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Merge branch 'master' into ccnc-port

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This commit is contained in:
royjr
2026-08-23 11:05:40 -04:00
parent 68bf6d8162 211f990f6b
commit 53b1070b09
6 changed files with 59 additions and 55 deletions
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.github/workflows/sunnypilot-build-prebuilt.yaml
+28 -35
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@@ -211,6 +211,8 @@ jobs:
needs: [ prepare_strategy ]
runs-on: ubuntu-24.04
if: ${{ needs.prepare_strategy.outputs.include_big_model == 'true' }}
outputs:
onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
env:
HF_REPO: sunnypilot/sunnypilot_models_v1
HF_DEFAULTS_PATH: models/defaults/big
@@ -226,6 +228,7 @@ jobs:
run: |
ACTUAL_ONNX_HASH=$(sha256sum "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx" | cut -d' ' -f1)
echo "Repo ONNX hash: $ACTUAL_ONNX_HASH"
echo "onnx_sha256=$ACTUAL_ONNX_HASH" >> $GITHUB_OUTPUT
JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
@@ -267,36 +270,6 @@ jobs:
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
- name: Download big model chunks
run: |
ACTUAL_ONNX_HASH=$(sha256sum "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx" | cut -d' ' -f1)
JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
DEFAULTS=$(curl -fsSL "$JSON_URL")
BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ACTUAL_ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)')
mkdir -p big_model_chunks
ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
CANONICAL="big_driving_tinygrad.pkl"
echo "$ARTIFACT" | jq -r '.chunks[].file_name' | while read CHUNK_NAME; do
CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+')
CANONICAL_CHUNK="${CANONICAL}.chunk${CHUNK_IDX}"
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
echo "Downloading $CHUNK_NAME -> $CANONICAL_CHUNK"
curl -fsSL -o "big_model_chunks/${CANONICAL_CHUNK}" "$ENCODED_URL"
done
echo "$NUM_CHUNKS" > "big_model_chunks/${CANONICAL}.chunkmanifest"
- name: Upload big model chunks
uses: actions/upload-artifact@v4
with:
name: big-model-chunks
path: big_model_chunks/
compression-level: 0
- name: Cancel run on failure
if: failure()
run: gh run cancel ${{ github.run_id }}
@@ -339,12 +312,32 @@ jobs:
mkdir -p "${{ github.workspace }}/chestnut_output"
tar xzf prebuilt.tar.gz -C "${{ github.workspace }}/chestnut_output"
- name: Download big model chunks
- name: Download big model chunks from HF
if: ${{ needs.prepare_chestnut.result == 'success' }}
uses: actions/download-artifact@v4
with:
name: big-model-chunks
path: big_model_chunks
env:
HF_REPO: sunnypilot/sunnypilot_models_v1
HF_DEFAULTS_PATH: models/defaults/big
run: |
ONNX_HASH="${{ needs.prepare_chestnut.outputs.onnx_sha256 }}"
JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
DEFAULTS=$(curl -fsSL "$JSON_URL")
BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)')
mkdir -p big_model_chunks
ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
CANONICAL="big_driving_tinygrad.pkl"
echo "$ARTIFACT" | jq -r '.chunks[].file_name' | while read CHUNK_NAME; do
CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+')
CANONICAL_CHUNK="${CANONICAL}.chunk${CHUNK_IDX}"
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
echo "Downloading $CHUNK_NAME -> $CANONICAL_CHUNK"
curl -fsSL -o "big_model_chunks/${CANONICAL_CHUNK}" "$ENCODED_URL"
done
echo "$NUM_CHUNKS" > "big_model_chunks/${CANONICAL}.chunkmanifest"
- name: Inject big model into chestnut
if: ${{ needs.prepare_chestnut.result == 'success' }}
openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
-13
View File
@@ -178,27 +178,14 @@ class ModelsLayout(Widget):
# circled_slash is authored grey; tinting it again only darkens it
return {"name": name, "text_color": rl.GRAY, "icon": "icons/circled_slash.png", "icon_color": rl.WHITE}
@staticmethod
def _show_reset_params_dialog():
def _callback(response):
if response == DialogResult.CONFIRM:
ui_state.params.remove("CalibrationParams")
ui_state.params.remove("LiveTorqueParameters")
msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
dialog = ConfirmDialog(msg, tr("Reset Calibration"), callback=_callback)
gui_app.push_widget(dialog)
def _on_model_selected(self, result):
if result != DialogResult.CONFIRM:
return
selected_ref = self.model_dialog.selection_ref
