mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 10:02:06 +08:00
firestar5683
608 lines
23 KiB
Python
608 lines
23 KiB
Python
#!/usr/bin/env python3
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import json
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import random
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import re
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import urllib.request
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from pathlib import Path
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from openpilot.starpilot.assets.download_functions import (
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GITLAB_URL,
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download_file,
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get_repository_url,
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handle_error,
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handle_request_error,
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verify_download,
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)
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from openpilot.starpilot.common.model_versions import (
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is_tinygrad_model_version,
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uses_combined_driving_artifacts,
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uses_split_off_policy_artifacts,
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)
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from openpilot.starpilot.common.starpilot_utilities import delete_file
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from openpilot.starpilot.common.starpilot_variables import MODELS_PATH
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MANIFEST_CANDIDATES = ("v21",)
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TINYGRAD_VERSIONS = {f"v{i}" for i in range(8, 33)}
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DEFAULT_MODEL_KEY = "sc2"
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ARTIFACT_URLS_CACHE = ".model_artifact_urls.json"
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MODEL_KEY_CANONICAL_MAP = {
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"sc": DEFAULT_MODEL_KEY,
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}
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CANCEL_DOWNLOAD_PARAM = "CancelModelDownload"
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DOWNLOAD_PROGRESS_PARAM = "ModelDownloadProgress"
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MODEL_DOWNLOAD_PARAM = "ModelToDownload"
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MODEL_DOWNLOAD_ALL_PARAM = "DownloadAllModels"
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UPDATE_TINYGRAD_PARAM = "UpdateTinygrad"
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def _clean_model_name(name: str) -> str:
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return re.sub(r"[🗺️👀📡]", "", str(name or "")).strip()
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def canonical_model_key(model_key: str) -> str:
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key = (model_key or "").strip()
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return MODEL_KEY_CANONICAL_MAP.get(key, key)
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def is_builtin_model_key(model_key: str) -> bool:
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return canonical_model_key(model_key) == DEFAULT_MODEL_KEY
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def model_key_aliases(model_key: str) -> list[str]:
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canonical_key = canonical_model_key(model_key)
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aliases = [canonical_key]
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for alias, canonical in MODEL_KEY_CANONICAL_MAP.items():
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if canonical == canonical_key:
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aliases.append(alias)
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if model_key.endswith("_default"):
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aliases.append(model_key[:-8])
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if model_key and not model_key.endswith("2"):
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aliases.append(f"{model_key}2")
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return [alias for alias in dict.fromkeys(alias for alias in aliases if alias)]
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class ModelManager:
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def __init__(self, params, params_memory, boot_run=False):
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self.params = params
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self.params_memory = params_memory
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self.downloading_model = False
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self.available_models: list[str] = []
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self.model_versions: list[str] = []
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self.model_series: list[str] = []
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self.available_model_names: list[str] = []
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self._load_catalog_from_params()
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self._ensure_model_params()
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if boot_run:
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self._sync_selected_model_version()
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@staticmethod
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def _canonical_model_key(model_key: str) -> str:
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return canonical_model_key(model_key)
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def _param_text(self, key: str) -> str:
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raw = self.params.get(key)
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if raw is None:
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return ""
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if isinstance(raw, bytes):
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return raw.decode("utf-8", errors="ignore").strip()
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return str(raw).strip()
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def _param_bool(self, key: str) -> bool:
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try:
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return bool(self.params.get_bool(key))
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except Exception:
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return self._param_text(key).lower() in {"1", "true", "yes", "on"}
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def _default_param_text(self, key: str) -> str:
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try:
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default_value = self.params.get_default_value(key)
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except Exception:
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return ""
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if default_value is None:
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return ""
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if isinstance(default_value, bytes):
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return default_value.decode("utf-8", errors="ignore").strip()
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return str(default_value).strip()
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def _resolve_mirrored_param(self, primary_key: str, secondary_key: str) -> str:
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primary_val = self._param_text(primary_key)
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secondary_val = self._param_text(secondary_key)
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if primary_val == secondary_val:
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return secondary_val or primary_val
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primary_default = self._default_param_text(primary_key)
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secondary_default = self._default_param_text(secondary_key)
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primary_non_default = bool(primary_val) and primary_val != primary_default
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secondary_non_default = bool(secondary_val) and secondary_val != secondary_default
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if secondary_non_default:
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return secondary_val
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if primary_non_default:
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return primary_val
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return secondary_val or primary_val
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def _load_catalog_from_params(self):
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self.available_models = [entry for entry in self._param_text("AvailableModels").split(",") if entry]
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self.model_versions = [entry for entry in self._param_text("ModelVersions").split(",") if entry]
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self.model_series = [entry for entry in self._param_text("AvailableModelSeries").split(",") if entry]
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self.available_model_names = [entry for entry in self._param_text("AvailableModelNames").split(",") if entry]
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@staticmethod
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def _manifest_paths(manifest_version: str) -> tuple[str, ...]:
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return (
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f"Versions/model_names_{manifest_version}.json",
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f"model_names_{manifest_version}.json",
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)
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def _set_model_param_keys(self, model_key: str | None = None, model_name: str | None = None, model_version: str | None = None):
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if model_key is not None and model_key != "":
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canonical_key = self._canonical_model_key(model_key)
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self.params.put("Model", canonical_key)
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self.params.put("DrivingModel", canonical_key)
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if model_name is not None and model_name != "":
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self.params.put("DrivingModelName", model_name)
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if model_version is not None and model_version != "":
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self.params.put("ModelVersion", model_version)
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self.params.put("DrivingModelVersion", model_version)
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def _ensure_model_params(self):
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selected_model = self._selected_model()
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current_version = self._resolve_mirrored_param("ModelVersion", "DrivingModelVersion")
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if not current_version:
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current_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
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selected_name = self._param_text("DrivingModelName")
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if not selected_name and selected_model in self.available_models:
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selected_index = self.available_models.index(selected_model)
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if selected_index < len(self.available_model_names):
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selected_name = self.available_model_names[selected_index]
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self._set_model_param_keys(selected_model, selected_name, current_version)
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def _model_key_aliases(self, model_key: str) -> list[str]:
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return model_key_aliases(model_key)
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def _model_version_map(self) -> dict[str, str]:
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return {
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model_key: self.model_versions[index]
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for index, model_key in enumerate(self.available_models)
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if index < len(self.model_versions) and model_key
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}
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def _blacklisted_model_keys(self) -> set[str]:
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return {
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self._canonical_model_key(entry)
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for entry in self._param_text("BlacklistedModels").split(",")
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if entry.strip()
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}
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def _selected_model(self) -> str:
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selected = self._resolve_mirrored_param("Model", "DrivingModel")
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if selected:
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return self._canonical_model_key(selected)
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default_value = self._default_param_text("Model") or self._default_param_text("DrivingModel")
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if default_value:
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return self._canonical_model_key(default_value)
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return DEFAULT_MODEL_KEY
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def _required_files(self, model_key: str, model_version: str) -> list[str]:
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if not is_tinygrad_model_version(model_version):
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return []
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if uses_combined_driving_artifacts(model_version):
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return [f"{model_key}_driving_tinygrad.pkl"]
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filenames = [
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f"{model_key}_driving_policy_tinygrad.pkl",
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f"{model_key}_driving_vision_tinygrad.pkl",
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f"{model_key}_driving_policy_metadata.pkl",
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f"{model_key}_driving_vision_metadata.pkl",
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]
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if uses_split_off_policy_artifacts(model_version):
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filenames += [
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f"{model_key}_driving_off_policy_tinygrad.pkl",
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f"{model_key}_driving_off_policy_metadata.pkl",
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]
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return filenames
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@staticmethod
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def _artifact_urls_cache_path() -> Path:
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return MODELS_PATH / ARTIFACT_URLS_CACHE
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def _load_artifact_url_map(self) -> dict[str, dict[str, str]]:
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try:
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cache_path = self._artifact_urls_cache_path()
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if not cache_path.is_file():
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return {}
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payload = json.loads(cache_path.read_text())
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if not isinstance(payload, dict):
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return {}
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normalized: dict[str, dict[str, str]] = {}
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for model_key, urls in payload.items():
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if not isinstance(urls, dict):
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continue
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normalized[str(model_key)] = {
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str(filename): str(url)
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for filename, url in urls.items()
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if filename and url
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}
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return normalized
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except Exception as error:
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print(f"Failed to load artifact URL cache: {error}")
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return {}
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def _build_artifact_url_map(self, model_info: list[dict]) -> dict[str, dict[str, str]]:
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artifact_url_map: dict[str, dict[str, str]] = {}
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for model in model_info:
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model_key = self._canonical_model_key(str(model.get("id") or "").strip())
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model_version = str(model.get("version") or "").strip()
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required_files = self._required_files(model_key, model_version)
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if not model_key or not required_files:
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continue
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urls: dict[str, str] = {}
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explicit_urls = model.get("artifact_urls") or model.get("download_urls")
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if isinstance(explicit_urls, dict):
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for filename, url in explicit_urls.items():
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if filename and url:
