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Default model: POP model

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This commit is contained in:
Jason Wen
2026-04-14 12:50:43 -04:00
parent 6979849305
commit 2406b32d55
5 changed files with 10 additions and 13 deletions
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2
common/model.h
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@@ -1 +1 @@
#define DEFAULT_MODEL "OP Model 7 (Default)"
#define DEFAULT_MODEL "POP model (Default)"

4
sunnypilot/modeld_v2/SConscript
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@@ -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)

8
sunnypilot/models/default_model.py
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@@ -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)

2
sunnypilot/models/tests/model_hash
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@@ -1 +1 @@
793b5d480edb5a30eed3d0d3bdb43259522978670f6bc3dea7a4d661261d3c48
5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350

7
sunnypilot/models/tests/test_default_model.py
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@@ -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()