From bdc8e4b02c368e10edc6c0aa980a4c263a6793c6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Aug 2026 22:25:35 -0700 Subject: [PATCH 01/28] deprecate long kp (#38614) * deprecate long kp * bump --- opendbc_repo | 2 +- openpilot/selfdrive/controls/lib/longcontrol.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 44f2987cb6..c536b211b7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 44f2987cb6ed28f7dcd99d5930abf6c2917d8f60 +Subproject commit c536b211b762c37c6d869923ae8ba59ca2f18a0c diff --git a/openpilot/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py index 437bcef777..c57f4c4cce 100644 --- a/openpilot/selfdrive/controls/lib/longcontrol.py +++ b/openpilot/selfdrive/controls/lib/longcontrol.py @@ -39,8 +39,7 @@ class LongControl: def __init__(self, CP): self.CP = CP self.long_control_state = LongCtrlState.off - self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), - (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), + self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), rate=1 / DT_CTRL) self.last_output_accel = 0.0 From c988e7889372fc8646ff7b310bd0483378bb6106 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 13 Aug 2026 22:46:13 -0700 Subject: [PATCH 02/28] jenkins fixups (#38532) --- .../selfdrive/pandad/tests/test_pandad_spi.py | 1 - openpilot/selfdrive/test/test_onroad.py | 33 ++++++++++++------- 2 files changed, 22 insertions(+), 12 deletions(-) diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py index ba2e31ce82..8ca39445a2 100755 --- a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py +++ b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py @@ -102,7 +102,6 @@ class TestBoarddSpi(OpenpilotTestCase): edt = 1e3 / SERVICE_LIST[service].frequency assert edt*0.9 < np.mean(dts) < edt*1.1 assert np.max(dts) < edt*8 - assert np.min(dts) < edt assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8) with subtests.test(msg="CAN traffic"): diff --git a/openpilot/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py index 6768dc1d98..4426c196d4 100755 --- a/openpilot/selfdrive/test/test_onroad.py +++ b/openpilot/selfdrive/test/test_onroad.py @@ -67,7 +67,7 @@ PROCS = { "openpilot.selfdrive.pandad.pandad": 0, "openpilot.system.loggerd.uploader": 15.0, "openpilot.system.loggerd.deleter": 1.0, - "./pandad": 19.0, + "./pandad": 40.0, "openpilot.system.qcomgpsd.qcomgpsd": 1.0, "openpilot.common.hardware.comma.modem": 10.0, } @@ -107,6 +107,10 @@ def cputime_total(ct): class TestOnroad(OpenpilotTestCase): COMMA_HARDWARE_TEST = True + def setUp(self): + # Hardware setup is handled once for the full onroad test in setup_class. + unittest.TestCase.setUp(self) + @classmethod def setup_class(cls): if "DEBUG" in os.environ: @@ -331,27 +335,34 @@ class TestOnroad(OpenpilotTestCase): assert np.all(eof_sof_diff > 0) assert np.all(eof_sof_diff < 50*1e6) + # TODO: loggerd doesn't start fast enough to be ready before the first frames come out first_fid = {min(self.ts[c]['frameId']) for c in cams} - assert len(first_fid) == 1, "Cameras don't start on same frame ID" - if cam.endswith('CameraState'): + #assert len(first_fid) == 1, "Cameras don't start on same frame ID" + if cams[0].endswith('CameraState'): # camerad guarantees that all cams start on frame ID 0 # (note loggerd also needs to start up fast enough to catch it) - assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high" + assert min(first_fid) < 100, "Cameras start on frame ID too high" # we don't do a full segment rotation, so these might not match exactly last_fid = {max(self.ts[c]['frameId']) for c in cams} assert max(last_fid) - min(last_fid) < 10 - start, end = min(first_fid), min(last_fid) - for i in range(end-start): + timestamps = { + cam: dict(zip(self.ts[cam]['frameId'], self.ts[cam]['timestampSof'], strict=True)) + for cam in cams + } + common_frame_ids = set.intersection(*(set(ts) for ts in timestamps.values())) + assert common_frame_ids, "Cameras have no overlapping frame IDs" + + for frame_id in sorted(common_frame_ids): # road and wide cameras (first two) should be synced within 2ms - ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]} - diff = (max(ts.values()) - min(ts.values())) - assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}" + ts = {cam: timestamps[cam][frame_id] / 1e6 for cam in cams[:2]} + diff = max(ts.values()) - min(ts.values()) + assert diff < 2, f"Cameras not synced properly: {frame_id=}, {diff=:.1f}ms, {ts=}" # cabin camera should be staggered ~25ms from road camera - offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6 - assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms" + offset_ms = abs(timestamps[cams[2]][frame_id] - timestamps[cams[0]][frame_id]) / 1e6 + assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {frame_id}: {offset_ms:.1f}ms" def test_camera_encoder_matches(self, subtests): # sanity check that the frame metadata is consistent with the encoded frames From 516ec1e68203439a73f340f1d0b3b91eabc626ee Mon Sep 17 00:00:00 2001 From: Toby Penner Date: Fri, 14 Aug 2026 13:45:22 -0700 Subject: [PATCH 03/28] Revert big RL model (#38627) --- openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx index a74573ca29..4a04bd7833 100644 --- a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx +++ b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4 -size 1753235978 +oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff +size 1757355221 From df4566ef2faa6a25a890b3b9a2b8b737798b64a8 Mon Sep 17 00:00:00 2001 From: stef <19478336+stefpi@users.noreply.github.com> Date: Fri, 14 Aug 2026 21:01:22 -0700 Subject: [PATCH 04/28] ui: small software ui fixes (#38630) add icon and scroller for branch name --- openpilot/selfdrive/assets/icons_mici/settings/software.png | 4 ++-- openpilot/selfdrive/ui/mici/layouts/settings/software.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/openpilot/selfdrive/assets/icons_mici/settings/software.png b/openpilot/selfdrive/assets/icons_mici/settings/software.png index 5cf528cbdd..15baccd725 100644 --- a/openpilot/selfdrive/assets/icons_mici/settings/software.png +++ b/openpilot/selfdrive/assets/icons_mici/settings/software.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2 -size 1579 +oid sha256:190e196eba6feffec125ac66cf7e77620b759e346fa69b80e3a3884a5694cb15 +size 3225 diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/software.py b/openpilot/selfdrive/ui/mici/layouts/settings/software.py index bd4b966f49..0f12004828 100644 --- a/openpilot/selfdrive/ui/mici/layouts/settings/software.py +++ b/openpilot/selfdrive/ui/mici/layouts/settings/software.py @@ -47,7 +47,7 @@ class SoftwareInfoLayoutMici(Widget): self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False) self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color, - font_weight=FontWeight.ROMAN, wrap_text=False) + font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True) def _update_state(self): desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "") From d9c4120f891430da60a353e91600483ef0292de1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 12:03:34 -0700 Subject: [PATCH 05/28] ui: fix text and icon overlap on button (#38628) --- openpilot/selfdrive/ui/mici/widgets/button.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/ui/mici/widgets/button.py b/openpilot/selfdrive/ui/mici/widgets/button.py index 0ecda6a0c5..cad40d7d01 100644 --- a/openpilot/selfdrive/ui/mici/widgets/button.py +++ b/openpilot/selfdrive/ui/mici/widgets/button.py @@ -150,8 +150,8 @@ class BigButton(Widget): super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None) def _width_hint(self) -> int: - # Single line if scrolling, so hide behind icon if exists - icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0 + # A value moves the title to the top, where it shares space with the icon. + icon_size = self._txt_icon.width if self._txt_icon and self.value else 0 return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size) def _get_label_font_size(self): From 76b69af59ab278d50a3338780b256d7ddc5fe889 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 12:08:38 -0700 Subject: [PATCH 06/28] remove offroad OS update alert (#38633) --- openpilot/common/params_keys.h | 1 - openpilot/selfdrive/selfdrived/alerts_offroad.json | 4 ---- openpilot/system/updated/updated.py | 3 --- 3 files changed, 8 deletions(-) diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h index 0019f6c9ac..7a914128fa 100644 --- a/openpilot/common/params_keys.h +++ b/openpilot/common/params_keys.h @@ -94,7 +94,6 @@ inline static std::unordered_map keys = { {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}}, - {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}}, diff --git a/openpilot/selfdrive/selfdrived/alerts_offroad.json b/openpilot/selfdrive/selfdrived/alerts_offroad.json index add8d89550..07bab0c377 100644 --- a/openpilot/selfdrive/selfdrived/alerts_offroad.json +++ b/openpilot/selfdrive/selfdrived/alerts_offroad.json @@ -17,10 +17,6 @@ "severity": 1, "_comment": "Set extra field to the failed reason." }, - "Offroad_NeosUpdate": { - "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.", - "severity": 0 - }, "Offroad_UnregisteredHardware": { "text": "Failed to register with comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.", "severity": 1 diff --git a/openpilot/system/updated/updated.py b/openpilot/system/updated/updated.py index 24acb2fd17..1bba66d0c9 100755 --- a/openpilot/system/updated/updated.py +++ b/openpilot/system/updated/updated.py @@ -217,13 +217,10 @@ def handle_agnos_update() -> None: set_consistent_flag(False) cloudlog.info(f"Beginning background installation for AGNOS {updated_version}") - set_offroad_alert("Offroad_NeosUpdate", True) manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json") target_slot_number = get_target_slot_number() flash_agnos_update(manifest_path, target_slot_number, cloudlog) - set_offroad_alert("Offroad_NeosUpdate", False) - class Updater: From 3447ec17895fb3b511551ef43e174943b5e5dab5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 12:28:38 -0700 Subject: [PATCH 07/28] selfdrived: excessive actuation check is not for notCars (#38634) --- openpilot/selfdrive/selfdrived/selfdrived.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py index 73f382ac3c..f2bd8a4c7b 100755 --- a/openpilot/selfdrive/selfdrived/selfdrived.py +++ b/openpilot/selfdrive/selfdrived/selfdrived.py @@ -297,7 +297,7 @@ class SelfdriveD: device_motion = Pose.from_device_motion(self.sm['deviceMotion']) self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion) - if self.calibrated_pose is not None: + if self.calibrated_pose is not None and not self.CP.notCar: excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose) if not self.excessive_actuation and excessive_actuation is not None: set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation)) From 748c725e3e63a3e4625092d1e87afb147e6ec643 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 12:39:26 -0700 Subject: [PATCH 08/28] soundd: more robust test (#38635) --- openpilot/selfdrive/ui/tests/test_soundd.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/openpilot/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py index 11349f1f40..ca3b7ab209 100644 --- a/openpilot/selfdrive/ui/tests/test_soundd.py +++ b/openpilot/selfdrive/ui/tests/test_soundd.py @@ -19,14 +19,14 @@ class TestSoundd(OpenpilotTestCase): sm.update(100) assert sm.updated['selfdriveState'] - received_at = sm.recv_time['selfdriveState'] - clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT) + sm.recv_time['selfdriveState'] = 0 + clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=SELFDRIVE_STATE_TIMEOUT) assert not check_selfdrive_timeout_alert(sm) - clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1 + clock.return_value = SELFDRIVE_STATE_TIMEOUT + 0.1 assert check_selfdrive_timeout_alert(sm) - clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10 + clock.return_value = SELFDRIVE_STATE_TIMEOUT + 10 assert not check_selfdrive_timeout_alert(sm) # TODO: add test with micd for checking that soundd actually outputs sounds From 28560d6cf1b44f2f01c1dc0e6855a1fb64fd1e11 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 13:18:02 -0700 Subject: [PATCH 09/28] show an offroad alert to switch to a chestnut branch (#38636) * show an offroad alert to switch to a chestnut branch * add to keys --- openpilot/common/params_keys.h | 1 + openpilot/selfdrive/selfdrived/alerts_offroad.json | 4 ++++ openpilot/system/hardware/hardwared.py | 2 ++ 3 files changed, 7 insertions(+) diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h index 7a914128fa..e44d8f8e34 100644 --- a/openpilot/common/params_keys.h +++ b/openpilot/common/params_keys.h @@ -91,6 +91,7 @@ inline static std::unordered_map keys = { {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}}, {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}}, {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, + {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}}, diff --git a/openpilot/selfdrive/selfdrived/alerts_offroad.json b/openpilot/selfdrive/selfdrived/alerts_offroad.json index 07bab0c377..b0179c0ac3 100644 --- a/openpilot/selfdrive/selfdrived/alerts_offroad.json +++ b/openpilot/selfdrive/selfdrived/alerts_offroad.json @@ -17,6 +17,10 @@ "severity": 1, "_comment": "Set extra field to the failed reason." }, + "Offroad_ChestnutBranch": { + "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.", + "severity": 0 + }, "Offroad_UnregisteredHardware": { "text": "Failed to register with comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.", "severity": 1 diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py index 270a75ade6..d7fac517fb 100755 --- a/openpilot/system/hardware/hardwared.py +++ b/openpilot/system/hardware/hardwared.py @@ -237,6 +237,7 @@ def hardware_thread(end_event, hw_queue) -> None: fan_controller = FanController(int(1./DT_HW)) chestnut = Chestnut() + big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT) @@ -298,6 +299,7 @@ def hardware_thread(end_event, hw_queue) -> None: set_usb_state(msg.deviceState, last_hw_state.usb_state) chestnut.update(started_ts is None, last_hw_state.usb_state) + set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available) # this subset is only used for offroad temp_sources = [ From fb555fdefdc3fc6978f42f0530c9da5d72b2a9fd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 14:28:45 -0700 Subject: [PATCH 10/28] big model doesn't need big build times (#38637) * big model doesn't need big build times * revert htat --- openpilot/selfdrive/modeld/SConscript | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/openpilot/selfdrive/modeld/SConscript b/openpilot/selfdrive/modeld/SConscript index 30b008078e..30a31aae27 100644 --- a/openpilot/selfdrive/modeld/SConscript +++ b/openpilot/selfdrive/modeld/SConscript @@ -79,7 +79,9 @@ for usbgpu in [False, True] if USBGPU else [False]: file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags) driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath) camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS) - cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py ' + # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it. + taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else '' + cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py ' f'--model-size {model_w}x{model_h} ' f'--camera-resolutions {camera_res_args} ' f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} ' From 5e3d17c72cf2cd90a57d1cd31771c3aacfc9f79b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 15:31:19 -0700 Subject: [PATCH 11/28] chestnut: fix flashing on old FW (#38639) --- openpilot/system/hardware/chestnut/flash.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/openpilot/system/hardware/chestnut/flash.py b/openpilot/system/hardware/chestnut/flash.py index 32aa5a443a..f0d828031d 100755 --- a/openpilot/system/hardware/chestnut/flash.py +++ b/openpilot/system/hardware/chestnut/flash.py @@ -33,6 +33,7 @@ USBDEVFS_SETCONFIGURATION = 0x80045505 USBDEVFS_CLAIMINTERFACE = 0x8004550F USBDEVFS_RESET = 0x5514 USBDEVFS_CLEAR_HALT = 0x80045515 +MAX_REGISTER_READ_SIZE = 255 _deadline = float("inf") @@ -146,6 +147,7 @@ def claim_interface(path, setup=False): class Flash: def __init__(self): self.fd = -1 + self.max_register_read_size = MAX_REGISTER_READ_SIZE def close(self): if self.fd >= 0: @@ -160,6 +162,9 @@ class Flash: if in_rom_bootloader(vid_pid, product): raise RomFallback("chestnut fell back to the ROM bootloader") if path is not None: + speed = int(open(path + "/speed").read()) + # USB2 firmware truncates larger reads to one full packet without a terminating ZLP. + self.max_register_read_size = 64 if speed < 5000 else MAX_REGISTER_READ_SIZE self.fd = claim_interface(path) return time.sleep(0.1) @@ -231,8 +236,8 @@ class Flash: while len(out) < length: n = min(4096, length - len(out)) self.transaction(0x03, addr + len(out), max(4096, n)) - for off in range(0, n, 255): - out += self.reg_read(0x7000 + off, min(255, n - off)) + for off in range(0, n, self.max_register_read_size): + out += self.reg_read(0x7000 + off, min(self.max_register_read_size, n - off)) return bytes(out) def erase_sector(self, addr): From 48b7f171a7e15fa2e98e6df85da579c7ce0203ba Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 15:33:43 -0700 Subject: [PATCH 12/28] release: speed up pushes by 9x (#38640) --- tools/release/build_release.sh | 3 ++- tools/release/build_stripped.sh | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/release/build_release.sh b/tools/release/build_release.sh index 6657962ade..4cca754a08 100755 --- a/tools/release/build_release.sh +++ b/tools/release/build_release.sh @@ -94,6 +94,7 @@ REFS=() for branch in ${RELEASE_BRANCH//,/ }; do REFS+=("$BUILD_BRANCH:$branch") done -git push -f origin "${REFS[@]}" +# uploading the larger pack is faster than spending CPU to optimize it +git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}" echo "[-] done T=$SECONDS" diff --git a/tools/release/build_stripped.sh b/tools/release/build_stripped.sh index 0e957c9212..6c1ba4e097 100755 --- a/tools/release/build_stripped.sh +++ b/tools/release/build_stripped.sh @@ -83,7 +83,8 @@ fi if [ ! -z "$BRANCH" ]; then echo "[-] Pushing to $BRANCH T=$SECONDS" - git push -f origin tmp:$BRANCH + # uploading the larger pack is faster than spending CPU to optimize it + git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin tmp:$BRANCH fi echo "[-] done T=$SECONDS, ready at $TARGET_DIR" From 6ad35321133fd0a7979dd85415be110d80ba582a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 15:54:19 -0700 Subject: [PATCH 13/28] Document chestnut branches --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 6c0d944a2e..1bdb412b37 100644 --- a/README.md +++ b/README.md @@ -57,9 +57,9 @@ Running `master` and other branches directly is supported, but it's recommended | comma four branch | comma four + chestnut branch | comma 3X branch | URL | description | |------------------------|------------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------| | `release-mici` | `release-chestnut` | `release-tizi` | openpilot.comma.ai | This is openpilot's release branch. | -| `release-mici-staging` | | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | -| `nightly` | | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | -| `nightly-dev` | | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | +| `release-mici-staging` | `release-chestnut-staging` | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | +| `nightly` | `nightly-chestnut` | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | +| `nightly-dev` | `nightly-chestnut-dev` | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | To start developing openpilot ------ From a996f8ef90823611d6ed9129d2472ebcb2b9f4f0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 15:59:20 -0700 Subject: [PATCH 14/28] chestnut gets its own table --- README.md | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 1bdb412b37..21737a1ae1 100644 --- a/README.md +++ b/README.md @@ -54,12 +54,21 @@ We have detailed instructions for [how to install the harness and device in a ca Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches: -| comma four branch | comma four + chestnut branch | comma 3X branch | URL | description | -|------------------------|------------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------| -| `release-mici` | `release-chestnut` | `release-tizi` | openpilot.comma.ai | This is openpilot's release branch. | -| `release-mici-staging` | `release-chestnut-staging` | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | -| `nightly` | `nightly-chestnut` | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | -| `nightly-dev` | `nightly-chestnut-dev` | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | +| comma four branch | comma 3X branch | URL | description | +|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------| +| `release-mici` | `release-tizi` | openpilot.comma.ai | This is openpilot's release branch. | +| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. | +| `nightly` | `nightly` | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. | +| `nightly-dev` | `nightly-dev` | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. | + +For [chestnut](https://comma.ai/shop/chestnut), use the following installer URLs: + +| branch | URL | description | +|------------------------------|------------------------------------------------------------|-------------------------------------------------------------------------------------| +| `release-chestnut` | installer.comma.ai/commaai/release-chestnut | This is openpilot's release branch. | +| `release-chestnut-staging` | installer.comma.ai/commaai/release-chestnut-staging | This is the staging branch for releases. Use it to get new releases slightly early. | +| `nightly-chestnut` | installer.comma.ai/commaai/nightly-chestnut | This is the bleeding edge development branch. Do not expect this to be stable. | +| `nightly-chestnut-dev` | installer.comma.ai/commaai/nightly-chestnut-dev | Same as nightly, but includes experimental development features for some cars. | To start developing openpilot ------ From 391132465d6d216e455d5bf81de695a244d3eef6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 16:01:42 -0700 Subject: [PATCH 15/28] release: chestnut build scripts (#38638) * release: chestnut build scripts * simplify * only max * no new script * release: exclude local virtualenv --- tools/release/build_release.sh | 11 +++++++++++ tools/release/release_files.py | 6 +++--- 2 files changed, 14 insertions(+), 3 deletions(-) diff --git a/tools/release/build_release.sh b/tools/release/build_release.sh index 4cca754a08..5dca1626ca 100755 --- a/tools/release/build_release.sh +++ b/tools/release/build_release.sh @@ -46,10 +46,21 @@ echo "[-] committing version $VERSION T=$SECONDS" git add -f . git commit -a -m "openpilot v$VERSION release" +# use the full CPU available for speeding up the build. +# openpilot resets the CPU frequencies when test_onroad.py runs below. +for policy in /sys/devices/system/cpu/cpufreq/policy*; do + [ -d "$policy" ] || continue + hardware_max="$(cat "$policy/cpuinfo_max_freq")" + echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null +done + # Build and test before launch_chffrplus.sh creates the on-device package # symlinks. SConstruct uses the same package roots for build subprocesses. export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo" scons +if [ -n "$INCLUDE_BIG_MODEL" ]; then + test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest +fi if [ -z "$PANDA_DEBUG_BUILD" ]; then # release panda fw diff --git a/tools/release/release_files.py b/tools/release/release_files.py index 223e3f2c77..1558f04a26 100755 --- a/tools/release/release_files.py +++ b/tools/release/release_files.py @@ -8,13 +8,11 @@ ROOT = os.path.abspath(os.path.join(HERE, "../..")) blacklist = [ ".git/", + ".venv/", ".github/workflows/", "matlab.*.md", - # skip big model for now - "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx", - # no LFS or submodules in release ".lfsconfig", ".gitattributes", @@ -32,6 +30,8 @@ if __name__ == "__main__": continue rf = str(f.relative_to(ROOT)) + if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"): + continue blacklisted = any(re.search(p, rf) for p in blacklist) whitelisted = any(re.search(p, rf) for p in whitelist) if blacklisted and not whitelisted: From dcbd66ad81db19bb5bcc69c36c0c9e5bcf9c3f9a Mon Sep 17 00:00:00 2001 From: stef <19478336+stefpi@users.noreply.github.com> Date: Sat, 15 Aug 2026 19:05:02 -0400 Subject: [PATCH 16/28] ui: big model failed alert (#38629) * big model failed + supply voltage check * remove ltssm and supply voltage stuff for seperate PR --- openpilot/selfdrive/selfdrived/events.py | 3 ++- openpilot/selfdrive/selfdrived/selfdrived.py | 3 +++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py index 1482a4e334..69fa900be4 100755 --- a/openpilot/selfdrive/selfdrived/events.py +++ b/openpilot/selfdrive/selfdrived/events.py @@ -409,7 +409,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.bigModelFailed: { - ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.), + ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"), + ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.), }, EventName.lateralManeuver: { diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py index f2bd8a4c7b..1f1f6f7349 100755 --- a/openpilot/selfdrive/selfdrived/selfdrived.py +++ b/openpilot/selfdrive/selfdrived/selfdrived.py @@ -343,6 +343,9 @@ class SelfdriveD: # All events here should at least have NO_ENTRY and SOFT_DISABLE. num_events = len(self.events) + if self.big_model_active and big_failed: + self.events.add(EventName.bigModelFailed) + not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} if self.sm.recv_frame['managerState'] and len(not_running): if not_running != self.not_running_prev: From 97542f838f5be76be24f3026a286ec9430bbfe17 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Aug 2026 16:17:21 -0700 Subject: [PATCH 17/28] check the pkl too --- openpilot/system/hardware/hardwared.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py index d7fac517fb..a423d8f97d 100755 --- a/openpilot/system/hardware/hardwared.py +++ b/openpilot/system/hardware/hardwared.py @@ -237,7 +237,8 @@ def hardware_thread(end_event, hw_queue) -> None: fan_controller = FanController(int(1./DT_HW)) chestnut = Chestnut() - big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) + big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) or \ + os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest")) while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT) From 73fc740831e3ee8efad459de8311fda233c5ebef Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 15 Aug 2026 19:34:50 -0400 Subject: [PATCH 18/28] [TIZI/TICI] ui: fix developer UI crash on renamed field (#1910) ui: fix developer UI crash on renamed lateralTorqueParameters valid field --- .../selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py index f89edef48b..a8ecb5f8ab 100644 --- a/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py +++ b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py @@ -252,7 +252,7 @@ class FrictionCoefficientElement: ltp = sm['lateralTorqueParameters'] value = f"{ltp.frictionCoefficientFiltered:.3f}" - color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE + color = rl.Color(0, 255, 0, 255) if ltp.valid else rl.WHITE return UiElement(value, "FRIC.", self.unit, color) @@ -266,7 +266,7 @@ class LatAccelFactorElement: ltp = sm['lateralTorqueParameters'] value = f"{ltp.latAccelFactorFiltered:.3f}" - color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE + color = rl.Color(0, 255, 0, 255) if ltp.valid else rl.WHITE return UiElement(value, "L.A.F.", self.unit, color) From 91d0f3309c8b0d470b5a6faf9af744cdb42301ff Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 15 Aug 2026 19:56:19 -0400 Subject: [PATCH 19/28] DEC: restore gate on longitudinal E2E output (#1911) dec: restore Dynamic Experimental Control gate on longitudinal e2e output --- .../controls/lib/longitudinal_planner.py | 13 +- .../lib/dec/tests/test_dec_planner_gate.py | 112 ++++++++++++++++++ 2 files changed, 115 insertions(+), 10 deletions(-) create mode 100644 openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py index 12b4f9da61..8b62808dc0 100755 --- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py @@ -139,23 +139,16 @@ class LongitudinalPlanner(LongitudinalPlannerSP): output_a_target_e2e = sm['modelV2'].action.desiredAcceleration output_should_stop_e2e = sm['modelV2'].action.shouldStop - if self.is_e2e(sm): - output_a_target = min(output_a_target_e2e, output_a_target_mpc) - self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc - if output_a_target < output_a_target_mpc: - self.mpc.source = LongitudinalPlanSource.e2e - else: - output_a_target = output_a_target_mpc - self.output_should_stop = output_should_stop_mpc + is_e2e = self.is_e2e(sm) - self.a_cruise = get_cruise_accel(sm['selfdriveState'].experimentalMode, v_cruise, v_ego, + self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego, self.a_cruise, steer_angle_without_offset, self.CP, self.dt, accel_coast, self.allow_throttle) cruise_should_stop = should_stop(v_ego, self.a_cruise) candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc), (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)] - if sm['selfdriveState'].experimentalMode: + if is_e2e: candidates.append((output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e)) output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0]) diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py new file mode 100644 index 0000000000..1f5c577028 --- /dev/null +++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py @@ -0,0 +1,112 @@ +""" +Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors. + +This file is part of sunnypilot and is licensed under the MIT License. +See the LICENSE.md file in the root directory for more details. +""" +from typing import cast + +from openpilot.cereal import custom, messaging +from opendbc.car import structs +from openpilot.common.test import OpenpilotTestCase +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, LongitudinalPlanSource +from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController + +V_EGO = 20.0 +E2E_ACCEL = -3.0 # low enough that e2e wins the min() whenever it is a candidate + + +class MockDec: + def __init__(self, active: bool, mode: str): + self._active = active + self._mode = mode + + def update(self, sm): + pass + + def active(self) -> bool: + return self._active + + def mode(self) -> str: + return self._mode + + def enabled(self) -> bool: + return True + + +class MockSubMaster(dict): + def __init__(self, services: dict): + super().__init__(services) + self.valid = dict.fromkeys(services, True) + self.logMonoTime = dict.fromkeys(services, 0) + self.updated = dict.fromkeys(services, True) + self.recv_frame = dict.fromkeys(services, 1) + + def all_checks(self, service_list=None) -> bool: + return True + + +def build_sm(experimental_mode: bool) -> MockSubMaster: + services = {} + for service in ("radarState", "controlsState", "vehicleParameters", "carStateSP", + "liveMapDataSP", "gpsLocationExternal", "gpsLocation"): + services[service] = getattr(messaging.new_message(service), service) + + car_state = messaging.new_message('carState') + car_state.carState.vEgo = V_EGO + car_state.carState.vCruise = 100.0 + car_state.carState.vCruiseCluster = 100.0 + services['carState'] = car_state.carState.as_reader() + + selfdrive_state = messaging.new_message('selfdriveState') + selfdrive_state.selfdriveState.experimentalMode = experimental_mode + selfdrive_state.selfdriveState.enabled = True + services['selfdriveState'] = selfdrive_state.selfdriveState.as_reader() + + car_control = messaging.new_message('carControl') + car_control.carControl.enabled = True + services['carControl'] = car_control.carControl.as_reader() + + model = messaging.new_message('modelV2') + model.modelV2.orientationRate.z = [0.01] * 33 # nonzero: a straight path divides by zero in SCC vision + model.modelV2.velocity.x = [V_EGO] * 33 + model.modelV2.position.x = [float(i) for i in range(33)] + model.modelV2.action.desiredAcceleration = E2E_ACCEL + services['modelV2'] = model.modelV2.as_reader() + + return MockSubMaster(services) + + +def build_planner(dec_active: bool, dec_mode: str) -> LongitudinalPlanner: + CP = structs.CarParams() + CP.steerRatio = 15.0 + CP.wheelbase = 2.7 + CP.longitudinalActuatorDelay = 0.2 + CP_SP = custom.CarParamsSP.new_message().as_reader() + + planner = LongitudinalPlanner(CP, CP_SP, init_v=V_EGO) + planner.dec = cast(DynamicExperimentalController, MockDec(dec_active, dec_mode)) + return planner + + +class TestDecPlannerGate(OpenpilotTestCase): + """The e2e candidate must be gated on is_e2e(), not raw experimentalMode.""" + + def _source(self, experimental_mode: bool, dec_active: bool, dec_mode: str) -> LongitudinalPlanSource: + planner = build_planner(dec_active, dec_mode) + planner.update(build_sm(experimental_mode)) + return planner.mpc.source + + def test_no_e2e_when_experimental_mode_off(self): + assert self._source(False, False, 'acc') != LongitudinalPlanSource.e2e + + def test_e2e_when_dec_inactive(self): + # DEC off: behavior must match upstream + assert self._source(True, False, 'acc') == LongitudinalPlanSource.e2e + + def test_e2e_when_dec_blended(self): + assert self._source(True, True, 'blended') == LongitudinalPlanSource.e2e + + def test_no_e2e_when_dec_holds_acc(self): + # the regression + assert self._source(True, True, 'acc') != LongitudinalPlanSource.e2e From 0f40ca1d88049fcbd61ca5c62312c1650e91096d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Aug 2026 12:50:16 -0700 Subject: [PATCH 20/28] pigeond: continuously try to get AGPS (#38642) --- openpilot/system/ubloxd/pigeond.py | 38 ++++++++++++++++++++++-------- 1 file changed, 28 insertions(+), 10 deletions(-) diff --git a/openpilot/system/ubloxd/pigeond.py b/openpilot/system/ubloxd/pigeond.py index 3da9350241..08ed568d43 100755 --- a/openpilot/system/ubloxd/pigeond.py +++ b/openpilot/system/ubloxd/pigeond.py @@ -3,11 +3,12 @@ import sys import time import signal import struct +import threading import requests import urllib.parse from datetime import datetime, UTC -from openpilot.cereal import messaging +from openpilot.cereal import log, messaging from openpilot.common.api import Api from openpilot.common.time_helpers import system_time_valid from openpilot.common.params import Params @@ -46,7 +47,6 @@ def get_assistnow_messages() -> list[bytes]: params = Params() if token := params.get('AssistNowToken'): cloudlog.warning("Downloading AssistNow data directly from u-blox") - # TODO: implement adding the last known location r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({ 'token': token, 'gnss': 'gps,glo', @@ -240,14 +240,6 @@ def init_pigeon(pigeon: TTYPigeon) -> bool: )) pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK) - # A configured u-blox token takes precedence over comma's AGPS proxy. - try: - for msg in get_assistnow_messages(): - pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK) - cloudlog.warning("AssistNow messages sent") - except Exception: - cloudlog.warning("failed to get AssistNow messages") - cloudlog.warning("Pigeon GPS on!") break except TimeoutError: @@ -287,12 +279,38 @@ def run_receiving(duration: int = 0): start_time = time.monotonic() last_almanac_save = time.monotonic() + assist_attempted = False + assist_messages = None + + def download_assistnow() -> None: + nonlocal assist_messages + sm = messaging.SubMaster(['deviceState']) + while assist_messages is None: + sm.update(1000) + if system_time_valid() and sm['deviceState'].networkType != log.DeviceState.NetworkType.none: + try: + assist_messages = get_assistnow_messages() + except Exception: + cloudlog.warning("failed to get AssistNow messages") + time.sleep(10.) + threading.Thread(target=download_assistnow, daemon=True).start() + while (duration == 0) or (time.monotonic() - start_time < duration): + if assist_messages is not None and not assist_attempted: + assist_attempted = True + try: + for msg in assist_messages: + pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK) + cloudlog.warning("AssistNow messages sent") + except Exception: + cloudlog.warning("failed to send AssistNow messages") + dat = pigeon.receive() if len(dat) > 0: if dat[0] == 0x00: cloudlog.warning("received invalid data from ublox, re-initing!") init(pigeon) + assist_attempted = False continue # send out to socket From ec86732af8d3acab8cedbfe784099a5535b3f92a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Aug 2026 13:11:50 -0700 Subject: [PATCH 21/28] ui: fix false positive openpilot unavailable on startup (#38643) --- openpilot/selfdrive/ui/mici/onroad/alert_renderer.py | 2 +- openpilot/selfdrive/ui/onroad/alert_renderer.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py index fe96bbd032..d2896e1807 100644 --- a/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py +++ b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py @@ -128,7 +128,7 @@ class AlertRenderer(Widget): # 1. Never received selfdriveState since going onroad waiting_for_startup = recv_frame < ui_state.started_frame - if waiting_for_startup and time_since_onroad > 5: + if waiting_for_startup and time_since_onroad > 10: return ALERT_STARTUP_PENDING # 2. Lost communication with selfdriveState after receiving it diff --git a/openpilot/selfdrive/ui/onroad/alert_renderer.py b/openpilot/selfdrive/ui/onroad/alert_renderer.py index 29ace66287..62511b87db 100644 --- a/openpilot/selfdrive/ui/onroad/alert_renderer.py +++ b/openpilot/selfdrive/ui/onroad/alert_renderer.py @@ -92,7 +92,7 @@ class AlertRenderer(Widget): # 1. Never received selfdriveState since going onroad waiting_for_startup = recv_frame < ui_state.started_frame - if waiting_for_startup and time_since_onroad > 5: + if waiting_for_startup and time_since_onroad > 10: return ALERT_STARTUP_PENDING # 2. Lost communication with selfdriveState after receiving it From 351701689f4cc2fc7e1430fde4ee33e42f345007 Mon Sep 17 00:00:00 2001 From: stef <19478336+stefpi@users.noreply.github.com> Date: Sun, 16 Aug 2026 17:22:04 -0400 Subject: [PATCH 22/28] bump teleop (#38645) --- teleoprtc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/teleoprtc_repo b/teleoprtc_repo index 31db236a9e..1aa8fc433b 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit 31db236a9ef820d7051ccd53488153cfbc84d3b9 +Subproject commit 1aa8fc433bef1519a95c0700c96258c3be6dfb34 From 047be14df9d90e316b4d63d0575b6ad5da6551c6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Aug 2026 15:25:19 -0700 Subject: [PATCH 23/28] release: speedup builds (#38644) --- .../lib/longitudinal_mpc_lib/SConscript | 1 + tools/release/build_release.sh | 38 ++++++++----------- tools/release/build_stripped.sh | 13 ++----- tools/release/release_files.py | 12 +++--- 4 files changed, 27 insertions(+), 37 deletions(-) diff --git a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 636ef0fb21..fa249765bc 100644 --- a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -35,6 +35,7 @@ build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + c # extra generated files used to trigger a rebuild generated_files = [ + 'acados_ocp_long.json', f'{gen}/Makefile', f'{gen}/main_long.c', diff --git a/tools/release/build_release.sh b/tools/release/build_release.sh index 5dca1626ca..4bc5dd2e68 100755 --- a/tools/release/build_release.sh +++ b/tools/release/build_release.sh @@ -2,15 +2,14 @@ set -e set -x -# git diff --name-status origin/release3-staging | grep "^A" | less - DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" - cd $DIR BUILD_DIR=/data/openpilot SOURCE_DIR="$(git rev-parse --show-toplevel)" +export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo" + if [ -z "$RELEASE_BRANCH" ]; then echo "RELEASE_BRANCH is not set" exit 1 @@ -23,29 +22,24 @@ BUILD_BRANCH=release-mici-staging source $DIR/identity.sh echo "[-] Setting up repo T=$SECONDS" -rm -rf $BUILD_DIR -mkdir -p $BUILD_DIR +if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then + rm -rf $BUILD_DIR +fi +git -C "$SOURCE_DIR" worktree prune +git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR" cd $BUILD_DIR -git init -git remote add origin git@github.com:commaai/openpilot.git -git checkout --orphan $BUILD_BRANCH +git update-ref -d "refs/heads/$BUILD_BRANCH" +git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH" +git read-tree --empty # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/ +./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" -- # in the directory cd $BUILD_DIR -rm -f panda/board/obj/panda.bin.signed -rm -f panda/board/obj/panda_h7.bin.signed - -VERSION=$(cat openpilot/common/version.h | awk -F[\"-] '{print $2}') -echo "[-] committing version $VERSION T=$SECONDS" -git add -f . -git commit -a -m "openpilot v$VERSION release" - # use the full CPU available for speeding up the build. # openpilot resets the CPU frequencies when test_onroad.py runs below. for policy in /sys/devices/system/cpu/cpufreq/policy*; do @@ -54,9 +48,6 @@ for policy in /sys/devices/system/cpu/cpufreq/policy*; do echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null done -# Build and test before launch_chffrplus.sh creates the on-device package -# symlinks. SConstruct uses the same package roots for build subprocesses. -export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo" scons if [ -n "$INCLUDE_BIG_MODEL" ]; then test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest @@ -83,7 +74,6 @@ find . -name '*.a' -delete find . -name '*.o' -delete find . -name '*.os' -delete find . -name '*.pyc' -delete -find . -name 'moc_*' -delete find . -name '__pycache__' -delete rm -rf .sconsign.dblite Jenkinsfile tools/release/ rm -f openpilot/selfdrive/modeld/models/*.onnx* @@ -91,9 +81,11 @@ rm -f openpilot/selfdrive/modeld/models/*.onnx* # Mark as prebuilt release touch prebuilt +VERSION=$(cat openpilot/common/version.h | awk -F[\"-] '{print $2}') # Add built files to git -git add -f . -git commit --amend -m "openpilot v$VERSION" +# writing larger objects is faster than compressing them on-device +git -c core.compression=0 add -f . +git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION" # Run tests cd $BUILD_DIR diff --git a/tools/release/build_stripped.sh b/tools/release/build_stripped.sh index 6c1ba4e097..ba4c847375 100755 --- a/tools/release/build_stripped.sh +++ b/tools/release/build_stripped.sh @@ -30,20 +30,14 @@ git submodule deinit -f --all git rm -rf --cached . find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; -# cleanup before the copy -cd $SOURCE_DIR -git clean -xdff -git submodule foreach --recursive git clean -xdff - # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR" +./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$TARGET_DIR" -- # in the directory cd $TARGET_DIR rm -rf .git/modules/ -rm -f panda/board/obj/panda.bin.signed find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \; @@ -57,9 +51,10 @@ echo -n "$GIT_HASH" > git_src_commit echo -n "$GIT_COMMIT_DATE" > git_src_commit_date echo "[-] committing version $VERSION T=$SECONDS" -git add -f . +# writing larger objects is faster than compressing them on-device +git -c core.compression=0 add -f . git status -git commit -a -m "openpilot v$VERSION release +git -c core.compression=0 commit -a -m "openpilot v$VERSION release date: $DATETIME master commit: $GIT_HASH diff --git a/tools/release/release_files.py b/tools/release/release_files.py index 1558f04a26..dd42125337 100755 --- a/tools/release/release_files.py +++ b/tools/release/release_files.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 import os import re -from pathlib import Path +import subprocess +import sys HERE = os.path.abspath(os.path.dirname(__file__)) ROOT = os.path.abspath(os.path.join(HERE, "../..")) @@ -25,11 +26,12 @@ whitelist: list[str] = [ ] if __name__ == "__main__": - for f in Path(ROOT).rglob("**/*"): - if not (f.is_file() or f.is_symlink()): + tracked_files = subprocess.check_output(["git", "ls-files", "-z", "--recurse-submodules"], cwd=ROOT).split(b"\0") + for tracked_file in tracked_files: + if not tracked_file: continue - rf = str(f.relative_to(ROOT)) + rf = os.fsdecode(tracked_file) if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"): continue blacklisted = any(re.search(p, rf) for p in blacklist) @@ -37,4 +39,4 @@ if __name__ == "__main__": if blacklisted and not whitelisted: continue - print(rf) + sys.stdout.buffer.write(tracked_file + b"\0") From 03e6c81821eddfdb80d3ed29e86e950d9cd0f296 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Aug 2026 16:10:35 -0700 Subject: [PATCH 24/28] test_onroad: more precise frame ID check (#38647) --- openpilot/selfdrive/test/test_onroad.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py index 4426c196d4..f524046abe 100755 --- a/openpilot/selfdrive/test/test_onroad.py +++ b/openpilot/selfdrive/test/test_onroad.py @@ -335,13 +335,14 @@ class TestOnroad(OpenpilotTestCase): assert np.all(eof_sof_diff > 0) assert np.all(eof_sof_diff < 50*1e6) - # TODO: loggerd doesn't start fast enough to be ready before the first frames come out first_fid = {min(self.ts[c]['frameId']) for c in cams} - #assert len(first_fid) == 1, "Cameras don't start on same frame ID" if cams[0].endswith('CameraState'): # camerad guarantees that all cams start on frame ID 0 # (note loggerd also needs to start up fast enough to catch it) assert min(first_fid) < 100, "Cameras start on frame ID too high" + else: + # encoderd synchronizes all camera encoders to the same starting frame + assert len(first_fid) == 1, "Camera encoders don't start on same frame ID" # we don't do a full segment rotation, so these might not match exactly last_fid = {max(self.ts[c]['frameId']) for c in cams} From dfbe0ee7c14973942fd4e463d5d8632ad58309a4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Aug 2026 18:23:37 -0700 Subject: [PATCH 25/28] jenkins: set big cache dir (#38648) --- Jenkinsfile | 1 + 1 file changed, 1 insertion(+) diff --git a/Jenkinsfile b/Jenkinsfile index db18d13ddd..af33edb821 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -22,6 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits export CI=1 export PYTHONWARNINGS=error +export COMMA_CACHE=/data/tmp/comma_download_cache #export LOGPRINT=debug # this has gotten too spammy... export TEST_DIR=${env.TEST_DIR} export SOURCE_DIR=${env.SOURCE_DIR} From 85d364d4de7db5235c23affaccd7211b1aa42bab Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Aug 2026 18:24:01 -0700 Subject: [PATCH 26/28] loggerd: fix ~0.5s startup logging delay (#38649) --- openpilot/common/hardware/base.h | 2 +- openpilot/common/hardware/comma/hardware.h | 16 +++++++++------- openpilot/system/loggerd/logger.cc | 6 +++--- openpilot/system/loggerd/logger.h | 2 +- 4 files changed, 14 insertions(+), 12 deletions(-) diff --git a/openpilot/common/hardware/base.h b/openpilot/common/hardware/base.h index f4546adfa8..53db48ff5b 100644 --- a/openpilot/common/hardware/base.h +++ b/openpilot/common/hardware/base.h @@ -15,7 +15,7 @@ public: static std::string get_serial() { return "cccccc"; } - static std::map get_init_logs() { + static std::map get_init_logs(bool route_log = false) { return {}; } diff --git a/openpilot/common/hardware/comma/hardware.h b/openpilot/common/hardware/comma/hardware.h index 6292183d9d..7bb9074f6b 100644 --- a/openpilot/common/hardware/comma/hardware.h +++ b/openpilot/common/hardware/comma/hardware.h @@ -59,7 +59,7 @@ public: std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n"; } - static std::map get_init_logs() { + static std::map get_init_logs(bool route_log = false) { std::map ret = { {"/BUILD", util::read_file("/BUILD")}, {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")}, @@ -73,12 +73,14 @@ public: temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1); ret["boot temp"] = temp; - // TODO: log something from system and boot - for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) { - for (std::string slot : {"a", "b"}) { - std::string partition = part + "_" + slot; - std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition); - ret[partition] = hash.substr(0, hash.find_first_of(" ")); + // TODO: these are too slow to do on route log inits. need to do it async? + if (!route_log) { + for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) { + for (std::string slot : {"a", "b"}) { + std::string partition = part + "_" + slot; + std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition); + ret[partition] = hash.substr(0, hash.find_first_of(" ")); + } } } diff --git a/openpilot/system/loggerd/logger.cc b/openpilot/system/loggerd/logger.cc index 0ebe323939..f553760016 100644 --- a/openpilot/system/loggerd/logger.cc +++ b/openpilot/system/loggerd/logger.cc @@ -12,7 +12,7 @@ #include "common/version.h" // ***** log metadata ***** -kj::Array logger_build_init_data() { +kj::Array logger_build_init_data(bool route_log) { uint64_t wall_time = nanos_since_epoch(); MessageBuilder msg; @@ -70,7 +70,7 @@ kj::Array logger_build_init_data() { "df -h", // usage for all filesystems }; - auto hw_logs = Hardware::get_init_logs(); + auto hw_logs = Hardware::get_init_logs(route_log); auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size()); for (int i = 0; i < log_commands.size(); i++) { @@ -164,7 +164,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = LoggerState::LoggerState(const std::string &log_root) { route_name = logger_get_identifier("RouteCount"); route_path = log_root + "/" + route_name; - init_data = logger_build_init_data(); + init_data = logger_build_init_data(true); } LoggerState::~LoggerState() { diff --git a/openpilot/system/loggerd/logger.h b/openpilot/system/loggerd/logger.h index 419becfe5d..17c29d1a02 100644 --- a/openpilot/system/loggerd/logger.h +++ b/openpilot/system/loggerd/logger.h @@ -32,6 +32,6 @@ protected: std::unique_ptr rlog, qlog; }; -kj::Array logger_build_init_data(); +kj::Array logger_build_init_data(bool route_log = false); std::string logger_get_identifier(std::string key); std::string zstd_decompress(const std::string &in); From 053d9c446800df38aca42b69bb99197aefbea77b Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Sun, 16 Aug 2026 18:38:12 -0700 Subject: [PATCH 27/28] [bot] Update Python packages (#38650) * Update Python packages * revert that for now * ignore dashcam only --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 18 +-- opendbc_repo | 2 +- .../test/process_replay/test_processes.py | 5 +- tinygrad_repo | 2 +- uv.lock | 139 ++++++++++-------- 5 files changed, 93 insertions(+), 73 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 25bb8386dc..1e0bd07b77 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -158,7 +158,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
||| @@ -237,16 +237,16 @@ A supported vehicle is one that just works when you install a comma device. All |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Rivian A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |SEAT[12](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| |SEAT[12](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| -|Subaru|Ascent 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Forester 2019-21|All[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Ascent 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Forester 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru B connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| -|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| +|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 Subaru A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
||| |Škoda|Fabia 2022-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[17](#footnotes)||| |Škoda|Kamiq 2021-23[13,15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
[17](#footnotes)||| |Škoda[12](#footnotes)|Karoq 2019-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index c536b211b7..b4ef5e1cf4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c536b211b762c37c6d869923ae8ba59ca2f18a0c +Subproject commit b4ef5e1cf406ff143fa67bdbfb154739d43279c9 diff --git a/openpilot/selfdrive/test/process_replay/test_processes.py b/openpilot/selfdrive/test/process_replay/test_processes.py index d9d827add5..9447ecae19 100755 --- a/openpilot/selfdrive/test/process_replay/test_processes.py +++ b/openpilot/selfdrive/test/process_replay/test_processes.py @@ -7,7 +7,7 @@ import traceback from collections import defaultdict from tqdm import tqdm from typing import Any -from opendbc.car.car_helpers import interface_names +from opendbc.car.car_helpers import interface_names, interfaces from openpilot.common.git import get_commit from openpilot.tools.lib.openpilotci import get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff @@ -64,7 +64,8 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "body", "psa"] +excluded_interfaces = {brand for brand, platforms in interface_names.items() + if all(interfaces[platform].get_non_essential_params(platform).dashcamOnly for platform in platforms)} | {"body"} BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") diff --git a/tinygrad_repo b/tinygrad_repo index 8611fe22a7..138fb4a783 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 8611fe22a7fcc7d1928bbde19ded66277cb12f3e +Subproject commit 138fb4a783d82f4e877ad2fe3692aaf8d1de2e46 diff --git a/uv.lock b/uv.lock index 5717d0a38d..b9af0d6adf 100644 --- a/uv.lock +++ b/uv.lock @@ -39,24 +39,43 @@ wheels = [ [[package]] name = "charset-normalizer" -version = "3.4.9" +version = "3.5.1" source = { registry = "https://pypi.org/simple" } -sdist = { url = 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<159560811+Discountchubbs@users.noreply.github.com> Date: Sun, 16 Aug 2026 18:40:16 -0700 Subject: [PATCH 28/28] modeld_v2: chestnut support (#1894) * modeld_v2: Support eGpu * bump tg * egpu * no pkls please * god no onnx either * fix test * done in build model now * lint * rip * egpu ready build all split * manual seed , reuse memory buffers across runs * dont download big when we dont have big lol * whoops * no i and x * cd * who put those there. ?? * reduce flakiness by using artifact-name from build-model to regex, speed up pub b y checking the name before trying to clone and publish again * try hf as a trusted publisher :) * mf its a dataaset. i knew that * fucking validation wants raw to fetch and full to push. grr * smh * dude i am missing so much * pkl name * move build all to hf * tests: migrate sunnypilot tests to unittest and remove pytest * red diff mf * im scared , this may be a bad idea lol * fetch latest commit. * transition to requests * models: use requests instead of aiohttp * tici * fix * gpu fixes from upstream * lint * bump * needed to say * old * how?? * epgu flag reduce * this made me cry * support monolith still * precache warp in legacy * Move jsons to param for sunnylink --------- Co-authored-by: Jason Wen --- .../workflows/build-all-tinygrad-models.yaml | 228 +++------------- .../build-single-tinygrad-model.yaml | 143 +++++----- .github/workflows/sunnypilot-build-model.yaml | 38 +-- openpilot/common/params_keys.h | 3 + openpilot/sunnypilot/SConscript | 1 - openpilot/sunnypilot/modeld_v2/SConscript | 84 ------ .../sunnypilot/modeld_v2/compile_modeld.py | 253 ++++++++++-------- openpilot/sunnypilot/modeld_v2/modeld.py | 153 +++++++---- .../sunnypilot/modeld_v2/tests/helpers.py | 7 +- .../modeld_v2/tests/test_recovery_power.py | 2 +- openpilot/sunnypilot/models/fetcher.py | 34 ++- openpilot/sunnypilot/models/helpers.py | 2 +- .../models/tests/test_tinygrad_ref.py | 5 +- release/ci/model_generator.py | 10 +- tinygrad_repo | 2 +- 15 files changed, 411 insertions(+), 554 deletions(-) delete mode 100644 openpilot/sunnypilot/modeld_v2/SConscript diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml index 0eedb04703..1ba407b3cf 100644 --- a/.github/workflows/build-all-tinygrad-models.yaml +++ b/.github/workflows/build-all-tinygrad-models.yaml @@ -7,6 +7,19 @@ on: description: 'Minimum selector version required for the models (see helpers.py or readme.md)' required: true type: string + target_hardware: + description: 'Hardware target to compile for (qcom or usbgpu)' + required: true + type: choice + default: 'qcom' + options: + - qcom + - usbgpu + hf_repo: + description: 'Hugging Face dataset repository' + required: false + type: string + default: 'sunnypilot/sunnypilot_models_v1' jobs: setup: @@ -46,13 +59,14 @@ jobs: id: get-json run: | cd docs/docs - latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1) + PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v" + latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1) next=$((latest+1)) - json_file="driving_models_v${next}.json" - cp "driving_models_v${latest}.json" "$json_file" + json_file="${PREFIX}${next}.json" + cp "${PREFIX}${latest}.json" "$json_file" echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT echo "json_version=$((next+0))" >> $GITHUB_OUTPUT - echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV + echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV - name: Extract tinygrad models id: set-matrix @@ -61,45 +75,23 @@ jobs: jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT - - name: Set up SSH - uses: webfactory/ssh-agent@v0.9.0 - with: - ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }} - - run: | - mkdir -p ~/.ssh - ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts - - - name: Clone GitLab docs repo and create new recompiled dir + - name: Get next recompiled dir number id: create-recompiled-dir env: - GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts' + HF_REPO: ${{ github.event.inputs.hf_repo }} run: | - git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs - cd gitlab_docs - git checkout main - git sparse-checkout set --no-cone models/ - cd models - latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1) - if [[ -z "$latest_dir" ]]; then - next_dir=1 - else - next_dir=$((latest_dir+1)) - fi - recompiled_dir="${next_dir}" - mkdir -p "recompiled${recompiled_dir}" - touch "recompiled${recompiled_dir}/.gitkeep" - cd ../.. + pip install huggingface_hub + recompiled_dir=$(python3 -c " + from huggingface_hub import HfApi + import re, sys + api = HfApi() + files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset') + dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files] + nums = [int(m.group(1)) for m in dirs if m] + print(max(nums) + 1) + " "$HF_REPO") echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT - - name: Push empty recompiled dir to GitLab - run: | - cd gitlab_docs - git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} - git config --global user.name "GitHub Action" - git config --global user.email "action@github.com" - git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit" - git push origin main - - name: Push new JSON to GitHub docs repo run: | cd docs @@ -123,25 +115,30 @@ jobs: is_20hz: ${{ matrix.model.is_20hz }} recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }} json_version: ${{ needs.setup.outputs.json_version }} + target_hardware: ${{ github.event.inputs.target_hardware }} + hf_repo: ${{ github.event.inputs.hf_repo }} + set_min_version: ${{ github.event.inputs.set_min_version }} + tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }} secrets: inherit retry_failed_models: needs: [setup, get_and_build] runs-on: ubuntu-latest - if: ${{ needs.setup.result != 'failure' && !cancelled() }} + if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }} outputs: retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }} steps: - uses: actions/download-artifact@v4 with: - pattern: model-* + pattern: artifact-name-* path: output + continue-on-error: true - id: set-retry-matrix run: | echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json - built=(); while IFS= read -r line; do built+=("$line"); done < <( - find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}' + built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <( + find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}' ) jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \ 'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json @@ -149,7 +146,7 @@ jobs: retry_get_and_build: needs: [setup, get_and_build, retry_failed_models] - if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }} + if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }} strategy: matrix: model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }} @@ -161,146 +158,9 @@ jobs: is_20hz: ${{ matrix.model.is_20hz }} recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }} json_version: ${{ needs.setup.outputs.json_version }} + target_hardware: ${{ github.event.inputs.target_hardware }} artifact_suffix: -retry + hf_repo: ${{ github.event.inputs.hf_repo }} + set_min_version: ${{ github.event.inputs.set_min_version }} + tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }} secrets: inherit - - publish_models: - name: Publish models sequentially - needs: [setup, get_and_build, retry_failed_models, retry_get_and_build] - if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }} - runs-on: ubuntu-latest - strategy: - fail-fast: false - max-parallel: 1 - matrix: - model: ${{ fromJson(needs.setup.outputs.model_matrix) }} - env: - RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }} - JSON_FILE: ${{ needs.setup.outputs.json_file }} - ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }} - steps: - - name: Set up SSH - uses: webfactory/ssh-agent@v0.9.0 - with: - ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }} - - - name: Add GitLab.com SSH key to known_hosts - run: | - mkdir -p ~/.ssh - ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts - - - name: Clone GitLab docs repo - env: - GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts' - run: | - echo "Cloning GitLab" - git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs - cd gitlab_docs - echo "checkout models/${RECOMPILED_DIR}" - git sparse-checkout set --no-cone models/${RECOMPILED_DIR} - git checkout main - cd .. - - - name: Checkout docs repo - uses: actions/checkout@v4 - with: - repository: sunnypilot/sunnypilot-models - ref: gh-pages - path: docs - ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }} - - - name: Validate recompiled dir and JSON version - run: | - if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then - echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo" - exit 1 - fi - if [ ! -f "$JSON_FILE" ]; then - echo "JSON file $JSON_FILE does not exist!" - exit 1 - fi - - - name: Download artifact name file - uses: actions/download-artifact@v4 - with: - name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }} - path: artifact_name - - - name: Read artifact name - id: read-artifact-name - run: | - ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt) - echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT - - - name: Download model artifact - uses: actions/download-artifact@v4 - with: - name: ${{ steps.read-artifact-name.outputs.artifact_name }} - path: output - - - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build - run: | - find output -type f -name '*.onnx' -delete - find output -type f -name 'big_*.pkl' -delete - find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete - - - name: Copy model artifacts to gitlab - env: - ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }} - run: | - ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}" - mkdir -p "$ARTIFACT_DIR" - for path in output/*; do - if [ "$(basename "$path")" = "artifact_name.txt" ]; then - continue - fi - name="$(basename "$path")" - if [ -d "$path" ]; then - mkdir -p "$ARTIFACT_DIR/$name" - cp -r "$path"/* "$ARTIFACT_DIR/$name/" - echo "Copied dir $name -> $ARTIFACT_DIR/$name" - else - cp "$path" "$ARTIFACT_DIR/" - echo "Copied file $name -> $ARTIFACT_DIR/" - fi - done - - - name: Push recompiled dir to GitLab - env: - GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }} - run: | - cd gitlab_docs - git checkout main - git pull origin main - for d in models/"$RECOMPILED_DIR"/*/; do - git sparse-checkout add "$d" - done - git add models/"$RECOMPILED_DIR" - git config --global user.name "GitHub Action" - git config --global user.email "action@github.com" - git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit" - git push origin main - - run: | - cd docs - git pull origin gh-pages - - - name: update json - run: | - ARGS="" - [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\"" - ARGS="$ARGS --sort-by-date" - ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\"" - eval python3 docs/json_parser.py \ - --json-path "$JSON_FILE" \ - --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \ - $ARGS - - - name: Push updated json to GitHub - run: | - cd docs - git config --global user.name "GitHub Action" - git config --global user.email "action@github.com" - git checkout gh-pages - git add docs/"$(basename $JSON_FILE)" - git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit" - git push origin gh-pages diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml index cf2d870802..1ad06a54e4 100644 --- a/.github/workflows/build-single-tinygrad-model.yaml +++ b/.github/workflows/build-single-tinygrad-model.yaml @@ -29,11 +29,24 @@ on: required: false type: boolean default: true - bypass_push: - description: 'Bypass pushing to GitLab for build-all' + target_hardware: + description: 'Hardware target to compile for (qcom or usbgpu)' required: false - default: true - type: boolean + type: string + default: 'qcom' + hf_repo: + description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)' + required: false + type: string + default: 'sunnypilot/sunnypilot_models_v1' + set_min_version: + description: 'Minimum selector version' + required: false + type: string + tinygrad_ref: + description: 'Tinygrad reference' + required: false + type: string workflow_dispatch: inputs: upstream_branch: @@ -65,8 +78,8 @@ on: - None - Master Models - Release Models - - 2025 World Models - 2026 World Models + - 2026 Deep RL Models - Custom Merge Models - Other custom_model_folder: @@ -81,9 +94,22 @@ on: description: 'Minimum selector version' required: false type: string + target_hardware: + description: 'Hardware target to compile for' + required: false + type: choice + default: 'qcom' + options: + - qcom + - usbgpu + hf_repo: + description: 'Hugging Face dataset repository' + required: false + type: string + default: 'sunnypilot/sunnypilot_models_v1' env: RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }} - JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json + JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json jobs: build_model: @@ -93,38 +119,20 @@ jobs: custom_name: ${{ inputs.custom_name || inputs.upstream_branch }} is_20hz: ${{ inputs.is_20hz }} artifact_suffix: ${{ inputs.artifact_suffix }} + target_hardware: ${{ inputs.target_hardware }} secrets: inherit publish_model: - if: ${{ !inputs.bypass_push && !cancelled() }} + if: ${{ !cancelled() && needs.build_model.result == 'success' }} concurrency: - group: gitlab-push-${{ inputs.recompiled_dir }} + group: hf-push-${{ inputs.recompiled_dir }} cancel-in-progress: false needs: build_model runs-on: ubuntu-latest + permissions: + id-token: write + contents: write steps: - - name: Set up SSH - uses: webfactory/ssh-agent@v0.9.0 - with: - ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }} - - - name: Add GitLab.com SSH key to known_hosts - run: | - mkdir -p ~/.ssh - ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts - - - name: Clone GitLab docs repo - env: - GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts' - run: | - echo "Cloning GitLab" - git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs - cd gitlab_docs - echo "checkout models/${RECOMPILED_DIR}" - git sparse-checkout set --no-cone models/${RECOMPILED_DIR} - git checkout main - cd .. - - name: Checkout docs repo uses: actions/checkout@v4 with: @@ -133,16 +141,28 @@ jobs: path: docs ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }} - - name: Validate recompiled dir and JSON version + - name: Install huggingface_hub + run: pip install --upgrade "huggingface_hub>=0.22.0" + + - name: Validate hf_repo and JSON version + env: + HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }} run: | - if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then - echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo" - exit 1 - fi if [ ! -f "$JSON_FILE" ]; then echo "JSON file $JSON_FILE does not exist!" exit 1 fi + python3 -c " + import sys + from huggingface_hub import HfApi + try: + api = HfApi() + api.repo_info(repo_id=sys.argv[1], repo_type='dataset') + print(f'Success: Repo {sys.argv[1]} exists.') + except Exception as e: + print('HF validation failed:', e) + sys.exit(1) + " "${{ inputs.hf_repo }}" - name: Download artifact name file uses: actions/download-artifact@v4 @@ -162,49 +182,26 @@ jobs: name: ${{ steps.read-artifact-name.outputs.artifact_name }} path: output - - name: Remove unwanted files - run: | - find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete - find output -type f -name 'dmonitoring_model.onnx' -delete - - - name: Copy model artifact(s) to GitLab