From c787507449024fe0dae3cb0f19f1a481613ea63e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 24 Feb 2026 09:43:47 -0800 Subject: [PATCH] Revert "rm onnx (#37285)" (#37379) This reverts commit 23e1c4f49e63e550a44a85f0020b601bd9376a1d. --- pyproject.toml | 3 ++ scripts/reporter.py | 28 ++++---------- selfdrive/modeld/get_model_metadata.py | 40 ++++++------------- uv.lock | 53 ++++++++++++++++++++++++++ 4 files changed, 75 insertions(+), 49 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index f983aca8a..b40bed23d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -44,6 +44,9 @@ dependencies = [ "libusb1", "spidev; platform_system == 'Linux'", + # modeld + "onnx >= 1.14.0", + # logging "pyzmq", "sentry-sdk", diff --git a/scripts/reporter.py b/scripts/reporter.py index d894b8af4..903fcc891 100755 --- a/scripts/reporter.py +++ b/scripts/reporter.py @@ -1,33 +1,17 @@ #!/usr/bin/env python3 import os import glob - -from tinygrad.nn.onnx import OnnxPBParser +import onnx BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) - MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR) MODEL_PATH = "/selfdrive/modeld/models/" - -class MetadataOnnxPBParser(OnnxPBParser): - def _parse_ModelProto(self) -> dict: - obj = {"metadata_props": []} - for fid, wire_type in self._parse_message(self.reader.len): - match fid: - case 14: - obj["metadata_props"].append(self._parse_StringStringEntryProto()) - case _: - self.reader.skip_field(wire_type) - return obj - - def get_checkpoint(f): - model = MetadataOnnxPBParser(f).parse() - metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]} + model = onnx.load(f) + metadata = {prop.key: prop.value for prop in model.metadata_props} return metadata['model_checkpoint'].split('/')[0] - if __name__ == "__main__": print("| | master | PR branch |") print("|-| ----- | --------- |") @@ -40,4 +24,8 @@ if __name__ == "__main__": fn = os.path.basename(f) master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn) pr = get_checkpoint(BASEDIR + MODEL_PATH + fn) - print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|") + print( + "|", fn, "|", + f"[{master}](https://reporter.comma.life/experiment/{master})", "|", + f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|" + ) diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py index 838b1e9f4..2001d23d7 100755 --- a/selfdrive/modeld/get_model_metadata.py +++ b/selfdrive/modeld/get_model_metadata.py @@ -1,51 +1,33 @@ #!/usr/bin/env python3 import sys import pathlib +import onnx import codecs import pickle from typing import Any -from tinygrad.nn.onnx import OnnxPBParser - - -class MetadataOnnxPBParser(OnnxPBParser): - def _parse_ModelProto(self) -> dict: - obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []} - for fid, wire_type in self._parse_message(self.reader.len): - match fid: - case 7: - obj["graph"] = self._parse_GraphProto() - case 14: - obj["metadata_props"].append(self._parse_StringStringEntryProto()) - case _: - self.reader.skip_field(wire_type) - return obj - - -def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]: - shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape) - name = value_info["name"] +def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: + shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) + name = value_info.name return name, shape - -def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any: - for prop in model["metadata_props"]: - if prop["key"] == name: - return prop["value"] +def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any: + for prop in model.metadata_props: + if prop.key == name: + return prop.value return None - if __name__ == "__main__": model_path = pathlib.Path(sys.argv[1]) - model = MetadataOnnxPBParser(model_path).parse() + model = onnx.load(str(model_path)) output_slices = get_metadata_value_by_name(model, 'output_slices') assert output_slices is not None, 'output_slices not found in metadata' metadata = { 'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'), 'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")), - 'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]), - 'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]), + 'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]), + 'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output]) } metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') diff --git a/uv.lock b/uv.lock index 1dcc48922..b27732b18 100644 --- a/uv.lock +++ b/uv.lock @@ -691,6 +691,22 @@ wheels = [ 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