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https://github.com/firestar5683/StarPilot.git
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firestar5683
51 lines
2.0 KiB
Python
51 lines
2.0 KiB
Python
import sys
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import time
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from pathlib import Path
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from openpilot.common.file_chunker import materialize_file_chunked
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from openpilot.common.hardware import AGNOS
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from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
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MODELS_DIR = Path(__file__).resolve().parent / 'models'
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def modeld_pkl_path(chestnut: bool):
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prefix = 'big_' if chestnut else ''
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path = MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
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return materialize_file_chunked(path) if path.is_file() or Path(f'{path}.chunkmanifest').exists() else path
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def load_oob(path, chestnut=False):
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from openpilot.starpilot.models.runtime_bridge.runtime import selected_legacy, load_oob as protected_load
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if AGNOS:
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if not selected_legacy():
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raise RuntimeError('Prepare the model runtime before loading a device artifact')
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return protected_load(materialize_file_chunked(path), chestnut)
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from tinygrad import Context
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device = 'USB+AMD:LLVM' if chestnut else 'QCOM' if AGNOS else 'METAL' if sys.platform == 'darwin' else 'CPU:LLVM'
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with Context(DEV=device):
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from tinygrad_repo.examples.openpilot.helpers import load_pickle
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return load_pickle(materialize_file_chunked(path), out_of_band=True)
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def chestnut_present() -> bool:
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for d in USB_DEVICES_PATH.glob("*"):
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try:
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usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
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product = (d / "product").read_text().strip()
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if is_chestnut_usb_id(*usb_id) and product == CHESTNUT_USB_PRODUCT:
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return True
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except Exception:
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pass
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return False
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def chestnut_compiled() -> bool:
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path = modeld_pkl_path(chestnut=True)
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return path.is_file() and all(
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(MODELS_DIR / f'big_driving_warp_{size}_tinygrad.pkl').is_file() for size in ('1344x760', '1928x1208'))
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def wait_for_chestnut(timeout: float = 10.) -> None:
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start = time.monotonic()
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while not chestnut_present():
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if time.monotonic() - start > timeout:
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raise TimeoutError("chestnut did not enumerate")
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time.sleep(0.1)
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