recompiled dir + - name: Create models folder env: ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }} run: | - ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}" - mkdir -p "$ARTIFACT_DIR" - for path in output/*; do - if [ "$(basename "$path")" = "artifact_name.txt" ]; then - continue - fi - name="$(basename "$path")" - if [ -d "$path" ]; then - mkdir -p "$ARTIFACT_DIR/$name" - cp -r "$path"/* "$ARTIFACT_DIR/$name/" - echo "Copied dir $name -> $ARTIFACT_DIR/$name" - else - cp "$path" "$ARTIFACT_DIR/" - echo "Copied file $name -> $ARTIFACT_DIR/" - fi - done + mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}" + cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" + rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt" - - name: Push recompiled dir to GitLab + - name: Upload to Hugging Face env: - GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }} + HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }} + ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }} run: | - cd gitlab_docs - git checkout main - git pull origin main - for d in models/"$RECOMPILED_DIR"/*/; do - git sparse-checkout add "$d" - done - git add models/"$RECOMPILED_DIR" - git config --global user.name "GitHub Action" - git config --global user.email "action@github.com" - git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit" - git push origin main + hf upload ${{ inputs.hf_repo }} \ + output/ \ + "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \ + --repo-type=dataset - - run: | + - name: Pull gh-pages + run: | cd docs git pull origin gh-pages @@ -220,9 +217,11 @@ jobs: fi [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\"" [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\"" + [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\"" + [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\"" eval python3 docs/json_parser.py \ --json-path "$JSON_FILE" \ - --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \ + --recompiled-dir "local_models/$RECOMPILED_DIR" \ --sort-by-date \ $ARGS diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml index 2c435e58a0..17981d68e5 100644 --- a/.github/workflows/sunnypilot-build-model.yaml +++ b/.github/workflows/sunnypilot-build-model.yaml @@ -80,6 +80,7 @@ jobs: with: repository: commaai/openpilot ref: ${{ inputs.upstream_branch }} + fetch-depth: 1 submodules: recursive path: openpilot @@ -89,18 +90,25 @@ jobs: with: repository: sunnypilot/sunnypilot ref: ${{ inputs.upstream_branch }} + fetch-depth: 1 submodules: recursive path: openpilot - name: Get commit date id: commit-date run: | - cd ${{ github.workspace }}/openpilot + cd ${{ github.workspace }}/openpilot/openpilot commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y') echo "model_date=${commit_date}" >> $GITHUB_OUTPUT cat $GITHUB_OUTPUT - run: | - cd ${{ github.workspace }}/openpilot - git lfs pull + cd ${{ github.workspace }}/openpilot/openpilot + if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then + git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx" + rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx + else + git lfs pull -I "selfdrive/modeld/models/big_*.onnx" + find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete + fi - name: 'Upload Artifact' uses: actions/upload-artifact@v4 with: @@ -116,24 +124,10 @@ jobs: steps: - uses: actions/checkout@v4 with: + fetch-depth: 1 submodules: recursive - run: git lfs pull - - name: Cache SCons - uses: actions/cache@v4 - with: - path: ${{env.SCONS_CACHE_DIR}} - key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }} - # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) - # for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden. - restore-keys: | - scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model - scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }} - scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model - scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model - scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }} - scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }} - scons-${{ runner.os }}-${{ runner.arch }} - name: Set environment variables id: set-env @@ -144,7 +138,7 @@ jobs: export UV_PYTHON_PREFERENCE=managed export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT - uv sync + uv sync --frozen printenv >> $GITHUB_ENV if [[ "${{ runner.debug }}" == "1" ]]; then cat $GITHUB_OUTPUT @@ -173,8 +167,6 @@ jobs: with: name: models-${{ env.REF }}${{ inputs.artifact_suffix }} path: ${{ env.MODELS_DIR }} - - run: | - rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx - name: Build Model run: | @@ -191,7 +183,7 @@ jobs: if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then echo "USBGPU build" export USBGPU=1 - TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1" + TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2" OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl" else echo "QCOM build" @@ -254,10 +246,8 @@ jobs: # Copy the model files rsync -avm \ --include='*.dlc' \ - --include='*.pkl' \ --include='*.chunk*' \ --include='*.chunkmanifest' \ - --include='*.onnx' \ --exclude='*' \ --delete-excluded \ --chown=comma:comma \ diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h index bb7989381b..964227e785 100644 --- a/openpilot/common/params_keys.h +++ b/openpilot/common/params_keys.h @@ -195,11 +195,14 @@ inline static std::unordered_map keys = { // Model Manager params {"ModelManager_ActiveBundle", {PERSISTENT, JSON}}, + {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}}, {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}}, {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}}, {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}}, {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}}, + {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}}, {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}}, + {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}}, // Neural Network Lateral Control {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}}, diff --git a/openpilot/sunnypilot/SConscript b/openpilot/sunnypilot/SConscript index 09ad39ab43..587deea5ff 100644 --- a/openpilot/sunnypilot/SConscript +++ b/openpilot/sunnypilot/SConscript @@ -1,3 +1,2 @@ SConscript(['common/transformations/SConscript']) -SConscript(['modeld_v2/SConscript']) SConscript(['selfdrive/locationd/SConscript']) diff --git a/openpilot/sunnypilot/modeld_v2/SConscript b/openpilot/sunnypilot/modeld_v2/SConscript deleted file mode 100644 index daaa199ea9..0000000000 --- a/openpilot/sunnypilot/modeld_v2/SConscript +++ /dev/null @@ -1,84 +0,0 @@ -import os -import glob - -from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE -from openpilot.common.hardware import HARDWARE, PC - -Import('env', 'arch', 'release') -lenv = env.Clone() -tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] - - -def get_camera_configs(): - DEVICE_RESOLUTIONS = { - "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height), - "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height), - "mici": (_os_fisheye.width, _os_fisheye.height), - } - if release or PC or 'CI' in os.environ: - return set(DEVICE_RESOLUTIONS.values()) - return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]] - -CAMERA_CONFIGS = get_camera_configs() - -tg_flags = { - 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', -}.get(arch, 'DEV=CPU:LLVM') - -image_flag = { - 'larch64': 'IMAGE=2', -}.get(arch, 'IMAGE=0') - -model_w, model_h = MEDMODEL_INPUT_SIZE -from openpilot.selfdrive.modeld.constants import ModelConstants -frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ -camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS) - -pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"' -compile_modeld_script = File("compile_modeld.py").abspath -upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath) -script_deps = [File("compile_modeld.py"), upstream_compile_script] - -def compile_combined(model_type, onnx_args, output_name): - output_pkl = File(f"models/{output_name}").abspath - cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} ' - f'--model-type {model_type} ' - f'--model-size {model_w}x{model_h} ' - f'--camera-resolutions {camera_res_args} ' - f'{onnx_args} ' - f'--frame-skip {frame_skip} ' - f'--output {output_pkl}') - onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')] - return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd) - -# Vision + Policy (stock default model) -vision_onnx = File("models/driving_vision.onnx").abspath -policy_onnx = File("models/driving_policy.onnx").abspath -if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx): - compile_combined('vision_policy', - f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}', - 'driving_combined_tinygrad.pkl') - -# Vision + Off-Policy -off_policy_onnx = File("models/driving_off_policy.onnx").abspath -if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx): - policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else '' - compile_combined('vision_multi_policy', - f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}', - 'driving_combined_multi_tinygrad.pkl') - -# Vision + On-Policy + Off-Policy -on_policy_onnx = File("models/driving_on_policy.onnx").abspath -if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx): - compile_combined('vision_multi_policy', - f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}', - 'driving_combined_tri_tinygrad.pkl') - -# Supercombo -supercombo_onnx = File("models/supercombo.onnx").abspath -if os.path.isfile(supercombo_onnx): - compile_combined('supercombo', - f'--supercombo-onnx {supercombo_onnx}', - 'driving_combined_supercombo_tinygrad.pkl') diff --git a/openpilot/sunnypilot/modeld_v2/compile_modeld.py b/openpilot/sunnypilot/modeld_v2/compile_modeld.py index def54a4599..4397209005 100755 --- a/openpilot/sunnypilot/modeld_v2/compile_modeld.py +++ b/openpilot/sunnypilot/modeld_v2/compile_modeld.py @@ -8,10 +8,10 @@ See the LICENSE.md file in the root directory for more details. import argparse import os -import pickle +import tempfile import time -from collections import defaultdict from functools import partial +from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob import numpy as np os.environ['GMMU'] = '0' @@ -38,6 +38,9 @@ from tinygrad.engine.jit import TinyJit from tinygrad.tensor import Tensor MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy') +WARP_INPUTS = ['tfm', 'big_tfm'] +POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs'] +WARP_DEV = os.getenv('WARP_DEV') def _detect_desire_key(shapes: dict) -> str | None: @@ -76,7 +79,7 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu 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]: + is_supercombo: bool = False) -> tuple[dict, dict]: road_key, _ = _detect_vision_keys(input_shapes) if not road_key: raise ValueError("Vision road key missing from input shapes.") @@ -92,74 +95,75 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D desire_shape = input_shapes[desire_key] features_buffer = input_shapes.get('features_buffer') - if use_packed: # remove packed detection block after all models are recompiled - npy_arrays = { - 'tfm': np.zeros((3, 3), dtype=np.float32), - 'big_tfm': np.zeros((3, 3), dtype=np.float32) - } + npy_arrays = { + 'tfm': np.zeros((3, 3), dtype=np.float32), + 'big_tfm': np.zeros((3, 3), dtype=np.float32) + } - shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo) - packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32) + shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo) + packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32) - split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else [] - split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else [] - for (k, s), v in zip(shapes.items(), split_views, strict=True): - npy_arrays[k] = v.reshape(s) + split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else [] + split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else [] + for (k, s), v in zip(shapes.items(), split_views, strict=True): + npy_arrays[k] = v.reshape(s) - queues = { - 'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(), - 'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(), - 'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]), - dtype=np.float32), device=device).contiguous().realize(), - 'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(), - } + queues = { + 'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(), + 'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(), + 'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]), + dtype=np.float32), device=device).contiguous().realize(), + 'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(), + } - if features_buffer: - queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]), - dtype=np.float32), device=device).contiguous().realize() + if features_buffer: + queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]), + dtype=np.float32), device=device).contiguous().realize() - queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')}) - else: - # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled - npy_arrays = { - 'desire': np.zeros(desire_shape[2], dtype=np.float32), - 'tfm': np.zeros((3, 3), dtype=np.float32), - 'big_tfm': np.zeros((3, 3), dtype=np.float32) - } - - for key, shape in input_shapes.items(): - if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key): - npy_arrays[key] = np.zeros(shape, dtype=np.float32) - - queues = { - 'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(), - 'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(), - 'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]), - dtype=np.float32), device=device).contiguous().realize() - } - - if features_buffer: - queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]), - dtype=np.float32), device=device).contiguous().realize() - - queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()}) + queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')}) 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]: - return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed) + frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]: + return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False) 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) + device: str = Device.DEFAULT) -> tuple[dict, dict]: + return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True) -def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int], - features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool): - frame_prepare = make_frame_prepare(nv12, *model_size) +def make_random_images(keys, shape, device): + return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys} + + +def make_warp_queues(device=Device.DEFAULT): + npy = { + 'tfm': np.zeros((3, 3), dtype=np.float32), + 'big_tfm': np.zeros((3, 3), dtype=np.float32), + } + queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()} + return queues, npy + + +def make_warp(nv12: NV12Frame, model_w: int, model_h: int): + frame_prepare = make_frame_prepare(nv12, model_w, model_h) + WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT) + + def warp(tfm, big_tfm, frame, big_frame): + tfm = tfm.to(WARP_DEV) + big_tfm = big_tfm.to(WARP_DEV) + Tensor.realize(tfm, big_tfm) + + warped_frame = frame_prepare(frame, tfm).unsqueeze(0) + warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0) + return Tensor.cat(warped_frame, warped_big_frame) + return warp + + +def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict): sample_skip_fn = partial(sample_skip, frame_skip=frame_skip) sample_desire_fn = partial(sample_desire, frame_skip=frame_skip) @@ -172,20 +176,14 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode is_supercombo = vision_runner is None npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo) - def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs): + def run_policy(warped, img_q, big_img_q, feat_q, packed_npy_inputs, **kwargs): desire_q = kwargs['desire_q'] - packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT) - tfm_dev = tfm.to(Device.DEFAULT) - big_tfm_dev = big_tfm.to(Device.DEFAULT) + warped_dev = warped.to(Device.DEFAULT) + Tensor.realize(packed_npy_inputs_dev, warped_dev) - Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev) - - img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize() - big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize() - - if prepare_only: - return img, big_img + img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize() + big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize() unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)] unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True)) @@ -220,42 +218,52 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode shift_and_sample(feat_q, new_feat, sample_skip_fn).realize() return policy_out - return runner + return run_policy -def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict): - print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...") +def compile_jit(jit, make_random_inputs, input_keys, make_queues): + SEED = 42 + def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True): + input_queues, npy = make_queues(Device.DEFAULT) + rng = np.random.default_rng(seed) + Tensor.manual_seed(seed) - all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()} + testing = test_val is not None or test_buffers is not None + n_runs = 1 if testing else 3 - feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy') - if not feat_meta: - raise ValueError("Could not find vision, model, or policy metadata.") + for i in range(n_runs): + for v in npy.values(): + v[:] = rng.standard_normal(v.shape).astype(v.dtype) + Device.default.synchronize() + random_inputs = make_random_inputs() + st = time.perf_counter() + outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs) + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") - features_slice = feat_meta['output_slices']['hidden_state'] - WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT + if i == 0: + val = [np.copy(v.numpy()) for v in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else [] + buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()] - is_supercombo = vision_runner is None - run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only) - run_jit = TinyJit(run_func, prune=True) - queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo) + if test_val is not None: + match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True)) + assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})" + if test_buffers is not None: + match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True)) + assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})" + return val, buffers - for i in range(3): - rng = np.random.default_rng(42 + i) - frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize() - big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize() - for arr in npy_arrays.values(): - arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype) - - Device.default.synchronize() - start_time = time.perf_counter() - run_jit(**queues, frame=frame, big_frame=big_frame) - mid_time = time.perf_counter() - Device.default.synchronize() - print(f" [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms") - - # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models - return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit + print('capture + replay') + test_val, test_buffers = random_inputs_run(jit, SEED) + print('pickle round trip') + with tempfile.TemporaryFile(dir=".") as f: + dump_oob(jit, f) + f.seek(0) + deserialized_jit = load_oob(f) + random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers) + return deserialized_jit def _parse_size(size_str: str) -> tuple[int, int]: @@ -277,19 +285,6 @@ def read_file_chunked_to_shm(path): return shm_path -def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int, - vision_runner, policy_runners: list, metadata: dict) -> dict: - from openpilot.system.camerad.cameras.nv12_info import get_nv12_info - return { - (cam_w, cam_h): { - name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only, - frame_skip, vision_runner, policy_runners, metadata) - for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)] - } - for cam_w, cam_h in camera_resolutions - } - - def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]: runners, keys = [], [] for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]: @@ -300,7 +295,18 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]: if __name__ == "__main__": + if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'): + from openpilot.system.hardware.chestnut.flash import link_up + for _ in range(10): + if link_up(): + break + time.sleep(1) + else: + raise RuntimeError("Chestnut not ready, skipping big model build") + + from openpilot.common.file_chunker import chunk_file, get_chunk_targets from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict + from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from tinygrad.nn.onnx import OnnxRunner parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2") @@ -317,7 +323,8 @@ if __name__ == "__main__": parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)') args = parser.parse_args() - output_data = defaultdict(dict) + model_w, model_h = args.model_size + output_data = {} args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx) args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx) @@ -348,17 +355,31 @@ if __name__ == "__main__": vision_meta = output_data['metadata'].get('vision', {}) derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {})) - output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip, - vision_runner, policy_runners, output_data['metadata'])) + all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()} + feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy') + assert feat_meta is not None + features_slice = feat_meta['output_slices']['hidden_state'] + is_supercombo = vision_runner is None + + print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...") + run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes) + run_policy_jit = TinyJit(run_policy_func, prune=True) + make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo) + make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV) + output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues) + + for cam_w, cam_h in args.camera_resolutions: + print(f"Compiling warp JIT for {cam_w}x{cam_h}...") + nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)) + make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV) + warp = TinyJit(make_warp(nv12, model_w, model_h), prune=True) + output_data[(cam_w, cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues) with open(args.output, "wb") as file: - # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models - pickle.dump(output_data, file) + dump_oob(output_data, file) pkl_size = os.path.getsize(args.output) print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)") - - from openpilot.common.file_chunker import chunk_file, get_chunk_targets chunk_targets = get_chunk_targets(args.output, pkl_size) chunk_file(args.output, chunk_targets) print(f"Chunked into {len(chunk_targets) - 1} file(s)") diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py index 66b560802b..9f3d709537 100755 --- a/openpilot/sunnypilot/modeld_v2/modeld.py +++ b/openpilot/sunnypilot/modeld_v2/modeld.py @@ -9,17 +9,13 @@ See the LICENSE.md file in the root directory for more details. import os os.environ['GMMU'] = '0' from openpilot.common.hardware import COMMA_HARDWARE -os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU' -USBGPU = "USBGPU" in os.environ -if USBGPU: - os.environ['DEV'] = 'AMD' - os.environ['AMD_IFACE'] = 'USB' -import pickle +from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob import time import numpy as np import openpilot.cereal.messaging as messaging from openpilot.cereal import log from opendbc.car.structs import car +from openpilot.cereal.services import SERVICE_LIST from setproctitle import setproctitle from openpilot.cereal.messaging import PubMaster, SubMaster from openpilot.cereal.visionipc import VisionStreamType @@ -27,7 +23,6 @@ from msgq.visionipc import VisionIpcClient, VisionBuf from opendbc.car.car_helpers import get_demo_car_params from tinygrad.tensor import Tensor -from tinygrad.device import Device from openpilot.common.file_chunker import open_file_chunked from openpilot.common.swaglog import cloudlog @@ -40,12 +35,13 @@ from openpilot.system import sentry from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.selfdrive.modeld.modeld import ChestnutState from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output from openpilot.sunnypilot.modeld_v2.constants import Plan from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper -from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues +from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS from openpilot.sunnypilot.livedelay.helpers import get_lat_delay from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase @@ -88,7 +84,7 @@ class ModelState(ModelStateBase): inputs: dict[str, np.ndarray] prev_desire: np.ndarray - def __init__(self, cam_w: int, cam_h: int): + def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False): ModelStateBase.__init__(self) env_pkl = os.environ.get('COMBINED_MODEL_PKL') @@ -103,6 +99,7 @@ class ModelState(ModelStateBase): self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0")) self.MIN_LAT_CONTROL_SPEED = 0.3 self.PLANPLUS_CONTROL: float = 1.0 + self.usbgpu = usbgpu pkl_path = _find_driving_pkl(model_bundle) assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py" @@ -110,24 +107,20 @@ class ModelState(ModelStateBase): def _init_combined(self, pkl_path, cam_w, cam_h, bundle): cloudlog.warning(f"loading combined pkl: {pkl_path}") - # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models - jits = pickle.load(open_file_chunked(pkl_path)) + jits = load_oob(open_file_chunked(pkl_path)) - self.DEV = Device.DEFAULT - self.WARP_DEV = 'CPU' if USBGPU else self.DEV + self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU' + self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV self.QUEUE_DEV = self.DEV - metadata = jits['metadata'] - self._run_policy = jits[(cam_w, cam_h)]['run_policy'] - self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue'] - - # TODO-SP: Remove legacy use_packed detection block after all models are recompiled - captured = getattr(self._run_policy, 'captured', None) - if captured is not None: - use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', []) + self.is_legacy_model = 'run_policy' not in jits # remove after next recompile + if self.is_legacy_model: + self.warp = jits[(cam_w, cam_h)]['warp_enqueue'] + self.run_policy = jits[(cam_w, cam_h)]['run_policy'] else: - use_packed = True + self.run_policy = jits['run_policy'] + self.warp = jits[(cam_w, cam_h)] if 'model' in metadata: model_metadata = metadata['model'] @@ -136,10 +129,9 @@ class ModelState(ModelStateBase): self._policy_slices_list = [] self._combined_model_type = 'supercombo' 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) + frame_skip, device=self.QUEUE_DEV) else: vision_metadata = metadata['vision'] policy_keys = [k for k in metadata if k != 'vision'] @@ -152,13 +144,12 @@ class ModelState(ModelStateBase): self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys] self.policy_output_slices = self._policy_slices_list[0] self._has_on_policy = any('on' in k.lower() for k in policy_keys) - first_policy_metadata = metadata[policy_keys[0]] - vision_input_shapes = vision_metadata['input_shapes'] - 