113 Commits

Author SHA1 Message Date
Jason Wen
6979849305 Merge branch 'upstream/openpilot/master' into sync-20260414
# Conflicts:
#	system/hardware/hardwared.py
2026-04-14 12:22:13 -04:00
Harald Schäfer
c91a0a83f6 Revert OP (#37812)
* Revert "OP model 7 (#37760)"

This reverts commit 052692b25d.

* Revert "OP model (#37740)"

This reverts commit cb32793300.

* dead

* parse_model_outputs: drop extra space
2026-04-12 23:47:43 -04:00
Jason Wen
9022b4d322 Revert "bump tg (#37700)"
This reverts commit 55c38857
2026-04-12 16:20:12 -04:00
Jason Wen
b782958abd Revert "autodetect tg backend (#37778)"
This reverts commit 21538e5a09.
2026-04-12 16:20:03 -04:00
Jason Wen
3fa6726f88 Revert "autodetect tg backend: use CPU:LLVM on Linux (#37785)"
This reverts commit 09a55a7833.
2026-04-12 16:20:01 -04:00
Harald Schäfer
09a55a7833 autodetect tg backend: use CPU:LLVM on Linux (#37785)
autodetect tg backend: use CPU:LLVM on Linux, CPU on Darwin
2026-04-08 16:16:39 -07:00
Harald Schäfer
21538e5a09 autodetect tg backend (#37778)
* pick fastest

* save config

* fix

* Ignore generated tg_compiled_flags file

* helper

* cleaner

* whitespace not needed

* no shebang

* whitespace
2026-04-08 13:55:00 -07:00
Armand du Parc Locmaria
55c3885742 bump tg (#37700)
* bump tg

* bump tg

* assign

* bump

* cpu llvm

* frame buffer updated in place, no need to return

* don't bake in stale pointers

* fix update image output indices

* lint

* bump
2026-04-02 09:16:11 -07:00
Harald Schäfer
cb32793300 OP model (#37740)
* Off policy model

* 2f70b996-c604-4a46-9ac9-13ce7534605b/100

* misc fixes

* 1cc1791b-4555-41ce-a5cb-ce046967075a/100

* fix model

* 6ab6fae5-fbbd-4ad0-928a-b33794f60dba/100

* recomp

* update models

* qxfinally correct

* b8b96ac6-7918-401a-a862-eaf1fdbba88d/100

* wrong plan

* wrong plan

* Vf9b3fb5f-4d0d-4dcb-bc3a-5e94d1fdcdaa/200

* bump dbc

* ready to merge

* rename to on-policy

* Just cleanup big models for now

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
2026-04-01 16:24:50 -07:00
Shane Smiskol
6e7587a75c modeld: quiet do_chunk output during scons build (#37654)
* modeld: quiet do_chunk output during scons build

SCons default-prints Python function actions with all their args.
The do_chunk function has 1259 tinygrad source files as deps, causing
a wall of text during builds. Wrap in SAction with a short strfunction.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

* split compile and chunk into separate Commands

cleaner fix: do_chunk only depends on the pkl, not tinygrad files

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

---------

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
2026-03-11 23:35:56 -07:00
Harald Schäfer
159d3a30e3 RM onnx (#37377)
* Give tf flags to onnx parse

* rm onnx again

* update lock
2026-02-24 15:35:52 -08:00
Harald Schäfer
16dda06a0c Reapply chunker (#37292)
* Reapply chunker

* good size

* rm glob

* cleaner

* back to 45mb

* warp need not be fixed

* add manifest path

* lil cleaner
2026-02-23 16:49:48 -08:00
Bruce Wayne
d6af0e6eb5 Revert "Simpler file chunker (#37276)"
This reverts commit b27fa58444.
2026-02-20 16:43:43 -08:00
Harald Schäfer
b27fa58444 Simpler file chunker (#37276)
* Chunk tinygrad pkl below GitHub max size

* pull that out

* rm glob

* make work

* Single name def

* unused comment

* more cleanups

* revert that

* 10MB overhead

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2026-02-20 10:37:14 -08:00
YassineYousfi
2ba6df2506 chunk tinygrad pkl below GitHub max size - NoCache and AlwaysBuild (#37194)
* nocache

* +

* fixes

* lint

* not split

* use pathlib

* cleanup

* better

* even better
2026-02-13 10:14:24 -08:00
Harald Schäfer
af1583cdfc Reapply tgwarp w NV12 fix (#37168)
* Revert "Revert tgwarp again (#37161)"

This reverts commit 45099e7fcd.

