Handle missing 'sim_pose' gracefully in model outputs.
Check for the presence of 'sim_pose' in output data before processing. If absent, fallback to using 'plan' data to populate temporal pose fields, ensuring robustness and preventing potential runtime errors.
* Add buffer length parameter for enhanced frame handling
Introduce a configurable `buffer_length` parameter to `DrivingModelFrame` to support dynamic buffer sizes, enabling better handling of different frame rates like 20Hz. Updates include necessary adjustments in buffer initialization, copying logic, and related model inputs for improved compatibility and flexibility.
* Rename variable `len` to `length` to avoid shadowing built-in.
Replaced the usage of `len` with `length` across the code to prevent conflicts with Python's built-in `len` function. This improves code clarity and reduces potential errors or misunderstandings in variable usage.
* Fix spacing inconsistency in modeld.py
Added a missing newline for better code readability and consistency. This change has no impact on functionality but improves code formatting.
* Move numpy_inputs initialization to correct position
Repositioned the `numpy_inputs` initialization to align with the input shape processing logic. This ensures consistency in buffer management and clarifies the flow of code execution related to input handling.
* Add 20Hz model state, smart input, and model switcher classes
Introduce `ModelState20Hz`, `ModelSmartInput`, and `ModelSwitcher` for enhanced modularity and flexibility in modeld. Refactor `ModelState` to inherit from these new classes, enabling support for 20Hz processing and smart input initialization. Update associated files to handle the new buffer length parameter and metadata management.
* Refactor `modeld` to streamline feature handling logic
Simplified feature processing for both standard and "smart input" modes by consolidating logic into reusable methods. Updated variable naming, formatting, and spacing for consistency and readability. This refactor enhances maintainability and reduces redundancy in feature update operations.
* Silence debug print statements and use cloudlog for warnings.
Commented out a debug print statement in `commonmodel.cc` to reduce noise. Replaced `print` statements with `cloudlog.warning` in `model_smart_input.py` for improved logging consistency and better integration with the logging system.
* Clean up formatting and fix minor style inconsistencies
Removed unnecessary blank lines and adjusted spacing to standardize code style across the file. These changes improve readability without altering functionality or logic.
* Refactor modeld logic and remove unused 20Hz and smart inputs
Eliminated `ModelSmartInput`, `ModelSwitcher`, and `ModelState20Hz` classes, simplifying model state handling. Centralized model processing within a unified `ModelState` class and moved related code into `sunnypilot/modeld_20hz`. This improves maintainability by removing unused features and consolidating model execution logic, aligning with current system requirements.
* clean
* Remove debug print statement in commonmodel.cc
The `printf` statement logging buffer movement details was removed as it is unnecessary for release builds. This helps streamline the code and avoid excessive console output during execution.
* Refactor model handling for 20Hz and introduce model runners
Introduce ModelRunner abstraction with TinygradRunner and ONNXRunner to streamline model handling for TICI and non-TICI hardware. Added support for dynamic input preparation and 20Hz models while simplifying the model parsing logic. This improves modularity, readability, and extensibility for future updates.
* Remove unused import and fix import order in model_runner.py
This commit removes the unused 'dtypes' import from tinygrad.tensor and adjusts the import order for cleaner code. These changes enhance readability and maintain coding standards.
* Add is20hz field to custom.capnp schema
Introduce a new boolean field `is20hz` to the `custom.capnp` schema. This allows the system to identify 20Hz-specific configurations or data processing. No changes to existing behavior are introduced for non-20Hz cases.
* Add Meta20hz class for 20Hz model message handling.
Introduces a new Meta20hz class for filling 20Hz model messages, encapsulating functionality for curvature, lane lines, road edges, and more. Refactored `modeld.py` to utilize the new class, improving modularity and maintainability. Minor adjustments were made to initialize and handle model metadata.
* Refactor import paths to align with `openpilot` structure.
Updated several import statements to use the `openpilot` namespace for better consistency and organization. This aligns the sunnypilot components more closely with the overall project structure.
* Refactor modeld to support 20Hz models and modularize runners
Replaced legacy runner logic with a unified ONNX and Tinygrad runner to support 20Hz models. Centralized model metadata management and optimized input preparation for adaptability. Updated curvature handling and output parsing for improved modularity and maintainability.
* Add 20Hz metadata handling for model predictions
Introduce `Meta20hz` class for 20Hz-specific metadata and implement dynamic loading of meta model classes in `meta_helper.py`. Update `fill_model_msg.py` to use the new metadata structure, ensuring seamless integration with 20Hz models. Adjust imports in `model_runner.py` to align with project structure.
