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eefc084302
version: sunnypilot v2025.003.000 (dev) date: 2025-12-18T05:48:43 master commit: 16c052af0835f049a67b80251d8cc1114fc08bb4
36 lines
1.5 KiB
Python
36 lines
1.5 KiB
Python
from openpilot.sunnypilot.models.helpers import get_active_bundle
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from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
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from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
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from openpilot.sunnypilot.models.runners.constants import ModelType
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from openpilot.system.hardware import TICI
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if not TICI:
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from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner
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def get_model_runner() -> ModelRunner:
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"""
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Factory function to create and return the appropriate ModelRunner instance.
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Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner
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(for TICI platforms), choosing TinygradSplitRunner if separate vision/policy
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models are detected in the active bundle.
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:return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
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"""
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if not TICI:
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return ONNXRunner()
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# On TICI platforms, use Tinygrad runners
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bundle = get_active_bundle()
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if bundle and bundle.models:
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model_types = {m.type.raw for m in bundle.models}
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# Check if the bundle uses separate vision and policy models
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if ModelType.vision in model_types or ModelType.policy in model_types:
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return TinygradSplitRunner()
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# Otherwise, assume a single model (likely supercombo)
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if bundle.models:
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return TinygradRunner(bundle.models[0].type.raw)
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# Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
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return TinygradRunner(ModelType.supercombo)
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