origin/update-tinygrad

.github/workflows/build-all-tinygrad-models.yaml

@@ -74,7 +74,7 @@ jobs:
         env:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           git checkout main
           git sparse-checkout set --no-cone models/
@@ -191,7 +191,7 @@ jobs:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
           echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           echo "checkout models/${RECOMPILED_DIR}"
           git sparse-checkout set --no-cone models/${RECOMPILED_DIR}

.github/workflows/build-single-tinygrad-model.yaml

@@ -109,7 +109,7 @@ jobs:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
           echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           echo "checkout models/${RECOMPILED_DIR}"
           git sparse-checkout set --no-cone models/${RECOMPILED_DIR}

.github/workflows/sunnypilot-build-model.yaml

@@ -156,6 +156,8 @@ jobs:
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ github.workspace }}/selfdrive/modeld/models
+      - run: |
+          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
 
       - name: Build Model
         run: |

selfdrive/modeld/SConscript

@@ -51,8 +51,8 @@ def tg_compile(flags, model_name):
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
     'larch64': 'DEV=QCOM',
-    'Darwin': 'DEV=CPU IMAGE=0',
-  }.get(arch, 'DEV=LLVM IMAGE=0')
+    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
+  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import math

selfdrive/modeld/modeld.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'

sunnypilot/models/fetcher.py

@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/models/helpers.py

@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 10
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 11
+REQUIRED_MIN_SELECTOR_VERSION = 11
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 

sunnypilot/models/runners/model_runner.py

@@ -14,13 +14,10 @@ CUSTOM_MODEL_PATH = Paths.model_root()
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
-  os.environ['AMD'] = '1'
+  os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
-elif TICI:
-  os.environ['QCOM'] = '1'
 else:
-  os.environ['LLVM'] = '1'
-  os.environ['JIT'] = '2'  # TODO: This may cause issues
+  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 
 
 class ModelData: