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443 Commits

Author SHA1 Message Date
mitchellgoffpc 459e4fdb50 Added cython bindings for commonmodel sigmoid 
old-commit-hash: 05993f50dfe27ce583919c6df68fc67c17f5342e
 2023-08-31 19:40:53 -07:00
Mitchell Goff cd7d73eaf8 Added ModelRunner helpers in modeld/runners/__init__.py (#29737) 
* Added ModelRunner helper class

* import Runtime in __init__.py
old-commit-hash: d5a55136a14537ec2b7b280aad4efdb61f38238c
 2023-08-31 14:19:20 -07:00
mitchellgoffpc aca5580900 Move Runtime into runmodel_pyx 
old-commit-hash: f91e955a86baaa6ff6ef686bb821177a668034e1
 2023-08-31 13:51:50 -07:00
mitchellgoffpc e9c82290c0 Remove unnecessary hardware check in modeld 
old-commit-hash: 857f747467f3dd1eb92cc39dafc2da4ea0a708c5
 2023-08-31 13:51:49 -07:00
mitchellgoffpc 51066175f5 Set ADSP_LIBRARY_PATH in snpemodel_pyx 
old-commit-hash: 18526c58b65959ebcaea9a07e84a55315d10508e
 2023-08-31 13:11:39 -07:00
mitchellgoffpc 83745ad42f Set RPATH for snpemodel 
old-commit-hash: aebff37593101fbe207f327c3a713f026b449f35
 2023-08-31 11:33:42 -07:00
Mitchell Goff 52901d2a20 Cleaned up modeld SConscript (#29646) 
old-commit-hash: 88a36f44648474c84b4608ed8d4db34bc4e0ee07
 2023-08-30 15:29:33 -07:00
Mitchell Goff fa770f1ccc Combine update_calibration/get_warp_matrix (#29719) 
old-commit-hash: 151ac4bf7631a60e05c7490515e58c3309de445b
 2023-08-30 15:16:29 -07:00
Mitchell Goff 54988e457f Move update_calibration to modeld.py (#29688) 
* Move update_calibration to modeld.py

* Updated ref commit
old-commit-hash: 1eb60516cbcfa014cfd728123b6b3a5b97fce2df
 2023-08-30 14:12:52 -07:00
mitchellgoffpc 16a3f0f67f -DUSE_THNEED is dead 
old-commit-hash: 12d1020239c0ab59648fd725ee370ef5e8cb299f
 2023-08-30 12:58:31 -07:00
Mitchell Goff c4ae1fae5a Added USE_THNEED environment variable and removed build flag (#29645) 
old-commit-hash: d998fd88a80e61e44692c50deefc91a7f94b59a2
 2023-08-29 14:07:57 -07:00
mitchellgoffpc fdaee85b1e Remove no-thneed build flag 
old-commit-hash: 807410e0accc7486575885fbe324538ce7e6ece0
 2023-08-25 19:09:25 -07:00
mitchellgoffpc e9e98abe89 Remove USE_THNEED check from run.h 
old-commit-hash: e0287fa93e79754b00953faa621b9979c2f14832
 2023-08-25 19:05:49 -07:00
Kacper Rączy d254137f4c modeld: fix bash scripts (#29643) 
Fix shebang. Fix LD_PRELOAD
old-commit-hash: a4a0429fca82a79118238695a04d888498ca0376
 2023-08-25 18:56:06 -07:00
mitchellgoffpc 68e2c74cd3 Remove thneed logic from snpemodel 
old-commit-hash: ef8e0fef55c51a54cc218b41081a99ec94554f3f
 2023-08-25 14:37:08 -07:00
Mitchell Goff a3fbbb26ac Rewrite modeld in python (#29230) 
* Added modeld.py (WIP)

* No more VisionIpcBufExtra

* Started work on cython bindings for runmodel

* Got ONNXModel cython bindings mostly working, added ModelFrame bindings

* Got modeld main loop running without model eval

* Move everything into ModelState

* Doesn't crash!

* Moved ModelState into modeld.py

* Added driving_pyx

* Added cython bindings for message generation

* Moved CLContext definition to visionipc.pxd

* *facepalm*

* Move cl_pyx into commonmodel_pyx

* Split out ONNXModel into a subclass of RunModel

* Added snpemodel/thneedmodel bindings

* Removed modeld.cc

* Fixed scons for macOS

* Fixed sconscript

* Added flag for thneedmodel

* paths are now relative to openpilot root dir

* Set cl kernel paths in SConscript

* Set LD_PRELOAD=libthneed.so to fix ioctl interception

* Run from root dir

* A few more fixes

* A few more minor fixes

* Use C update_calibration for now to exactly match refs

* Add nav_instructions input

* Link driving_pyx.pyx with transformations

* Checked python FirstOrderFilter against C++ FirstOrderFilter

* Set process name to fix test_onroad

* Revert changes to onnxmodel.cc

* Fixed bad onnx_runner.py path in onnxmodel.cc

* Import all constants from driving.h

* logging -> cloudlog

* pylint import-error suppressions no longer needed?

* Loop in SConscript

* Added parens

* Bump modeld cpu usage in test_onroad

* Get rid of use_nav

* use config_realtime_process

* error message from ioctl sniffer was messing up pyenv

* cast distance_idx to int

* Removed cloudlog.infos in model.run

* Fixed rebase conflicts

* Clean up driving.pxd/pyx

* Fixed linter error
old-commit-hash: 72a3c987c0d9de6a0cd7a02bba032ccd5e1efe43
 2023-08-25 14:36:26 -07:00
Mitchell Goff 5033da5e27 Added cython bindings for model runners and commonmodel (#29607) 
* Added cython bindings for model runners and commonmodel

* Removed cython language_level=3

* loop to set CXXFLAGS for both envs
old-commit-hash: e2e39d100b32a6706e83c81a1ef3dcdd7ea4001f
 2023-08-24 17:00:26 -07:00
Justin Newberry c4f322ce2d Linter: remove pylint (#29611) 
remove pylint
old-commit-hash: 1ee6ed4b16e2ade0dd887c0687243aee769043e5
 2023-08-24 16:30:54 -07:00
mitchellgoffpc 01e73c76f8 Moved thneed src to top of modeld sconscript 
old-commit-hash: 7dae580441ddad32bab13bea9b2fd87edbe5d887
 2023-08-24 15:12:01 -07:00
mitchellgoffpc c4bb5bbf04 Some cleanup in modeld sconscript 
old-commit-hash: fc8c97e7a9595e489f3f466cfc6c0097b9b8217c
 2023-08-24 14:41:04 -07:00
mitchellgoffpc 0126d840f3 Disable error message in thneed ioctl interceptor to fix pyenv issues 
old-commit-hash: a184d40b7aebbebd91000a199d90299457378381
 2023-08-24 14:41:04 -07:00
Dean Lee de809632bf cpplint: add filter whitespace/comma (#29595) 
old-commit-hash: 7bfd3dac811ae95bfd09495e88377dfbaacda393
 2023-08-24 10:42:06 -07:00
Dean Lee 228d30d5a9 cpplint: add filter whitespace/tab (#29588) 
old-commit-hash: 9c7bf50703e4da45163e175766b4bdfabcb9916c
 2023-08-24 08:06:58 -07:00
Dean Lee 0984736972 cpplint: add filter build/include_subdir (#29585) 
old-commit-hash: 21da5a216fc8f5269d2deedc538c2f543a1c270a
 2023-08-24 15:42:17 +01:00
Dean Lee 5f4b422305 cpplint: add filter whitespace/semicolon (#29568) 
old-commit-hash: f203648de0a9d78121d3a775ae454a43e1211e62
 2023-08-23 15:00:30 -07:00
Dean Lee db211ce617 cpplint: add filter whitespace/parens (#29565) 
old-commit-hash: 5480d32bb5d98d57100fd709b9ffe7bfcc6e020a
 2023-08-23 14:25:05 -07:00
Dean Lee 97e9d55588 cpplint: build/include_what_you_use (#29556) 
* include_what_you_use

* remove comments

* include <memory>

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 2d99521e7500902070d0aacce69528bcfd8b9964
 2023-08-23 13:25:17 -07:00
mitchellgoffpc 8a1e4d8575 Set paths for cl kernels and onnx_runner.py in modeld SConscript 
old-commit-hash: 7699444816b04b95407f43ef631760666f1e2a11
 2023-08-21 19:38:40 -07:00
mitchellgoffpc b1a10e45d1 Move USE_RUNTIME flags into runmodel.h 
old-commit-hash: 24090d21219cb93de18103cda3a6ada02f4ba3f2
 2023-08-21 19:26:48 -07:00
mitchellgoffpc b69de80962 exit if onnxmodel exec fails 
old-commit-hash: 8c478708ee53c7b473989cd48ac1fdad8702c372
 2023-08-21 19:23:23 -07:00
Adeeb Shihadeh 16ec56398c add openpilot prefix to imports (#29498) 
* add openpilot prefix to imports

* more

* more

* fix docs

* fix linter

* bump submodules

* fix patched tests

* update dynamic imports

* debug

* Revert "debug"

This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b.

* fix pm test
old-commit-hash: a9626f95b69af19306143fc4def02fb5769405d2
 2023-08-20 20:49:55 -07:00
Justin Newberry f33b4de80b Ruff: b905 (strict zip) (#29336) 
* added mutable default args

* most of the Bs

* add comment about lrucache

* b905
old-commit-hash: e4ead4f1830618f5f61978491930cb0b8d36ab26
 2023-08-11 16:13:51 -07:00
Justin Newberry d487c0501f Ruff: enable most of bugbear (#29320) 
* added mutable default args

* most of the Bs

* add comment about lrucache
old-commit-hash: 62c1e6592439119f360dd64b854e7047f35222ba
 2023-08-11 15:33:49 -07:00
Mitchell Goff e6e19f8d3e Non-Inflatable Model 🎈 (#29003) 
* Added all maneuvers to navInstruction message

* Added nav instruction logic to modeld

* New model: fcee01c1-96bb-414f-b00d-e4a994a00922/700

* Fixed bug in navd

* Added sharp/slight modifiers

* Updated refs
old-commit-hash: c04e5d12fce1801cd555a4846768b68db7090b17
 2023-08-09 19:56:45 -07:00
Justin Newberry 3ee0786de3 CI: Pylint to ruff (#29294) 
* pylint to riff

* pylint to riff

* pylint to riff

* revert more

* undo exclude removal

* exclude tinygrad

* set line length

* pylint exclusions to ruff

* same excludes as old linter

* fix tools QA

* remove unrequired check

* revert linting third_party

* ignore e402
old-commit-hash: 7fdd9fc37c1c5febf1cd3dc86441ebf0dec7f370
 2023-08-09 13:26:54 -07:00
Justin Newberry ff96892511 Revert "CI: pylint to ruff (#29276)" (#29284) 
This reverts commit ffad7279cbad3c4f2ea786287b4624d3a3aa18d7.
old-commit-hash: a91764954b0c9bfe5ccfc8e64321af6bb6c56536
 2023-08-08 14:24:04 -07:00
Justin Newberry 99006365a3 CI: pylint to ruff (#29276) 
* pylint to riff

* pylint to riff

* pylint to riff

* revert more

* undo exclude removal

* exclude tinygrad
old-commit-hash: cb31a53d8a93cf6cb1f8bd2fff1431716b3a47e4
 2023-08-08 13:41:30 -07:00
eFini 0a9ec3e2aa unused variables removal (#29247) 
old-commit-hash: e883789c0e8514e6fe57ac5522b49eb03a3d68d4
 2023-08-06 21:41:13 -07:00
mitchellgoffpc 7616368e5b Added modeld gitignore 
old-commit-hash: 66dfe8fd5e28f20ce5bbf828fb34612047db6aae
 2023-08-04 14:14:45 -07:00
Mitchell Goff 181e9775f7 Clean up model_publish args to simplify cython bindings (#29203) 
* Clean up model_publish args to simplify cython bindings

* pass by reference

* Move FCW and model confidence queues into PublishState
old-commit-hash: 663fc0d8fe7cb203259fceb5b8aef9fde270b9cb
 2023-08-01 19:23:18 -07:00
Kacper Rączy edc31db6df aarch64: ubuntu build support (#29171) 
* Add support for aarch64 pc linux

* Add new libyuv path to release files

* Add libyuv's x86_64 lib dir

* Move left-over platform specific dirs from files_common

* Remove libyuv/lib directory (duplicate)

* Fix mpc Sconscripts

* Remove acados lib path from mpc sources

* Fix typo

* Add watch3 exec on aarch64
old-commit-hash: c640429406c8925b3cce9d979cee880a90fd79c3
 2023-08-01 16:18:46 -07:00
Dean Lee b80325aa04 swaglog: enable type-checked against format string (#29096) 
* check&fix fmt

* bump rednose

* correct format string

* bump rednose

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 940954c13e4fb352618448e435b5c1a722fdc3aa
 2023-07-31 17:49:50 -07:00
Nima Khodaveisi 8fdb381e42 dmmonitoringmodeld: remove unused libyuv import (#29180) 
old-commit-hash: 24c7b044de53686bd16eec2ece0951c8c96f010c
 2023-07-31 13:23:13 -07:00
YassineYousfi af69774431 models/README: DM input is only luma (#29188) 
dm input = only luma
old-commit-hash: 14e524d52b24647c140fbccd0d1d4badb8ecd103
 2023-07-31 12:57:22 -07:00
Shane Smiskol 0a6b589f23 dmonitoringmodeld: initialize model first (#29080) 
* hacky fix

* even better

* ordering

* clean up

* fix model replay

* add comment

* catch sigint
old-commit-hash: 12ed894362dd22513a21de6689a31511b791e37b
 2023-07-23 09:28:22 -07:00
Shane Smiskol c258e9d64a experimental mode: gate nav (#29007) 
* first draft copy, needs updates

* gate behind exp mode

* can be one line

* this is no longer true

* toggle isn't just e2e long now, rename

* don't enable/disable

* kinda works!

* remove old giant qstring

* comment clean up

* similar breakpoint

* more clean up

* fixup onroad

* preserve planner behavior, and we don't need to look at confirmed param if we're onroad

* update translations

* vanish translations

* use scene for op long

* lowercase!

* updated copy

* need to check longitudinal here now too

* clean up!

* here is better

* used

* no nav emoji

* don't check param if not valid

* revert this

revert this

* ed

* revert experimental mode longitudinal checks (still need to revert toggle change)

* revert

* logic works

* revert test

* fix

* update translation

* fix (reset and update)
old-commit-hash: 6bc28fc7698415e41610ddd04bb3ce473870591e
 2023-07-17 21:18:18 -07:00
Kacper Rączy fe2fc9dd11 onnx_runner: force determinism (#29000) 
old-commit-hash: 8ce72760e784760eb26b9dc87e12919943397c37
 2023-07-18 05:52:07 +02:00
Shane Smiskol f9c6c9e8c3 Revert "experimental mode: gate navigate on openpilot (#28883)" (#29005) 
This reverts commit 929880496515e3f995634e561145802bf15a60ea.
old-commit-hash: b5b431c12d54aaa115f9750da6d49e62a6d31778
 2023-07-17 19:56:38 -07:00
Dean Lee 46d64e90e6 dmonitoring: use sizeof(float) instead of hardcorded size (#28963) 
old-commit-hash: 8dcd92253b3117378cc39fa43111419ec3b4d832
 2023-07-15 10:30:50 -07:00
Cameron Clough aa0c37ed21 modeld: comment out unused variables (#28944) 
old-commit-hash: ce0717670b98acb0e523823df2d60009918566be
 2023-07-14 17:45:00 +01:00