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Merge branch 'dec-new' into dec-new-refactored

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DevTekVE
2025-01-12 16:48:53 +01:00
committed by GitHub
parent 6cfeb7c8ed 5f0eb62cc1
commit 8a97ab95e5
26 changed files with 762 additions and 225 deletions
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cereal/custom.capnp
+1
View File
@@ -83,6 +83,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
status @4 :DownloadStatus;
generation @5 :UInt32;
environment @6 :Text;
runner @7 :Runner;
}
}
release/ci/install_github_runner.sh
+155 -49
View File
@@ -4,6 +4,7 @@ set -e
# Default values
DEFAULT_REPO_URL="https://github.com/sunnypilot"
START_AT_BOOT=false
RESTORE_MODE=false
# Parse command line arguments
while [[ $# -gt 0 ]]; do
@@ -20,6 +21,10 @@ while [[ $# -gt 0 ]]; do
REPO_URL="$2"
shift 2
;;
--restore)
RESTORE_MODE=true
shift
;;
*)
if [ -z "$GITHUB_TOKEN" ]; then
GITHUB_TOKEN="$1"
@@ -31,19 +36,6 @@ while [[ $# -gt 0 ]]; do
esac
done
# Check required arguments
if [ -z "$GITHUB_TOKEN" ]; then
echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>]"
echo "Required argument: github_token"
echo "Optional arguments:"
echo " --start-at-boot Enable auto-start at boot (default: false)"
echo " --repo Repository URL (default: ${DEFAULT_REPO_URL})"
exit 1
fi
# Set repository URL if not provided
REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
# Determine BASE_DIR based on mount point
if mountpoint -q /data/media; then
BASE_DIR="/data/media/0/github"
@@ -60,20 +52,19 @@ LOGS_DIR="${BASE_DIR}/logs"
CACHE_DIR="${BASE_DIR}/cache"
OPENPILOT_DIR="${BASE_DIR}/openpilot"
create_directories() {
sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
mkdir -p "/data/openpilot"
sudo chown -R comma:comma "/data/openpilot"
# Basic utility functions (no dependencies)
remount_rw() {
sudo mount -o remount,rw /
}
download_and_setup_runner() {
cd "$RUNNER_DIR"
curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
rm ./actions-runner-linux-arm64-2.321.0.tar.gz
chmod +x ./config.sh
remount_ro() {
sync || true # Try to sync but continue even if it fails
sudo mount -o remount,ro / # Always try to remount as read-only
}
# Always ensure we try to remount as read-only on exit
trap remount_ro EXIT
setup_runner_user() {
sudo useradd --comment 'GitHub Runner' --create-home --home-dir ${BASE_DIR} ${RUNNER_USER} --shell /bin/bash -G ${USER_GROUPS} || sudo usermod -aG ${USER_GROUPS} ${RUNNER_USER}
export BASE_DIR
@@ -84,18 +75,45 @@ create_sudoers_entry() {
sudo grep -qxF "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" /etc/sudoers || echo "${RUNNER_USER} ALL=(ALL) NOPASSWD: ALL" | sudo tee -a /etc/sudoers
}
configure_runner() {
cd "$RUNNER_DIR"
sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
}
set_directory_permissions() {
sudo chown -R ${RUNNER_USER}:comma "$BASE_DIR"
sudo chmod g+rwx "$BASE_DIR"
sudo chmod g+s "$BASE_DIR"
}
modify_service_template() {
setup_directories() {
echo "Creating necessary directories..."
sudo mkdir -p "$RUNNER_DIR" "$BUILDS_DIR" "$LOGS_DIR" "$CACHE_DIR" "$OPENPILOT_DIR"
mkdir -p "/data/openpilot"
sudo chown -R comma:comma "/data/openpilot"
}
# System configuration functions (depends on basic utility functions)
setup_system_configs() {
echo "Setting up system configurations..."
setup_runner_user
create_sudoers_entry
set_directory_permissions
}
# Runner setup functions
install_runner() {
echo "Downloading and setting up runner..."