if selected_ref == "Default":
ui_state.params.remove("ModelManager_ActiveBundle")
self._show_reset_params_dialog()
elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
self._show_reset_params_dialog()
self.model_dialog = None
@staticmethod
openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+6
View File
@@ -8,6 +8,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
from openpilot.selfdrive.ui.sunnypilot.ui_state import MADSState
from openpilot.system.ui.lib.application import gui_app
@@ -19,6 +20,11 @@ class ModelRendererSP:
@property
def _lateral_active(self) -> bool:
sm = ui_state.sm
if sm.valid["selfdriveStateSP"]:
mads = sm["selfdriveStateSP"].mads
if mads.available:
return mads.enabled and mads.state != MADSState.paused
return ui_state.status in (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
def _get_path_half_width(self) -> float:
openpilot/sunnypilot/models/manager.py
+12 -3
View File
@@ -143,13 +143,17 @@ class ModelManagerSP:
is_cached = False
if len(artifact.chunks) > 0:
from openpilot.common.file_chunker import get_chunk_name
num_chunks = len(artifact.chunks)
chunks_valid = True
for i, chunk in enumerate(artifact.chunks):
chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
chunk_path = get_chunk_name(full_path, i, num_chunks)
if not await verify_file(chunk_path, chunk.sha256):
chunks_valid = False
break
if chunks_valid and len(artifact.chunks) > 0:
artifact.downloadProgress.progress = ((i + 1) / num_chunks) * 100
self._sync_artifact_progress(artifact)
self._report_status()
if chunks_valid and num_chunks > 0:
is_cached = True
else:
if await verify_file(full_path, expected_hash):
@@ -216,6 +220,9 @@ class ModelManagerSP:
"""Downloads all models in a bundle"""
self.selected_bundle = model_bundle
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloading
for model in self.selected_bundle.models:
model.artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
self._report_status()
os.makedirs(destination_path, exist_ok=True)
try:
@@ -260,7 +267,9 @@ class ModelManagerSP:
self.active_bundle = get_active_bundle(self.params)
if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
if model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
if self.active_bundle and self.active_bundle.index == index_to_download:
self.params.remove("ModelManager_DownloadIndex")
elif model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
try:
self.download(model_to_download, Paths.model_root())
except Exception as e:
openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+7 -2
View File
@@ -83,9 +83,14 @@ class TestLocationdProc(OpenpilotTestCase):
self.pm.send(msg.which(), msg)
if msg.which() == "cameraOdometry":
self.pm.wait_for_readers_to_update(msg.which(), timeout=1, dt=0.005)
time.sleep(1) # wait for async params write
for _ in range(50):
val = self.params.get('LastGPSPositionLLK')
if val is not None:
break
time.sleep(0.1)
lastGPS = json.loads(self.params.get('LastGPSPositionLLK'))
self.assertIsNotNone(val, "LastGPSPositionLLK not written within 5s")
lastGPS = json.loads(val)
self.assertAlmostEqual(lastGPS['latitude'], self.lat, delta=0.001)
self.assertAlmostEqual(lastGPS['longitude'], self.lon, delta=0.001)
self.assertAlmostEqual(lastGPS['altitude'], self.alt, delta=0.001)
openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
+6 -2
View File
@@ -28,7 +28,8 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
create_connection, WebSocketConnectionClosedException)
import openpilot.cereal.messaging as messaging
from openpilot.sunnypilot.models.default_model import get_default_model
from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled
from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
@@ -181,7 +182,10 @@ def getParamsMetadata() -> str:
schema = generate_schema()
schema["capabilities"] = generate_capabilities()
schema["capability_labels"] = CAPABILITY_LABELS
schema["default_model"] = get_default_model()
# mirrors get_default_model() — ui_state unavailable in sunnylinkd process
show_big = (usbgpu_present() and usbgpu_compiled()
and (params.get_bool("UsbGpuActive") or params.get_bool("UsbGpuLoading") or params.get_bool("IsOffroad")))
schema["default_model"] = DEFAULT_BIG_MODEL if show_big else DEFAULT_MODEL
raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
return base64.b64encode(gzip.compress(raw)).decode("utf-8")
except Exception: