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dump and assign to cpu

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discountchubbs
2026-08-04 12:35:22 -07:00
parent 289171fef8
commit 6bfbf45c6d
1 changed files with 6 additions and 3 deletions
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openpilot/sunnypilot/modeld_v2/modeld.py
+6 -3
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@@ -192,8 +192,6 @@ class ModelState(ModelStateBase):
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
from tinygrad.tensor import Tensor
for key in bufs.keys():
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
yuv_size = self.frame_buf_params[key][3]
@@ -250,6 +248,10 @@ class ModelState(ModelStateBase):
buf[0, :-1] = buf[0, 1:]
buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
if 'feat_q' in self.input_queues:
feat_val = self.input_queues['feat_q'].numpy()
self.input_queues['feat_q'].assign(feat_val).realize()
return outputs
def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -258,7 +260,6 @@ class ModelState(ModelStateBase):
plan = model_output['plan'][0]
desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
@@ -268,6 +269,8 @@ class ModelState(ModelStateBase):
desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
should_stop = (v_ego < 0.3 and desired_accel < 0.1)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
if v_ego > self.MIN_LAT_CONTROL_SPEED:
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)