* Weird uv sizes

* Fix interleaving

* Fix on CPU

* make CPU safe

* Prevent corruption without clone

* Claude knows speeed

* fix interleaving

* less kernels

* blob caching

* This is still slightly faster

* Comment for blob cache
2026-02-12 08:59:19 -08:00
Harald Schäfer
45099e7fcd Revert tgwarp again (#37161)
* Reapply "revert tg calib and opencl cleanup (#37113)" (#37115)

This reverts commit 667f3bb32f.

* revert msgq too

* msgq on master
2026-02-10 23:12:41 -08:00
Harald Schäfer
3d11e8ef36 Revert "Chunk big model files (#37134)" (#37139)
This reverts commit a941e8f78f.
2026-02-09 20:58:22 -08:00
Harald Schäfer
a941e8f78f Chunk big model files (#37134)
* file chunking

* try this

* more cleanup

* cleaner
2026-02-09 15:29:50 -08:00
Adeeb Shihadeh
667f3bb32f Revert "revert tg calib and opencl cleanup (#37113)" (#37115)
* Revert "revert tg calib and opencl cleanup (#37113)"

This reverts commit 51312afd3d.

* power draw is a lil higher

* just don't miss a cycle

* fix warp targets

* fix tinygrad dep
2026-02-07 21:36:44 -08:00
Harald Schäfer
51312afd3d revert tg calib and opencl cleanup (#37113)
* Revert "Remove all the OpenCL (#37105)"

This reverts commit d5cbb89d84.

* Revert "rm common/mat.h"

This reverts commit 4ce701150a.

* Revert "Calibrate in tg (#36621)"

This reverts commit 593c3a0c8e.
2026-02-07 09:10:29 -08:00
Harald Schäfer
593c3a0c8e Calibrate in tg (#36621)
* squash

* bump tg

* fix linmt

* Ready to merge

* cleaner

* match modeld

* more dead stuff
2026-02-06 14:13:46 -08:00
King Art
db3df61c34 fix non-determinism in modeld build (#37042)
* fix non-determinism in selfservice model build

also trim down model compile dependencies to the minimum required

* Apply suggestions from code review

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
2026-01-30 17:16:56 -08:00
Matt Purnell
1f9efd9311 transformations: move Cython to pure Python (#36830)
* Remove cython for transformations

* Add new test

* Switch back to program to fix mac builds

* Convert to Python instead

* Fix failing builds

* lint

* Implement conversion in pure python/numpy

* Add more tests

* Fix bugs in tests
2026-01-16 22:31:26 -08:00
ZwX1616
b778da1d7c dmonitoringmodeld: clean up data structures (#36624)
* update onnx

* get meta

* start

* cast

* deprecate notready

* more

* line too long

* 2
2025-11-14 14:29:04 -08:00
Harald Schäfer
a1795f80dd Latest tinygrad (#36615)
* Latest tinygrad

* jit batch size

* bump again

* limit upcast

* latest tgf

* upstream tg
2025-11-13 17:08:14 -08:00
Adeeb Shihadeh
cf5b743de6 build system cleanups (#36202)
* it's all common

* never getting fixed

* it's just tici

* reorders

* qcom2 -> tici

* Revert "qcom2 -> tici"

This reverts commit f4d849b2952cb0e662975805db6a1d32511ed392.

* Reapply "qcom2 -> tici"

This reverts commit 58b193cb8de872830f8a7821a339edca14e4a337.

* is tici

* lil more

* Revert "is tici"

This reverts commit a169be18d3fdcb3ef8317a63a89d8becadabfad8.

* Revert "Reapply "qcom2 -> tici""

This reverts commit 26f9c0e7d068fc8a1a5f07383b3616e619cd4e8c.

* qcom2 -> __tici__

* lil more

* mv lenv

* clean that up

* lil more]

* fix

* lil more
2025-09-25 20:55:14 -07:00
commaci-public
b6e0d4807a [bot] Update Python packages (#36184)
* Update Python packages

* not available anymore

* also this

* also this

* maybe?

* version

* try

* Revert "version"

This reverts commit 9ac4401b9ca59677b82736faff8baf66861df5f2.

* revert

* cffi

* issue

* comment

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
2025-09-20 20:10:51 -07:00
Harald Schäfer
35ed6bc3a9 Tinygrad DEV=DEVICE (#35814)
* Reapply "Tinygrad DEV=DEVICE (#35809)"

This reverts commit 5e07636d54.

