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discountchubbs
2026-08-04 15:55:49 -07:00
parent 79a81ca2b8
commit 274a3a6f86
2 changed files with 10 additions and 5 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+6 -3
View File
@@ -75,7 +75,8 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
return shapes, sizes
def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT, is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
road_key, _ = _detect_vision_keys(input_shapes)
if not road_key:
raise ValueError("Vision road key missing from input shapes.")
@@ -146,11 +147,13 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
return queues, npy_arrays
def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
def make_supercombo_input_queues(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
openpilot/sunnypilot/modeld_v2/modeld.py
+4 -2
View File
@@ -136,7 +136,8 @@ class ModelState(ModelStateBase):
self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
else:
vision_metadata = metadata['vision']
policy_keys = [k for k in metadata if k != 'vision']
@@ -154,7 +155,8 @@ class ModelState(ModelStateBase):
policy_input_shapes = first_policy_metadata['input_shapes']
self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
self._road_key = next(key for key in self._vision_input_names if 'big' not in key)