mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 15:33:45 +08:00
firestar5683
111 lines
4.6 KiB
Python
111 lines
4.6 KiB
Python
"""Separate, source-bound QCOM warp package for external Jetlink inference."""
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from __future__ import annotations
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import argparse
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import hashlib
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import json
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from pathlib import Path
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import shutil
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import stat
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from tools.laptop_device_build.jetlink_pickle import require_jetlink_qcom_pickle
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CAMERAS = ((1344, 760), (1928, 1208))
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MODEL_SIZES = ((512, 256), (1024, 512))
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MODEL_DIR = Path('openpilot/selfdrive/modeld/models')
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def warp_names() -> tuple[str, ...]:
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return tuple(f'jetlink_warp_{cw}x{ch}_{mw}x{mh}.pkl' for cw, ch in CAMERAS for mw, mh in MODEL_SIZES)
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def sha(path: Path) -> str:
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return hashlib.sha256(path.read_bytes()).hexdigest()
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def sources(root: Path) -> dict[str, str]:
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files = [root / 'openpilot/starpilot/models/jetlink_warp.py',
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root / 'jetlink_repo/jetlink/openpilot/warp.py',
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root / 'jetlink_repo/jetlink/openpilot/interface.py',
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root / 'openpilot/common/transformations/camera.py',
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root / 'openpilot/common/transformations/model.py',
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root / 'openpilot/system/camerad/cameras/nv12_info.py']
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for folder in ('tinygrad_repo/tinygrad', 'tinygrad_repo/extra', 'tinygrad_repo/examples/openpilot'):
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files.extend(p for p in (root / folder).rglob('*') if p.is_file() and p.suffix in ('.py', '.c', '.h', '.cl') and '__pycache__' not in p.parts)
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if not (root / 'jetlink_repo/jetlink/openpilot/warp.py').is_file():
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raise ValueError('Pinned Jetlink warp sources are required')
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return {p.relative_to(root).as_posix(): sha(p) for p in sorted(files)}
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def create(root: Path, package: Path) -> None:
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package.mkdir(parents=True, exist_ok=True)
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rows = {}
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for name in warp_names():
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path = root / MODEL_DIR / name
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require_jetlink_qcom_pickle(path)
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rows[name] = {'sha256': sha(path), 'size': path.stat().st_size}
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shutil.copyfile(path, package / name)
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(package / 'manifest.json').write_text(json.dumps({'version': 1, 'sources': sources(root), 'artifacts': rows}, indent=2) + '\n')
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RUNTIME_HELPER = 'tinygrad_repo/examples/openpilot/helpers.py'
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RUNTIME_HELPER_BEFORE = '7849829700c575339de7d95ffa869507ad2d65143af4c23a4411ad4d95ba3ae2'
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RUNTIME_HELPER_AFTER = '6494f23757a1058d8c90db8434004e8f703bb61d55903ac4500c04a7d511c8a3'
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RUNTIME_PROFILE = 'unused-empty-arena-loader-v1'
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def source_signature(source: dict[str, str]) -> str:
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return hashlib.sha256(json.dumps(source, sort_keys=True, separators=(',', ':')).encode()).hexdigest()
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def _compatible_sources(package: Path, manifest: dict, current: dict[str, str]) -> bool:
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saved = manifest.get('sources')
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if saved == current:
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return True
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if not isinstance(saved, dict) or saved.get(RUNTIME_HELPER) != RUNTIME_HELPER_BEFORE or current.get(RUNTIME_HELPER) != RUNTIME_HELPER_AFTER:
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return False
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if {**current, RUNTIME_HELPER: RUNTIME_HELPER_BEFORE} != saved:
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return False
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sidecar = package / 'runtime-compatibility.json'
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try:
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info = sidecar.lstat()
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if not stat.S_ISREG(info.st_mode) or not 0 < info.st_size <= 4096:
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return False
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expected = {'version': 1, 'profile': RUNTIME_PROFILE,
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'build_manifest_sha256': sha(package / 'manifest.json'),
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'compatible_source_sha256': source_signature(current)}
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extension = json.loads(sidecar.read_text())
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return type(extension) is dict and type(extension.get('version')) is int and extension == expected
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except (OSError, ValueError):
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return False
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def import_artifact(package: Path, root: Path, target: Path) -> None:
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manifest = json.loads((package / 'manifest.json').read_text())
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if manifest.get('version') != 1 or not _compatible_sources(package, manifest, sources(root)):
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raise ValueError('Jetlink QCOM warp source closure differs; compile a current package on supported QCOM hardware')
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if set(manifest.get('artifacts', {})) != set(warp_names()):
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raise ValueError('Jetlink QCOM warp package has an incomplete geometry set')
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if target.parent.resolve() != (root / MODEL_DIR).resolve() or target.name not in warp_names():
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raise ValueError('Unexpected Jetlink warp target')
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row = manifest['artifacts'][target.name]
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artifact = package / target.name
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if row != {'sha256': sha(artifact), 'size': artifact.stat().st_size}:
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raise ValueError('Jetlink QCOM warp artifact digest or size differs')
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require_jetlink_qcom_pickle(artifact)
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target.parent.mkdir(parents=True, exist_ok=True)
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shutil.copyfile(artifact, target)
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def main() -> None:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument('--root', type=Path, default=Path.cwd())
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parser.add_argument('--package', type=Path, required=True)
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args = parser.parse_args()
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create(args.root.resolve(), args.package.resolve())
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if __name__ == '__main__':
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main()
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