cd "$RUNNER_DIR"
curl -o actions-runner-linux-arm64-2.321.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.321.0/actions-runner-linux-arm64-2.321.0.tar.gz
tar xzf ./actions-runner-linux-arm64-2.321.0.tar.gz
rm ./actions-runner-linux-arm64-2.321.0.tar.gz
chmod +x ./config.sh
}
configure_runner() {
echo "Configuring runner..."
cd "$RUNNER_DIR"
sudo -u ${RUNNER_USER} ./config.sh --url "$REPO_URL" --token "$GITHUB_TOKEN" --name $(hostname) --runnergroup "tici-tizi" --labels "tici" --work "$BUILDS_DIR" --unattended
}
create_service_template() {
echo "Creating service template..."
cat <<EOL > "$RUNNER_DIR/bin/actions.runner.service.template"
[Unit]
Description={{Description}}
@@ -120,28 +138,116 @@ WantedBy=multi-user.target
EOL
}
# Make filesystem writable
sudo mount -o remount,rw /
install_service() {
echo "Installing systemd service..."
cd "$RUNNER_DIR"
sudo ./svc.sh install $RUNNER_USER
# Ensure filesystem is remounted as read-only on script exit
trap "sudo mount -o remount,ro /" EXIT
if [ "$START_AT_BOOT" = false ]; then
local service_name
if [ -f "${RUNNER_DIR}/.service" ]; then
service_name=$(cat "${RUNNER_DIR}/.service")
else
service_name="actions.runner.sunnypilot.$(uname -n)"
fi
sudo systemctl disable "${service_name}"
fi
}
# Execute installation steps
setup_runner_user
create_sudoers_entry
create_directories
download_and_setup_runner
modify_service_template
configure_runner
set_directory_permissions
check_restore_prerequisites() {
local needs_restore=false
local can_restore=false
local service_name=""
# Install and start service using built-in installer
cd "$RUNNER_DIR"
sudo ./svc.sh install $RUNNER_USER
# Check if base runner directory exists
if [ ! -d "${RUNNER_DIR}" ]; then
echo "ERROR: Runner directory ${RUNNER_DIR} does not exist"
echo "This directory is required for restore operations"
exit 1
fi
# Handle auto-start configuration
if [ "$START_AT_BOOT" = false ]; then
sudo systemctl disable actions.runner.sunnypilot.$(uname -n)
fi
# First check if we have the required files for restoration
if [ -f "${RUNNER_DIR}/.credentials" ] && [ -f "${RUNNER_DIR}/.service" ]; then
can_restore=true
service_name=$(cat "${RUNNER_DIR}/.service")
echo "Found required runner configuration files"
else
echo "Missing required runner configuration files"
echo "Required: .credentials and .service files in ${RUNNER_DIR}"
exit 1
fi
sudo ./svc.sh start
# Then check if restoration is needed (if either service or user is missing)
if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
echo "Service ${service_name} not found in systemd"
needs_restore=true
fi
if ! id "${RUNNER_USER}" &>/dev/null; then
echo "User ${RUNNER_USER} does not exist"
needs_restore=true
fi
# Only proceed if we can restore AND need to restore
if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
echo "Restoration is needed and possible"
return 0
else
if [ "$needs_restore" = false ]; then
echo "System is already properly configured (user and service exist)"
fi
exit 0
fi
}
perform_restore() {
echo "Starting runner restoration..."
setup_directories
remount_rw
setup_system_configs
install_service
remount_ro
echo "Runner restoration completed successfully"
}
perform_install() {
echo "Starting fresh installation..."
setup_directories
install_runner
create_service_template
remount_rw
setup_system_configs
configure_runner
install_service
remount_ro
echo "Installation completed successfully"
}
main() {
if [ "$RESTORE_MODE" = true ]; then
echo "Running in restore mode - will only restore system configurations..."
check_restore_prerequisites
perform_restore
else
# Check required arguments for normal installation
if [ -z "$GITHUB_TOKEN" ]; then
echo "Usage: $0 [--start-at-boot] [--token <github_token>] [--repo <repository_url>] [--restore]"
echo "Required argument (except for --restore): github_token"
echo "Optional arguments:"
echo " --start-at-boot Enable auto-start at boot (default: false)"
echo " --repo Repository URL (default: ${DEFAULT_REPO_URL})"
echo " --restore Restore existing runner configuration"
exit 1
fi
# Set repository URL if not provided
REPO_URL="${REPO_URL:-$DEFAULT_REPO_URL}"
perform_install
fi
echo "Starting runner service..."
cd "$RUNNER_DIR"
sudo ./svc.sh start
}
main
selfdrive/debug/uiview.py
+8 -3
View File
@@ -3,14 +3,19 @@ import time
from cereal import car, log, messaging
from openpilot.common.params import Params
from openpilot.system.manager.process_config import managed_processes
from openpilot.system.manager.process_config import managed_processes, is_snpe_model
from openpilot.system.hardware import HARDWARE
if __name__ == "__main__":
CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
Params().put("CarParams", CP.to_bytes())
params = Params()
params.put("CarParams", CP.to_bytes())
if use_snpe_modeld := is_snpe_model(False, params, CP):
print("Using SNPE modeld")
HARDWARE.set_power_save(False)
procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
procs += ["modeld_snpe" if use_snpe_modeld else "modeld"]
for p in procs:
managed_processes[p].start()
selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+45 -23
View File
@@ -29,16 +29,17 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
* Reads status from modelManagerSP cereal message and displays status for all models
*/
void SoftwarePanelSP::handleBundleDownloadProgress() {
const SubMaster &sm = *(uiStateSP()->sm);
const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
if (!model_manager.hasSelectedBundle()) {
currentModelLblBtn->setDescription("");
using DS = cereal::ModelManagerSP::DownloadStatus;
if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
currentModelLblBtn->setDescription(tr("No custom model selected!"));
return;
}
const auto &bundle = model_manager.getSelectedBundle();
const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
const auto &models = bundle.getModels();
download_status = bundle.getStatus();
const auto download_status_changed = prev_download_status != download_status;
QStringList status;
// Get status for each model type in order
@@ -67,9 +68,9 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
} else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
line = tr("%1 model [%2] downloaded").arg(typeName, modelName);
line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
} else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
line = tr("%1 model [%2] from cache").arg(typeName, modelName);
line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
} else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
line = tr("%1 model [%2] download failed").arg(typeName, modelName);
} else {
@@ -80,9 +81,19 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
currentModelLblBtn->setDescription(status.join("\n"));
if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
currentModelLblBtn->showDescription();
if (prev_download_status != download_status) {
switch (bundle.getStatus()) {
case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
case cereal::ModelManagerSP::DownloadStatus::CACHED:
case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
currentModelLblBtn->showDescription();
break;
case cereal::ModelManagerSP::DownloadStatus::FAILED:
default:
break;
}
}
prev_download_status = download_status;
}
/**
@@ -90,9 +101,6 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
* @return Display name of the selected bundle or default model name
*/
QString SoftwarePanelSP::GetActiveModelName() {
const SubMaster &sm = *(uiStateSP()->sm);
const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
if (model_manager.hasActiveBundle()) {
return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
}
@@ -100,6 +108,11 @@ QString SoftwarePanelSP::GetActiveModelName() {
return "";
}
void SoftwarePanelSP::updateModelManagerState() {
const SubMaster &sm = *(uiStateSP()->sm);
model_manager = sm["modelManagerSP"].getModelManagerSP();
}
/**
* @brief Handles the model bundle selection button click
* Displays available bundles, allows selection, and initiates download
@@ -108,9 +121,6 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
currentModelLblBtn->setEnabled(false);
currentModelLblBtn->setValue(tr("Fetching models..."));
const SubMaster &sm = *(uiStateSP()->sm);
const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
// Create mapping of bundle indices to display names
QMap<uint32_t, QString> index_to_bundle;
const auto bundles = model_manager.getAvailableBundles();
@@ -120,6 +130,9 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
// Sort bundles by index in descending order
QStringList bundleNames;
// Add "Default" as the first option
bundleNames.append(tr("Use Default"));
auto indices = index_to_bundle.keys();
std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
for (const auto &index: indices) {
@@ -135,14 +148,21 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
return;
}
// Find selected bundle and initiate download
for (const auto &bundle: bundles) {
if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
showResetParamsDialog();
// Handle "Stock" selection differently
if (selectedBundleName == tr("Use Default")) {
