mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-07 04:53:47 +08:00
firestar5683
90 lines
3.3 KiB
Python
90 lines
3.3 KiB
Python
"""Reviewed local driving-model catalog. This module never loads model artifacts."""
|
|
|
|
from dataclasses import dataclass, replace
|
|
from functools import lru_cache
|
|
import json
|
|
from pathlib import Path
|
|
|
|
|
|
BUNDLED_CURRENT = "bundled-current"
|
|
DEFAULT_SMALL = "rdf43"
|
|
DEFAULT_SMALL_SHA256 = "e23f65b3790a2092348024603966717506c2ad1fae10b4312bdfe1f2b932df61"
|
|
DEFAULT_SMALL_SIZE = 125895084
|
|
GENERATION = "v26"
|
|
COMPILER_REVISION = "9d0446a4ba8a532c8b674fb6ad795af015cd9dcf"
|
|
ARTIFACT_ABI = "tinygrad_single_v1_arena"
|
|
CATALOG_PATH = Path(__file__).with_name("catalog-v26.json")
|
|
|
|
|
|
@dataclass(frozen=True)
|
|
class ModelEntry:
|
|
model_id: str
|
|
name: str
|
|
source_sha256: str
|
|
source_path: str
|
|
compiler_revision: str
|
|
artifact_abi: str
|
|
selectable: bool
|
|
version: str = "current"
|
|
uses_external_gpu: bool = False
|
|
|
|
|
|
BUNDLED = (
|
|
ModelEntry(
|
|
model_id=BUNDLED_CURRENT,
|
|
name="Regret Driven Framework V4",
|
|
source_sha256=DEFAULT_SMALL_SHA256,
|
|
source_path="openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl",
|
|
compiler_revision="9d0446a4ba8a532c8b674fb6ad795af015cd9dcf",
|
|
artifact_abi=ARTIFACT_ABI,
|
|
selectable=True,
|
|
version="v15",
|
|
),
|
|
)
|
|
|
|
CATALOG = BUNDLED + tuple(ModelEntry(
|
|
model_id=m["id"], name=m["name"],
|
|
source_sha256=DEFAULT_SMALL_SHA256 if m["id"] == DEFAULT_SMALL else "",
|
|
source_path="openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl" if m["id"] == DEFAULT_SMALL else "",
|
|
compiler_revision=COMPILER_REVISION, artifact_abi=ARTIFACT_ABI, selectable=True,
|
|
version=m["version"], uses_external_gpu=bool(m.get("uses_external_gpu", False)),
|
|
) for m in json.loads(CATALOG_PATH.read_text())["models"])
|
|
|
|
BY_ID = {entry.model_id: entry for entry in CATALOG}
|
|
|
|
|
|
def _document_identity(path: Path) -> tuple:
|
|
try:
|
|
stat = path.stat()
|
|
return stat.st_dev, stat.st_ino, stat.st_size, stat.st_mtime_ns, stat.st_ctime_ns
|
|
except OSError:
|
|
return ()
|
|
|
|
|
|
@lru_cache(maxsize=8)
|
|
def _cached_entries(root: Path, identities: tuple) -> tuple[ModelEntry, ...]:
|
|
from openpilot.starpilot.models.manager import catalog
|
|
entries = dict(BY_ID)
|
|
for model_id, row in catalog(root).items():
|
|
entries[model_id] = (replace(BY_ID[model_id], name=row["name"]) if model_id in BY_ID else
|
|
ModelEntry(model_id, row["name"], "", "", COMPILER_REVISION, ARTIFACT_ABI,
|
|
True, row["version"], row.get("uses_external_gpu", False)))
|
|
return tuple(entries.values())
|
|
|
|
|
|
def model_entries(root: Path | None = None) -> dict[str, ModelEntry]:
|
|
"""Resolve validated cached metadata without mutating the bundled catalog."""
|
|
from openpilot.starpilot.models.manager import ROOT
|
|
root = ROOT if root is None else root
|
|
identities = (_document_identity(CATALOG_PATH), _document_identity(root / "catalog.json"))
|
|
return {entry.model_id: entry for entry in _cached_entries(root, identities)}
|
|
|
|
|
|
def resolve_selection(requested_id: str | None, *, root: Path | None = None) -> ModelEntry:
|
|
"""Resolve a saved request; absence means the bundled model, never an unknown ID."""
|
|
model_id = DEFAULT_SMALL if requested_id in (None, BUNDLED_CURRENT) else requested_id
|
|
entries = model_entries(root)
|
|
if not isinstance(model_id, str) or model_id not in entries or not entries[model_id].selectable:
|
|
raise ValueError("unqualified driving-model selection")
|
|
return entries[model_id]
|