* "Refactor modeld_20hz to modeld_v2 with cleanup"
Refactored `modeld_20hz` module to `modeld_v2` for improved clarity and consistency. Removed unused code and aligned imports across modules to reflect the new structure. Enhanced maintainability by restructuring model-related files and updating references accordingly.
* Refactor variable names and adjust imports for clarity.
Renamed `len` to `length` to avoid conflict with the built-in function and improve readability. Reorganized imports in `fill_model_msg.py` for better structure and consistency.
* "Add missing newline at end of file in __init__.py
Ensure proper formatting by adding a newline at the end of the file. This adheres to POSIX standards and improves compatibility with some tools and version control systems."
* Handle model runner initialization errors gracefully
Wrap the model runner initialization in a try-except block to catch and log exceptions. This ensures that failures during initialization are logged with detailed information, improving debugging and error tracing.
* Refactor curvature calculation for clarity and reuse.
Introduce a dedicated `get_curvature_from_output` function to handle desired curvature retrieval, improving code readability and reusability. Replace redundant logic in curvature calculation with the new function to streamline the flow.
* Make 20Hz-specific variables conditional in modeld.py
Moved the initialization of 20Hz-specific variables to be conditional based on the `is_20hz` flag. This ensures that unnecessary memory allocations are avoided when the model is not running at 20Hz, improving efficiency and clarity.
* cleanup
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* release model: 6f23a03f-486b-4d3e-a314-19d149644c7c/700
* old style model in tinygrad
* fix desire
* tg hack
* 20Hz
* no gas probs
* No gas here
* better indexing
---------
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
* Add model execution time to DrivingModelData
* Update model replay ref commit
* Update ref commit again
* Ignore this field in model replay
* Back to original ref commit
* Bring back
---------
Co-authored-by: Comma Device <device@comma.ai>
* Mini model v2 prototype
* Apply suggestions
* Add meta
* Support for new packet in model
* Support in process replay
* Meta
* Add it to services
* Update model replay
* Add drivingModelData in model_replay
* Update ref
* MAX_FRAMES*3
* No modelv2, but drivingModelData at 2hz
* Polypath
* Dont use keyword
* Update model ref commit
* xyz coeff
* Fix field name
* Update ref commit
* Min qlog size 0.6
---------
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 2059f986dff46254419c889eadcc82ecea1bce94
* 2eedcd90-b7db-46cb-86be-740f48ded7ab/700
* noop ciao
* here too
* mapsd too
* update translations
* disable mapsd test from test onroad
* disable mapRenderState test from timings
* lint
* fix exp mode toggle panel
* update tr
* french done
* dont build mapd
* only no nav
* just comment
* deprecate nav fields
* rm not comment
* dont deprecate too much
* remove from services
* merge cereal
old-commit-hash: 754dd45ffa82bf3d7f2d3413c4132eb65551ebd5
* 6f6e3749-1b7c-42e8-a33b-03929b7fc476/700
* oops deleted too much
* 1b4308b7-a659-4ebd-b4c6-c81c1c3890f8/700
* 1be192f3-f407-4217-9757-78b9ad92750a/700
* remove some todos
* more cleanup in lat planner
* vego > min_speed
* regen and update process replay refs
* update model replay ref
* update model replay ref commit again
* Revert "update model replay ref commit again"
This reverts commit 922cb796b8dfe264b0cce7a18206bb898b18bcb3.
* update again
* bump cereal
old-commit-hash: 4c2bd853e4410db7f0d80e258291408e94c6c068
* WIP try modeld all in python
* fix plan
* add lane lines stds
* fix lane lines prob
* add lead prob
* add meta
* simplify plan parsing
* add hard brake pred
* add confidence
* fix desire state and desire pred
* check this file for now
* rm prints
* rm debug
* add todos
* add plan_t_idxs
* same as cpp
* removed cython
* add wfd width - rm cpp code
* add new files rm old files
* get metadata at compile time
* forgot this file
* now uses more CPU
* not used
* update readme
* lint
* copy this too
* simplify disengage probs
* update model replay ref commit
* update again
* confidence: remove if statemens
* use publish_state.enqueue
* Revert "use publish_state.enqueue"
This reverts commit d8807c8348338a1f773a8de00fd796abb8181404.
* confidence: better shape defs
* use ModelConstants class
* fix confidence
* Parser
* slightly more power too
* no inline ifs :(
* confidence: just use if statements
old-commit-hash: cad17b125595c4654bfd8299b041b94ccb3faf73
Jason Wen