Jason Wen
f84d27c4ee
* tinygrad with snpe * force with snpe to validate * fix path * fix more paths * Adjust modeld execution logic based on active model runner Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner. * Refactor modeld process function checks. Introduce `is_stock_model` to clarify logic and replace direct uses of `is_snpe_model` where the stock model condition is needed. Additionally, rename the duplicate "modeld" process in sunnyPilot to "modeld_snpe" for clarity and consistency. * ignore tg * fix process name * ruff * fix thneed paths * mypy * remove our own * use upstream compile3 * fix thneed * try this * Revert "remove our own" This reverts commit 1cf4f57502565c274628e185c66f1eb04c4d9bbe. * try using compile2.py again * add back symlink * fix path * more fix * wrong path again * Revert "wrong path again" This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e. * update * hardcode path to our submodule * force path * try this * fix file name * try this * again * Revert "again" This reverts commit 17c8cd73768a2de5aaf2a34d202aa6f03d59d72d. * Revert "try this" This reverts commit 767f78bbcf17b08edbc20f283d10a1990bf4264f. * Revert "fix file name" This reverts commit 485eef68da981da571fe9a9ebf3aecdb95e5588c. * Revert "try this" This reverts commit 41fef87680cdda1ba8cbd7e5c59256e6c57010a0. * Revert "force path" This reverts commit 5c3b408937bff0f61b150971b328d127501c5bf0. * Revert "hardcode path to our submodule" This reverts commit 5ee1950b6f4fce73e7e73b6971b996a9989d0a93. * Revert "update" This reverts commit fb313bd7fbeb50111f3c4a11137b4cfd9cabc3fa. * Reapply "wrong path again" This reverts commit 309639aeb3575e20b215bbbcc27e48923ee95c87. * Revert "wrong path again" This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e. * Revert "more fix" This reverts commit 23dd423e78e60bd6a0bd73e921bfba9a5aad88bd. * Revert "fix path" This reverts commit 75d338f2bda2dfa77044e33f4c6553390621b13b. * Revert "add back symlink" This reverts commit 9f71ad0b8ae2068e431c455af9d4f954d024eec7. * Revert "try using compile2.py again" This reverts commit 914117d2e1c6c4270f7bef1a5305847a1d7bab17. * Reapply "remove our own" This reverts commit b1996377b346658f2094cba9032a66230784cb3e. * don't even compile anymore * need it for default snpe model * add to lfs * bring onnx back for sim * must add this back * need this --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
What is cereal?
cereal is the messaging system for openpilot. It uses msgq as a pub/sub backend, and Cap'n proto for serialization of the structs.
Messaging Spec
You'll find the message types in log.capnp. It uses Cap'n proto and defines one struct called Event.
All Events have a logMonoTime and a valid. Then a big union defines the packet type.
Best Practices
- All fields must describe quantities in SI units, unless otherwise specified in the field name.
- In the context of the message they are in, field names should be completely unambiguous.
- All values should be easy to plot and be human-readable with minimal parsing.
Maintaining backwards-compatibility
When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other things are not. Read more details here.
Custom forks
Forks of openpilot might want to add things to the messaging spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in custom.capnp that we will leave empty in mainline cereal/openpilot. If you only modify those, you can ensure your fork will remain backwards-compatible with all versions of mainline openpilot and your fork.
Example
import cereal.messaging as messaging
# in subscriber
sm = messaging.SubMaster(['sensorEvents'])
while 1:
sm.update()
print(sm['sensorEvents'])
# in publisher
pm = messaging.PubMaster(['sensorEvents'])
dat = messaging.new_message('sensorEvents', size=1)
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
pm.send('sensorEvents', dat)