From 2406b32d55e3ddbfa0ba1a5196d1d2ab9e101fd9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 14 Apr 2026 12:50:43 -0400 Subject: [PATCH] Default model: POP model --- common/model.h | 2 +- sunnypilot/modeld_v2/SConscript | 4 ++-- sunnypilot/models/default_model.py | 8 +++----- sunnypilot/models/tests/model_hash | 2 +- sunnypilot/models/tests/test_default_model.py | 7 +++---- 5 files changed, 10 insertions(+), 13 deletions(-) diff --git a/common/model.h b/common/model.h index fc1110431..d134ebd15 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "OP Model 7 (Default)" +#define DEFAULT_MODEL "POP model (Default)" diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript index ddf889c0c..8526fd272 100644 --- a/sunnypilot/modeld_v2/SConscript +++ b/sunnypilot/modeld_v2/SConscript @@ -13,7 +13,7 @@ if PC: model_dir = Dir("models").abspath cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}' - for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']: + for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']: if File(f"models/{model_name}.onnx").exists(): inputs.append(File(f"models/{model_name}.onnx")) inputs.append(File(f"models/{model_name}_tinygrad.pkl")) @@ -42,7 +42,7 @@ def tg_compile(flags, model_name): ) # Compile models -for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']: +for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']: if File(f"models/{model_name}.onnx").exists(): tg_compile(tg_flags, model_name) diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py index d540efbff..0260a3c3b 100755 --- a/sunnypilot/models/default_model.py +++ b/sunnypilot/models/default_model.py @@ -8,16 +8,14 @@ from openpilot.sunnypilot import get_file_hash DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h") MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash") VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx") -OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx") -ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx") +POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx") def update_model_hash(): vision_hash = get_file_hash(VISION_ONNX_PATH) - off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH) - on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH) + policy_hash = get_file_hash(POLICY_ONNX_PATH) - combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest() + combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest() with open(MODEL_HASH_PATH, "w") as f: f.write(combined_hash) diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index 3fdf97dd1..eaf923358 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -793b5d480edb5a30eed3d0d3bdb43259522978670f6bc3dea7a4d661261d3c48 +5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350 \ No newline at end of file diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py index abe685c36..7c2fde70a 100644 --- a/sunnypilot/models/tests/test_default_model.py +++ b/sunnypilot/models/tests/test_default_model.py @@ -6,17 +6,16 @@ See the LICENSE.md file in the root directory for more details. """ from openpilot.sunnypilot import get_file_hash -from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH +from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH import hashlib class TestDefaultModel: def test_compare_onnx_hashes(self): vision_hash = get_file_hash(VISION_ONNX_PATH) - off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH) - on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH) + policy_hash = get_file_hash(POLICY_ONNX_PATH) - combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest() + combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest() with open(MODEL_HASH_PATH) as f: current_hash = f.read().strip()