs()
-    return self.ret
+    return rebuild_ret_from_spec(self.ret_spec, get_jit_outs(self.jit_cache)) if self.ret_spec is not None else self.ret
 
 def _prepare_jit_inputs(args, kwargs):
   input_tensors: list[tuple[int|str, Tensor]] = [(name,t) for name,t in list(enumerate(args))+sorted(kwargs.items()) if t.__class__ is Tensor]
@@ -361,7 +419,8 @@ class TinyJit(Generic[ReturnType]):
       if DEBUG >= 1 and len(set(input_replace.values())) != len(input_buffers): print("WARNING: some input tensors not found")
 
       # set this for next run
-      self.captured = CapturedJit(ret, jit_cache, input_replace, extra_view_inputs, names, expected_input_info)
+      self.captured = CapturedJit(ret, jit_cache, input_replace, extra_view_inputs, names, expected_input_info,
+                                  get_ret_output_map(ret, jit_cache), get_ret_spec(ret, jit_cache))
       if self.optimize: self.captured.replan_buffers_memory_layout()
     elif self.cnt >= 2:
       # jit exec