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._vision_input_names = [key for key in vision_metadata['input_shapes'] if 'img' in key] + first_policy_meta = metadata[policy_keys[0]] + frame_skip = derive_frame_skip(vision_metadata['input_shapes'], first_policy_meta['input_shapes']) + self.input_queues, self.numpy_inputs = make_split_input_queues(vision_metadata['input_shapes'], + first_policy_meta['input_shapes'], + frame_skip, device=self.QUEUE_DEV) 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) @@ -186,10 +177,33 @@ class ModelState(ModelStateBase): self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info) yuv_size = self.frame_buf_params[self._road_key][3] - self._warp_enqueue( - **self.input_queues, - frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(), - big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()) + frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize() + big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize() + + if self.is_legacy_model: # Remove this conditional hack after recompile + self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor) + else: + self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor) + + if self.usbgpu: + self.warmup() + + def warmup(self) -> None: + dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names} + transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k} + + dummy_inputs = {} + for k, v in self.numpy_inputs.items(): + if k not in ['tfm', 'big_tfm', 'prev_feat']: + dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype) + + self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False) + + for v in self.numpy_inputs.values(): + v[:] = 0 + self.prev_desire[:] = 0 + self.full_frames.clear() + self._blob_cache.clear() @property @@ -227,11 +241,17 @@ class ModelState(ModelStateBase): self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3) self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3) - if prepare_only: - self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key]) - return None - - raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key]) + if self.is_legacy_model: # remove after next recompile + if prepare_only: + self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key]) + return None + raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key]) + else: + if prepare_only: + self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key]) + return None + warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key]) + raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped) if self._combined_model_type == 'supercombo': model_output = raw_outputs.numpy().flatten() @@ -267,10 +287,9 @@ class ModelState(ModelStateBase): buf[0, :-1] = buf[0, 1:] buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0 - # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile - if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues: - feat_val = self.input_queues['feat_q'].numpy() - self.input_queues['feat_q'].assign(feat_val).realize() + if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))): + cloudlog.error("model output not finite, dropping frame") + return None return outputs @@ -278,8 +297,8 @@ class ModelState(ModelStateBase): lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: if 'action' not in model_output: 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 = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS, + action_t=long_action_t) 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) @@ -287,8 +306,8 @@ class ModelState(ModelStateBase): else: desired_accel = model_output['action'][0, 1] desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2 - should_stop = (v_ego < 0.3 and desired_accel < 0.1) + 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 @@ -297,7 +316,7 @@ class ModelState(ModelStateBase): else: desired_curvature = prev_action.desiredCurvature - return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop)) + return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), shouldStop=bool(stop)) def main(demo=False): @@ -308,6 +327,14 @@ def main(demo=False): setproctitle(PROCESS_NAME) config_realtime_process(7, 54) + USBGPU = usbgpu_present() + if USBGPU: + os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000' + + params = Params() + params.put_bool("UsbGpuLoading", USBGPU) + params.remove("UsbGpuActive") + # visionipc clients while True: available_streams = VisionIpcClient.available_streams("camerad", block=False) @@ -332,15 +359,34 @@ def main(demo=False): cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") cloudlog.warning("loading model") - model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height) - cloudlog.warning("models loaded, modeld starting") + st = time.monotonic() + + model = None + if USBGPU: + import threading + def load(): + nonlocal model + model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True) + t = threading.Thread(target=load, daemon=True) + t.start() + t.join(60) + if model is None: + params.put_bool("UsbGpuActive", False) + raise RuntimeError("eGPU model load failed or timed out (60s)") + params.put_bool("UsbGpuActive", True) + else: + model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False) + + params.put_bool("UsbGpuLoading", False) + cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # messaging - pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"]) + pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else []) + pm = PubMaster(pub_socks) sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"]) publish_state = PublishState() - params = Params() + chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None # setup filter to track dropped frames frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ) @@ -478,6 +524,7 @@ def main(demo=False): fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants) + modelv2_send.modelV2.big = model.usbgpu desire_state = modelv2_send.modelV2.meta.desireState l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] @@ -498,6 +545,8 @@ def main(demo=False): pm.send('modelDataV2SP', mdv2sp_send) last_vipc_frame_id = meta_main.frame_id + if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0: + chestnut_state.send() if __name__ == "__main__": try: diff --git a/openpilot/sunnypilot/modeld_v2/tests/helpers.py b/openpilot/sunnypilot/modeld_v2/tests/helpers.py index 6925a61f08..ee59e82785 100644 --- a/openpilot/sunnypilot/modeld_v2/tests/helpers.py +++ b/openpilot/sunnypilot/modeld_v2/tests/helpers.py @@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details. """ import pathlib -import pickle import tempfile import openpilot.sunnypilot.models.helpers as helpers @@ -164,14 +163,16 @@ ARCHETYPES = { def make_pkl_data(archetype): return { 'metadata': archetype.metadata_structure, - (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit}, + 'run_policy': _noop_jit, + (CAM_W, CAM_H): _noop_jit, } def write_pkl(tmp_path, archetype): + from openpilot.selfdrive.modeld.helpers import dump_oob pkl_path = tmp_path / 'driving_test_tinygrad.pkl' with open(pkl_path, 'wb') as f: - pickle.dump(make_pkl_data(archetype), f) + dump_oob(make_pkl_data(archetype), f) return pkl_path diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py index 85305395ea..fb72022fa5 100644 --- a/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py +++ b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py @@ -33,7 +33,7 @@ class TestRecoveryPower(OpenpilotTestCase): def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0): recorded_vel.append(plan_vel.copy()) - return 0.0, False + return 0.0 def mock_curvature(output, plan, vego, lat_action_t, mlsim): recorded_curv_plans.append(plan.copy()) diff --git a/openpilot/sunnypilot/models/fetcher.py b/openpilot/sunnypilot/models/fetcher.py index eda1117a2a..e60af2925f 100644 --- a/openpilot/sunnypilot/models/fetcher.py +++ b/openpilot/sunnypilot/models/fetcher.py @@ -13,6 +13,7 @@ from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.common.hardware.hw import Paths from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible +from openpilot.selfdrive.modeld.helpers import usbgpu_present from openpilot.cereal import custom @@ -103,11 +104,11 @@ class ModelParser: class ModelCache: """Handles caching of model data to avoid frequent remote fetches""" - def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)): + def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9), suffix: str = ""): self.params = params self.cache_timeout = cache_timeout - self._LAST_SYNC_KEY = "ModelManager_LastSyncTime" - self._CACHE_KEY = "ModelManager_ModelsCache" + self._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}" + self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}" def _is_expired(self) -> bool: """Checks if the cache has expired""" @@ -139,24 +140,37 @@ class ModelCache: class ModelFetcher: """Handles fetching and caching of model data from remote source""" - MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json" + MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json" + MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json" def __init__(self, params: Params): self.params = params - self.model_cache = ModelCache(params) self.model_parser = ModelParser() + self._is_usbgpu: bool | None = None + self.model_cache = ModelCache(params) + self.model_url = self.MODEL_URL + self._update_model_source() + + def _update_model_source(self) -> None: + """Updates what json to use based on usbgpu availability""" + is_usbgpu = usbgpu_present() + if is_usbgpu != self._is_usbgpu: + self._is_usbgpu = is_usbgpu + self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "") + self.model_url = self.MODEL_URL_USBGPU if is_usbgpu else self.MODEL_URL + self.params.put("ModelManager_ActiveJson", self.model_url, block=True) def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None: """Fetches fresh model data from remote and updates cache. Returns None on transport errors. Raises on 404 and other fatal HTTP errors. """ try: - response = requests.get(self.MODEL_URL, timeout=10) + response = requests.get(self.model_url, timeout=10) # Explicitly handle 404 differently if response.status_code == 404: - cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}") - raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response) + cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}") + raise HTTPError(f"404 Not Found: {self.model_url}", response=response) # Raise for any other 4xx/5xx response.raise_for_status() @@ -179,6 +193,7 @@ class ModelFetcher: def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]: """Gets the list of available models, with smart cache handling""" + self._update_model_source() cached_data, is_expired = self.model_cache.get() if cached_data and not is_expired: @@ -202,10 +217,7 @@ if __name__ == "__main__": for bundle in bundles: for model in bundle.models: model_overrides = {override.key: override.value for override in bundle.overrides} - # Print model details print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}") - # Print artifact details print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}") - # Print metadata details if model.artifact.chunks: print(f"Contains {len(model.artifact.chunks)} chunks.") diff --git a/openpilot/sunnypilot/models/helpers.py b/openpilot/sunnypilot/models/helpers.py index 101d8d196e..b5c97467d3 100644 --- a/openpilot/sunnypilot/models/helpers.py +++ b/openpilot/sunnypilot/models/helpers.py @@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai from openpilot.common.hardware.hw import Paths # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO -REQUIRED_JSON_VERSION = 16 +REQUIRED_JSON_VERSION = 17 CUSTOM_MODEL_PATH = Paths.model_root() METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl' diff --git a/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py index 1712c60410..fd389f93c0 100644 --- a/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py +++ b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py @@ -1,12 +1,13 @@ import requests +from openpilot.common.params import Params from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref from openpilot.sunnypilot.models.fetcher import ModelFetcher from openpilot.common.test import OpenpilotTestCase - def fetch_tinygrad_ref(): - response = requests.get(ModelFetcher.MODEL_URL, timeout=10) + fetcher = ModelFetcher(Params()) + response = requests.get(fetcher.model_url, timeout=10) response.raise_for_status() json_data = response.json() return json_data.get("tinygrad_ref") diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py index 76935f3627..607260f145 100755 --- a/release/ci/model_generator.py +++ b/release/ci/model_generator.py @@ -48,6 +48,11 @@ def create_short_name(full_name: str) -> str: return result[:8] +def create_pkl_name(full_name: str) -> str: + pkl = re.sub(r'[^a-zA-Z0-9]+', '_', full_name).strip('_').lower() + return pkl + + def _read_pkl_bytes(pkl_path: Path) -> bytes: manifest = Path(f"{pkl_path}.chunkmanifest") if manifest.exists(): @@ -154,14 +159,15 @@ if __name__ == "__main__": _output_dir = Path(args.output_dir) _output_dir.mkdir(exist_ok=True, parents=True) _short_name = create_short_name(args.custom_name) if args.custom_name else None + _pkl = create_pkl_name(args.custom_name) if args.custom_name else None _driving_pkl = _find_driving_pkl(_output_dir) if not _driving_pkl: print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr) sys.exit(1) - if _short_name: - new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl" + if _pkl: + new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl" if not new_pkl.exists(): _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl) else: diff --git a/tinygrad_repo b/tinygrad_repo index 2fecac4e4a..66ee3cfb4f 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2fecac4e4ac32fe369c41f8400b6e7b9adb18683 +Subproject commit 66ee3cfb4f3a3908a6a20ddfbec7774ba7c09b4e