* bump tg
2025-07-26 21:21:25 -07:00
Bruce Wayne
5e07636d54 Revert "Tinygrad DEV=DEVICE (#35809)"
This reverts commit 47f23828d2.
2025-07-25 12:54:11 -07:00
Harald Schäfer
47f23828d2 Tinygrad DEV=DEVICE (#35809)
* bump tg

* step one cleanup

* cleanup

* typo

* cleaner

* cleaner

* Revert "cleaner"

This reverts commit 9c1abd0dc06b4564e61dd32b0e93375badbc9ca5.

* usbgpu

* bit cleaner

* cleaner sconscript
2025-07-25 11:53:08 -07:00
Shane Smiskol
6f1a1b3213 Revert "modeld: autodetect tinygrad backend" (#35701)
Revert "modeld: autodetect tinygrad backend (#35405)"

This reverts commit ce92fd1a0f.
2025-07-12 00:52:18 -07:00
Andrei Radulescu
ce92fd1a0f modeld: autodetect tinygrad backend (#35405)
* modeld: autodetect tinygrad backend

* modeld: autodetect tinygrad CUDA backend

* Revert "modeld: autodetect tinygrad CUDA backend"

This reverts commit 0e9755fb3c5c2021de27f4d230bd0a162883bc37.

* comment why llvm@19

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* backend from jit

* fix static analysis

* simplify

* compile flags log

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2025-07-11 19:48:35 -07:00
eFini
c3c5992f88 modeld: avoid using USB GPU on a AMD laptop (#35602)
modeld: avoid using usb GPU if 'USBGPU' is not in os.environ

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2025-06-29 14:37:51 -07:00
Kacper Rączy
0218ae82ed Fix openpilot-prebuilt image build (#35607)
Fix tinygrad shell exec
2025-06-27 02:51:20 +00:00
Adeeb Shihadeh
350a235303 modeld: more USB GPU fixes (#35306)
* fixups

* builds
2025-05-20 19:41:58 -07:00
Andrei Radulescu
f630cac06f modeld: replace CLANG=1 with CPU=1 (#35270)
Replace CLANG=1 with CPU=1



---

For more details, open the [Copilot Workspace session](https://copilot-workspace.githubnext.com/andiradulescu/openpilot?shareId=XXXX-XXXX-XXXX-XXXX).
2025-05-18 05:57:45 -07:00
Adeeb Shihadeh
d0bf2be6f0 External GPU support for big models (#35172)
* usb gpu

* cleanup

---------

Co-authored-by: Comma Device <device@comma.ai>
2025-05-13 17:12:32 -07:00
Adeeb Shihadeh
67486ff92d bump tinygrad (#35208)
* bump tinygrad

* fix

* why is mac different?

* fix sim

* relax that
2025-05-13 16:59:35 -07:00
ZwX1616
29ca4aa7de modeld refactor: supercombo -> vision+policy (#34718)
* should be ok

* update tg

* type

* wrong model

* is no more

* update readme

* add back

---------

Co-authored-by: Comma Device <device@comma.ai>
2025-02-27 17:00:56 -08:00
Harald Schäfer
d41311ca20 Switch PC running to tinygrad with LLVM (#34660)
* try llvm on cpu

* update lock

* Make sure test fails

* With BEAM=3 its fast

* small fixes

* more fixes

* Fix macos

* do dm too

* rm ort
2025-02-24 14:51:10 -08:00
YassineYousfi
9ec69ddb36 modeld: trigger model metadata on script change (#34623) 2025-02-19 15:11:33 -08:00
Adeeb Shihadeh
420d6f0d5e Quick GC pass heading into 2025 (#34330)
* first pass

* bye bye snpe
2025-01-05 15:10:24 -08:00
Harald Schäfer
17ca6389e1 Tinygrad runner (#34261)
* squash

* dmonitoringmodeld: use cl transform (#34235)

* needs cleanup

* only if tici

* bump tinygrad

* check width

* base modelframe

* .

* need to be args

* more cleanup

* no _frame in base

* tici only

* its DrivingModelFrame

* .6 is fair

---------

Co-authored-by: Comma Device <device@comma.ai>

* Update tinygrad

* tg upstream

* bump tg

* bump tg

* debug

* attr

* misc cleanup

* whitespace

* remove

* Add TODOs to make python proc for modelrunners

* whitespace

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
2024-12-18 11:58:59 -08:00
Harald Schäfer
f6885dcbec Revert Tinygrad (#34243)
* Revert "dmonitoringmodeld: use cl transform (#34235)"

This reverts commit 684b0b9d4d.

* Revert "load model before calling convert_fp16_to_fp32"

This reverts commit 31606a7d15.

* Revert "bump tinygrad"

This reverts commit 44f58ff758.

* Revert "Tinygrad runner (#34171)"

This reverts commit 7b5a4fbb03.

* Allow init buffer

* typo
2024-12-14 12:15:36 -08:00
Harald Schäfer
7b5a4fbb03 Tinygrad runner (#34171)
* squash

* bump tg

* bump tg

* debump tinygrad

* bump tinygrad

* bump tg

* Skip init iteration

* fixes

* cleanups

* skip first test sample

* typos

* linter unhappy

* update cpu usage

* OPENCL just zeros for now

* imports

* Try printing

* Runs again, but slower

* unused import

* Allow more buffer with tg and all on gpu

* bump tinygrad

* seems ok

* stricter timings for driving looser for dm

* try llvm

* check nvidia

* More timeout for now

* make test pass

* Revert "try llvm"

This reverts commit ef136e478320101fea262bae3579e558da991902.

* small fixes

* whitespace

* revert test timeout

* No model runners

* Always CPU always fast

* No onnx runtime GPU

* more cores

* cleanup

* Is this faster

* Is this faster

* at least runs

* FP32 is faster than 16

* fix deps

* whitespace

* comment

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2024-12-11 23:15:20 -08:00
Adeeb Shihadeh
d9d57e5d6f Revert ISP image processing + tinygrad bump (#34020)
* Revert "Replace ThneedModel with TinygradModel (#33532)"

This reverts commit da952e9b64.

* Revert "camerad: move E + D cams image pipelines to the IFE (#33959)"

This reverts commit f2a1cce42b.
2024-11-13 19:27:11 -08:00
Mitchell Goff
da952e9b64 Replace ThneedModel with TinygradModel (#33532)
* squash

* bump tg

* bump tg

* debump tinygrad

* bump tinygrad

* bump tg

* Skip init iteration

* fixes

* cleanups

* skip first test sample

* typos

* linter unhappy

* update cpu usage

* OPENCL just zeros for now

* imports

* Try printing

* Runs again, but slower

* unused import

* Allow more buffer with tg and all on gpu

* bump tinygrad

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
2024-11-11 13:32:21 -08:00
ZwX1616
876f192112 exec DM model with gpu (#33609)
* half

old-commit-hash: 9f72eca003d4637ca7fe847ebaf925c694fc2e84

* optimed

old-commit-hash: 6e36e2a12e09275ec21d1590012a92b05ca52ff5

* thneed

old-commit-hash: 419a06c09c0c767d828bcd1e118bc575898c343a

* exec

old-commit-hash: 0059c27ec11b076a37f65d604ed135ea6541b1a6

* runner

old-commit-hash: 34232ada94450ce541eaef546197fa219810a891

* runs but

old-commit-hash: 3db37c00b6a64908293b4de8d8b56e80308cd8f2

* it is 01

old-commit-hash: a160d81eb1a7e77abbef959b44f602610f68f665

* np

old-commit-hash: c1caff6ba648cc2c0094c71b2ea074f01c3c2dc8

* module url

old-commit-hash: 6f4902c4d384263a53e2c1d14d93b5ff864b6a5f

* new

old-commit-hash: 779ae79b1bc3df6374fb6663ac8592e107a6e504

* ds fast

* is this work

* corcention

* real timing

* no reg

* interim gather

* 0e4a9c7b

* fa69be01, and halve

* list

* cleanup

* slighly faster

* setprotlt

* expected

* replay ref

* more powar

* reluctantly

* bump tg

* 8

* less

* less

* bump tg

* better than exp

* closer

* cc

* see diff

* commits

* was right

* to 32 cast

* remove dlc file

* support both

* dspExecutionTime -> gpuExecutionTime

* ignore

* time ref

* ref commit

* last

---------

Co-authored-by: Comma Device <device@comma.ai>
2024-09-26 16:40:44 -07:00
ZwX1616
ffb6e11f96 Revert "exec DM model with gpu" (#33604)
Revert "exec DM model with gpu (#33397)"

This reverts commit f79aca8e1e.
2024-09-19 20:55:11 -07:00