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urls[str(filename).strip()] = str(url).strip()
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base_url = str(model.get("artifact_base_url") or model.get("download_base_url") or "").strip()
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if base_url:
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base_url = base_url.rstrip("/")
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for filename in required_files:
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urls.setdefault(filename, f"{base_url}/{filename}")
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direct_url = str(model.get("artifact_url") or model.get("download_url") or "").strip()
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if direct_url:
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if len(required_files) == 1:
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urls.setdefault(required_files[0], direct_url)
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else:
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matched_filename = next((filename for filename in required_files if Path(filename).name == Path(direct_url).name), None)
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if matched_filename is not None:
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urls.setdefault(matched_filename, direct_url)
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if urls:
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artifact_url_map[model_key] = urls
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return artifact_url_map
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def _is_model_downloaded(self, model_key: str, model_version: str) -> bool:
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if is_builtin_model_key(model_key):
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return True
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required_files = self._required_files(model_key, model_version)
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if not required_files:
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return False
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return all((MODELS_PATH / filename).is_file() for filename in required_files)
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def _installed_model_choices(self) -> list[tuple[str, str, str]]:
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self._load_catalog_from_params()
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version_map = self._model_version_map()
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blacklisted_keys = self._blacklisted_model_keys()
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choices: list[tuple[str, str, str]] = []
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seen_keys: set[str] = set()
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for index, model_key in enumerate(self.available_models):
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if not model_key:
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continue
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canonical_key = self._canonical_model_key(model_key)
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if canonical_key in blacklisted_keys or canonical_key in seen_keys:
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continue
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model_version = version_map.get(model_key) or version_map.get(canonical_key) or ""
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if not model_version and is_builtin_model_key(canonical_key):
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model_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
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if not self._is_model_downloaded(model_key, model_version):
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continue
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model_name = self.available_model_names[index] if index < len(self.available_model_names) else canonical_key
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choices.append((canonical_key, model_name, model_version))
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seen_keys.add(canonical_key)
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return choices
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def randomize_selected_model(self) -> str | None:
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if not self._param_bool("ModelRandomizer"):
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return None
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choices = self._installed_model_choices()
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if not choices:
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print("Model Randomizer skipped: no installed, non-blacklisted models available.")
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return None
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selected = self._selected_model()
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eligible_choices = [choice for choice in choices if self._canonical_model_key(choice[0]) != selected]
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if not eligible_choices:
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eligible_choices = choices
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model_key, model_name, model_version = random.choice(eligible_choices)
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if not model_version:
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model_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
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self._set_model_param_keys(model_key, model_name, model_version)
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try:
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self.params_memory.put_bool("StarPilotTogglesUpdated", True)
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except Exception:
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pass
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print(f"Model Randomizer selected {model_name} ({model_key}, {model_version}).")
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return model_key
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def _sync_selected_model_version(self):
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version_map = self._model_version_map()
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name_map = {model_key: model_name for model_key, model_name in zip(self.available_models, self.available_model_names)}
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selected = self._selected_model()
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version = version_map.get(selected)
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if version:
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self._set_model_param_keys(selected, name_map.get(selected), version)
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return
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for alias in self._model_key_aliases(selected):
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version = version_map.get(alias)
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if version:
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selected_name = name_map.get(selected) or name_map.get(alias) or self._param_text("DrivingModelName")
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self._set_model_param_keys(selected, selected_name, version)
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return
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fallback_version = self._resolve_mirrored_param("ModelVersion", "DrivingModelVersion")
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if not fallback_version:
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fallback_version = self._default_param_text("ModelVersion") or self._default_param_text("DrivingModelVersion") or "v11"
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self._set_model_param_keys(selected, name_map.get(selected, ""), fallback_version)
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@staticmethod
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def _fetch_manifest(url: str) -> list[dict]:
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try:
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with urllib.request.urlopen(url, timeout=10) as response:
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payload = json.loads(response.read().decode("utf-8"))
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return payload.get("models", []) if isinstance(payload, dict) else []
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except Exception as error:
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handle_request_error(error, None, None, None, None)
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return []
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def _get_manifest(self, repo_url: str) -> tuple[str | None, list[dict]]:
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for manifest_version in MANIFEST_CANDIDATES:
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for manifest_path in self._manifest_paths(manifest_version):
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model_info = self._fetch_manifest(f"{repo_url}/{manifest_path}")
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if not model_info:
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continue
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# Desktop/dev build is tinygrad-only.
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filtered = [model for model in model_info if is_tinygrad_model_version(model.get("version"))]
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if not filtered:
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continue
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return manifest_version, filtered
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return None, []
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def _remove_stale_model_files(self):
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valid_keys = set(self.available_models)
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for model_file in MODELS_PATH.glob("*_driving_*"):
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model_key = model_file.name.split("_driving_", 1)[0]
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if model_key not in valid_keys:
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delete_file(model_file, print_error=False)
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for temp_file in MODELS_PATH.glob("tmp*"):
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delete_file(temp_file, print_error=False)
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def _enforce_selected_model(self):
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if not self.available_models:
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return
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selected = self._selected_model()
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aliases = self._model_key_aliases(selected)
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if any(alias in self.available_models for alias in aliases):
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self._sync_selected_model_version()
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return
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try:
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default_model = self._default_param_text("Model") or self._default_param_text("DrivingModel")
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except Exception:
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default_model = DEFAULT_MODEL_KEY
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candidates = self._model_key_aliases(default_model) + self._model_key_aliases(DEFAULT_MODEL_KEY) + self.available_models
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replacement = next((entry for entry in candidates if entry in self.available_models), self.available_models[0])
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replacement_index = self.available_models.index(replacement)
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replacement_name = self.available_model_names[replacement_index] if replacement_index < len(self.available_model_names) else replacement
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self._set_model_param_keys(replacement, replacement_name, None)
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self._sync_selected_model_version()
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def update_model_params(self, model_info: list[dict], manifest_version: str):
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del manifest_version
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self.available_models = [str(model.get("id") or "").strip() for model in model_info]
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self.available_model_names = [_clean_model_name(model.get("name")) for model in model_info]
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self.model_versions = [str(model.get("version") or "").strip() for model in model_info]
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self.model_series = [str(model.get("series") or "Custom Series").strip() for model in model_info]
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released_dates = [str(model.get("released") or "2023-01-01").strip() for model in model_info]
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community_favorites = [model_key for model_key, model in zip(self.available_models, model_info) if model.get("community_favorite", False)]
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self.params.put("AvailableModels", ",".join(self.available_models))
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self.params.put("AvailableModelNames", ",".join(self.available_model_names))
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self.params.put("AvailableModelSeries", ",".join(self.model_series))
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self.params.put("ModelReleasedDates", ",".join(released_dates))
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self.params.put("ModelVersions", ",".join(self.model_versions))
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self.params.put("CommunityFavorites", ",".join(community_favorites))
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self._sync_selected_model_version()
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try:
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version_map = {model_key: version for model_key, version in zip(self.available_models, self.model_versions)}
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versions_file = MODELS_PATH / ".model_versions.json"
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versions_file.parent.mkdir(parents=True, exist_ok=True)
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versions_file.write_text(json.dumps(version_map))
|
|
|
|
artifact_urls_file = self._artifact_urls_cache_path()
|
|
artifact_urls_file.write_text(json.dumps(self._build_artifact_url_map(model_info)))
|
|
except Exception as error:
|
|
print(f"Failed to write model versions cache: {error}")
|
|
|
|
def check_models(self, boot_run: bool):
|
|
del boot_run # Not currently needed, retained for call-site parity.
|
|
self._remove_stale_model_files()
|
|
self._enforce_selected_model()
|
|
|
|
def update_models(self, boot_run=False):
|
|
if self.downloading_model:
|
|
return
|
|
|
|
repo_url = get_repository_url()
|
|
if repo_url is None:
|
|
print("GitHub and GitLab are offline...")
|
|
return
|
|
|
|
manifest_version, model_info = self._get_manifest(repo_url)
|
|
if not model_info:
|
|
print("No compatible tinygrad manifest found.")
|
|
return
|
|
|
|
self.update_model_params(model_info, manifest_version or "unknown")
|
|
self.check_models(boot_run)
|
|
|
|
def download_model(self, model_to_download: str):
|
|
self.downloading_model = True
|
|
|
|
if is_builtin_model_key(model_to_download):
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Built-in model already downloaded.")
|
|
self.params_memory.remove(MODEL_DOWNLOAD_PARAM)
|
|
self.downloading_model = False
|
|
return
|
|
|
|
repo_url = get_repository_url()
|
|
if not repo_url:
|
|
handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
self.downloading_model = False
|
|
return
|
|
|
|
# Refresh from params so long-lived workers pick up manifest refreshes done by
|
|
# a separate ModelManager instance before we validate the requested model.
|
|
self._load_catalog_from_params()
|
|
version_map = self._model_version_map()
|
|
model_version = version_map.get(model_to_download)
|
|
model_artifact_urls = self._load_artifact_url_map()
|
|
artifact_urls = model_artifact_urls.get(self._canonical_model_key(model_to_download)) or model_artifact_urls.get(model_to_download) or {}
|
|
required_files = self._required_files(model_to_download, model_version or "")
|
|
if not required_files:
|
|
handle_error(None, f"Unsupported model format for {model_to_download}", "Model download failed", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
self.downloading_model = False
|
|
return
|
|
|
|
for filename in required_files:
|
|
file_path = MODELS_PATH / filename
|
|
candidate_urls: list[tuple[str, bool]] = []
|
|
|
|
custom_url = artifact_urls.get(filename, "").strip()
|
|
if custom_url:
|
|
candidate_urls.append((custom_url, True))
|
|
|
|
file_url = f"{repo_url}/Models/{filename}"
|
|
candidate_urls.append((file_url, False))
|
|
|
|
fallback_url = f"{GITLAB_URL}/Models/{filename}"
|
|
if fallback_url != file_url:
|
|
candidate_urls.append((fallback_url, False))
|
|
|
|
download_succeeded = False
|
|
for candidate_url, allow_unknown_size in candidate_urls:
|
|
download_file(
|
|
CANCEL_DOWNLOAD_PARAM,
|
|
file_path,
|
|
DOWNLOAD_PROGRESS_PARAM,
|
|
candidate_url,
|
|
MODEL_DOWNLOAD_PARAM,
|
|
self.params_memory,
|
|
allow_unknown_size=allow_unknown_size,
|
|
)
|
|
if self.params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
|
|
handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
self.downloading_model = False
|
|
return
|
|
|
|
if verify_download(file_path, candidate_url, allow_unknown_size=allow_unknown_size):
|
|
download_succeeded = True
|
|
break
|
|
|
|
if not download_succeeded:
|
|
handle_error(file_path, "Verification failed...", f"Verification failed for {filename}", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
self.downloading_model = False
|
|
return
|
|
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
|
|
self.params_memory.remove(MODEL_DOWNLOAD_PARAM)
|
|
self.downloading_model = False
|
|
|
|
def download_all_models(self):
|
|
repo_url = get_repository_url()
|
|
if not repo_url:
|
|
handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
return
|
|
|
|
manifest_version, model_info = self._get_manifest(repo_url)
|
|
if not model_info:
|
|
handle_error(None, "Unable to fetch models...", "Model list unavailable", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
return
|
|
|
|
self.update_model_params(model_info, manifest_version or "unknown")
|
|
|
|
for model_key, model_name in zip(self.available_models, self.available_model_names):
|
|
if self.params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
|
|
handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_ALL_PARAM, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
|
|
return
|
|
|
|
model_version = self._model_version_map().get(model_key, "")
|
|
if self._is_model_downloaded(model_key, model_version):
|
|
continue
|
|
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{model_name}\"...")
|
|
self.download_model(model_key)
|
|
if self.params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
|
|
return
|
|
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "All models downloaded!")
|
|
self.params_memory.remove(MODEL_DOWNLOAD_ALL_PARAM)
|
|
self.randomize_selected_model()
|
|
|
|
def update_tinygrad(self):
|
|
# This branch ships tinygrad runtime in-tree. "Update" here refreshes local model files.
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Updating...")
|
|
|
|
for model_file in MODELS_PATH.glob("*_driving_*"):
|
|
if model_file.is_file():
|
|
delete_file(model_file, print_error=False)
|
|
|
|
model_versions_file = MODELS_PATH / ".model_versions.json"
|
|
if model_versions_file.is_file():
|
|
delete_file(model_versions_file, print_error=False)
|
|
|
|
artifact_urls_file = self._artifact_urls_cache_path()
|
|
if artifact_urls_file.is_file():
|
|
delete_file(artifact_urls_file, print_error=False)
|
|
|
|
self.params.put_bool("TinygradUpdateAvailable", False)
|
|
self.params_memory.remove(UPDATE_TINYGRAD_PARAM)
|
|
self.params_memory.remove(CANCEL_DOWNLOAD_PARAM)
|
|
|
|
if self.params.get_bool("AutomaticallyDownloadModels"):
|
|
self.params_memory.put_bool(MODEL_DOWNLOAD_ALL_PARAM, True)
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloading...")
|
|
else:
|
|
self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Updated!")
|