params.remove("ModelManager_ActiveBundle");
currentModelLblBtn->setValue(tr("Default"));
showResetParamsDialog();
} else {
// Find selected bundle and initiate download
for (const auto &bundle: bundles) {
if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
showResetParamsDialog();
}
break;
}
break;
}
}
@@ -157,9 +177,11 @@ void SoftwarePanelSP::updateLabels() {
return;
}
updateModelManagerState();
handleBundleDownloadProgress();
currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
currentModelLblBtn->setValue(GetActiveModelName());
SoftwarePanel::updateLabels();
}
selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+5 -4
View File
@@ -19,12 +19,10 @@ public:
private:
QString GetActiveModelName();
void updateModelManagerState();
bool isDownloading() const {
const SubMaster &sm = *(uiStateSP()->sm);
const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
if (!model_manager.hasSelectedBundle() || !sm.updated("modelManagerSP")) {
if (!model_manager.hasSelectedBundle()) {
return false;
}
@@ -37,6 +35,9 @@ private:
void handleCurrentModelLblBtnClicked();
void handleBundleDownloadProgress();
void showResetParamsDialog();
cereal::ModelManagerSP::Reader model_manager;
cereal::ModelManagerSP::DownloadStatus download_status{};
cereal::ModelManagerSP::DownloadStatus prev_download_status{};
bool canContinueOnMeteredDialog() {
if (!is_metered) return true;
selfdrive/ui/translations/main_ar.ts
+28 -8
View File
@@ -1098,18 +1098,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1122,6 +1114,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_de.ts
+28 -8
View File
@@ -1082,18 +1082,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1106,6 +1098,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_es.ts
+28 -8
View File
@@ -1090,22 +1090,42 @@ Esto puede tardar un minuto.</translation>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation>Descargando modelo de %1 [%2]... (%3%)</translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation>Modelo de %1 [%2] descargado</translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation>Falló descarga modelo de %1 [%2]</translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation>Modelo de %1 [%2] desde caché</translation>
</message>
<message>
<source>Select a Model</source>
<translation>Selecciona un Modelo</translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation>Modelo de %1 [%2] %3</translation>
</message>
<message>
<source>downloaded</source>
<translation>descargado</translation>
</message>
<message>
<source>ready</source>
<translation>listo</translation>
</message>
<message>
<source>from cache</source>
<translation>desde caché</translation>
</message>
<message>
<source>Use Default</source>
<translation>Por Defecto</translation>
</message>
<message>
<source>No custom model selected!</source>
<translation>No hay ningún modelo personalizado elegido!.</translation>
</message>
<message>
<source>Default</source>
<translation>Por Defecto</translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_fr.ts
+28 -8
View File
@@ -1082,18 +1082,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1106,6 +1098,34 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_ja.ts
+28 -8
View File
@@ -1076,18 +1076,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1100,6 +1092,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_ko.ts
+28 -8
View File
@@ -1078,18 +1078,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1102,6 +1094,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_pt-BR.ts
+28 -8
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@@ -1082,18 +1082,10 @@ Isso pode levar até um minuto.</translation>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1106,6 +1098,34 @@ Isso pode levar até um minuto.</translation>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_th.ts
+28 -8
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@@ -1078,18 +1078,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1102,6 +1094,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_tr.ts
+28 -8
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@@ -1076,18 +1076,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1100,6 +1092,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_zh-CHS.ts
+28 -8
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@@ -1078,18 +1078,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1102,6 +1094,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
selfdrive/ui/translations/main_zh-CHT.ts
+28 -8
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@@ -1078,18 +1078,10 @@ This may take up to a minute.</source>
<source>Downloading %1 model [%2]... (%3%)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] download failed</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a Model</source>
<translation type="unfinished"></translation>
@@ -1102,6 +1094,34 @@ This may take up to a minute.</source>
<source>Model download has started in the background.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>%1 model [%2] %3</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>downloaded</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ready</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>from cache</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Use Default</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>No custom model selected!</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Default</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
sunnypilot/modeld/constants.py
+33
View File
@@ -18,6 +18,8 @@ class ModelConstants:
HISTORY_BUFFER_LEN = 99
DESIRE_LEN = 8
TRAFFIC_CONVENTION_LEN = 2
NAV_FEATURE_LEN = 256
NAV_INSTRUCTION_LEN = 150
LAT_PLANNER_STATE_LEN = 4
LATERAL_CONTROL_PARAMS_LEN = 2
PREV_DESIRED_CURV_LEN = 1
@@ -83,3 +85,34 @@ class Meta:
BRAKE_PRESS = slice(32, 55, 4)
LEFT_BLINKER = slice(33, 55, 4)
RIGHT_BLINKER = slice(34, 55, 4)
class MetaTombRaider:
ENGAGED = slice(0, 1)
# next 2, 4, 6, 8, 10 seconds
GAS_DISENGAGE = slice(1, 41, 8)
BRAKE_DISENGAGE = slice(2, 41, 8)
STEER_OVERRIDE = slice(3, 41, 8)
HARD_BRAKE_3 = slice(4, 41, 8)
HARD_BRAKE_4 = slice(5, 41, 8)
HARD_BRAKE_5 = slice(6, 41, 8)
GAS_PRESS = slice(7, 41, 8)
BRAKE_PRESS = slice(8, 41, 8)
# next 0, 2, 4, 6, 8, 10 seconds
LEFT_BLINKER = slice(41, 53, 2)
RIGHT_BLINKER = slice(42, 53, 2)
class MetaSimPose:
ENGAGED = slice(0, 1)
# next 2, 4, 6, 8, 10 seconds
GAS_DISENGAGE = slice(1, 36, 7)
BRAKE_DISENGAGE = slice(2, 36, 7)
STEER_OVERRIDE = slice(3, 36, 7)
HARD_BRAKE_3 = slice(4, 36, 7)
HARD_BRAKE_4 = slice(5, 36, 7)
HARD_BRAKE_5 = slice(6, 36, 7)
GAS_PRESS = slice(7, 36, 7)
# next 0, 2, 4, 6, 8, 10 seconds
LEFT_BLINKER = slice(36, 48, 2)
RIGHT_BLINKER = slice(37, 48, 2)
sunnypilot/modeld/fill_model_msg.py
+31 -18
View File
@@ -2,7 +2,8 @@ import os
import capnp
import numpy as np
from cereal import log
from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan, Meta
from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -51,12 +52,23 @@ def fill_xyz_poly(builder, degree, x, y, z):
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
net_output_data: dict[str, np.ndarray], publish_state: PublishState,
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
timestamp_eof: int, model_execution_time: float, valid: bool,
v_ego: float, steer_delay: float, meta_const) -> None:
frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
frame_drop_perc = frame_drop * 100
extended_msg.valid = valid
base_msg.valid = valid
if 'lat_planner_solution' in net_output_data:
x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0, :, i].tolist() for i in range(4)]
x_sol = np.column_stack([x, y, yaw, yawRate])
v_ego = max(MIN_SPEED, v_ego)
psis = x_sol[0:CONTROL_N, 2].tolist()
curvatures = (x_sol[0:CONTROL_N, 3] / v_ego).tolist()
desired_curvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures)
else:
desired_curvature = float(net_output_data['desired_curvature'][0, 0])
driving_model_data = base_msg.drivingModelData
driving_model_data.frameId = vipc_frame_id
@@ -65,7 +77,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
driving_model_data.modelExecutionTime = model_execution_time
action = driving_model_data.action
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
action.desiredCurvature = desired_curvature
modelV2 = extended_msg.modelV2
modelV2.frameId = vipc_frame_id
@@ -100,7 +112,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
# lateral planning
action = modelV2.action
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
action.desiredCurvature = desired_curvature
# times at X_IDXS according to model plan
PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -154,23 +166,24 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
meta = modelV2.meta
meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
meta.engagedProb = net_output_data['meta'][0,meta_const.ENGAGED].item()
meta.init('disengagePredictions')
disengage_predictions = meta.disengagePredictions
disengage_predictions.t = ModelConstants.META_T_IDXS
disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE].tolist()
disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE].tolist()
disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE].tolist()
disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_3].tolist()
disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_4].tolist()
disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_5].tolist()
if 'sim_pose' not in net_output_data:
disengage_predictions.gasPressProbs = net_output_data['meta'][0,meta_const.GAS_PRESS].tolist()
disengage_predictions.brakePressProbs = net_output_data['meta'][0,meta_const.BRAKE_PRESS].tolist()
publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_5][0]
publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_3][0]
hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
(publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -178,9 +191,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
# confidence
if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
# any disengage prob
brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
brake_disengage_probs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE]
gas_disengage_probs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE]
steer_override_probs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE]
any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
# independent disengage prob for each 2s slice
ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
sunnypilot/modeld/modeld.py
+42 -22
View File
@@ -1,7 +1,6 @@
#!/usr/bin/env python3
import os
import time
import pickle
import numpy as np
import cereal.messaging as messaging
from cereal import car, log
@@ -13,7 +12,8 @@ from opendbc.car.car_helpers import get_demo_car_params
from openpilot.common.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process
from openpilot.common.realtime import DT_MDL, config_realtime_process
from openpilot.common.numpy_fast import interp
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.system import sentry
@@ -23,8 +23,9 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.sunnypilot.modeld.constants import ModelConstants
from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
from openpilot.sunnypilot.modeld.runners.run_helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
PROCESS_NAME = "sunnypilot.modeld.modeld"
PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PATHS = {
@@ -54,23 +55,18 @@ class ModelState:
self.frame = ModelFrame(context)
self.wide_frame = ModelFrame(context)
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
self.inputs = {
'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
}
with open(METADATA_PATH, 'rb') as f:
model_metadata = pickle.load(f)
model_paths = get_model_path()
self.model_metadata = load_metadata()
self.inputs = prepare_inputs(self.model_metadata)
self.meta = load_meta_constants(self.model_metadata)
self.output_slices = model_metadata['output_slices']
net_output_size = model_metadata['output_shapes']['outputs'][1]
self.output_slices = self.model_metadata['output_slices']
net_output_size = self.model_metadata['output_shapes']['outputs'][1]
self.output = np.zeros(net_output_size, dtype=np.float32)
self.parser = Parser()
self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
self.model = ModelRunner(model_paths, self.output, Runtime.GPU, False, context)
self.model.addInput("input_imgs", None)
self.model.addInput("big_input_imgs", None)
for k,v in self.inputs.items():
@@ -90,8 +86,9 @@ class ModelState:
self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
self.prev_desire[:] = inputs['desire']
self.inputs['traffic_convention'][:] = inputs['traffic_convention']
self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
for k in self.inputs:
if k in inputs and k != 'desire':
self.inputs[k][:] = inputs[k]
# if getCLBuffer is not None, frame will be None
self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
@@ -106,8 +103,19 @@ class ModelState:
self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
if "lat_planner_solution" in outputs and "lat_planner_state" in self.inputs.keys():
self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
if "desired_curvature" in outputs:
if "prev_desired_curvs" in self.inputs.keys():
self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:]
self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0]
if "prev_desired_curv" in self.inputs.keys():
self.inputs['prev_desired_curv'][:-1] = self.inputs['prev_desired_curv'][1:]
self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
return outputs
@@ -216,9 +224,9 @@ def main(demo=False):
sm.update(0)
desire = DH.desire
v_ego = sm["carState"].vEgo
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -249,9 +257,20 @@ def main(demo=False):
inputs:dict[str, np.ndarray] = {
'desire': vec_desire,
'traffic_convention': traffic_convention,
'lateral_control_params': lateral_control_params,
}
if "lateral_control_params" in model.inputs.keys():
inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
if "driving_style" in model.inputs.keys():
inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
if "nav_features" in model.inputs.keys():
inputs['nav_features'] = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
if "nav_instructions" in model.inputs.keys():
inputs['nav_instructions'] = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
mt1 = time.perf_counter()
model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
mt2 = time.perf_counter()
@@ -262,7 +281,8 @@ def main(demo=False):
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')
fill_model_msg(drivingdata_send, modelv2_send, model_output, 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)
frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
v_ego, steer_delay, model.meta)
desire_state = modelv2_send.modelV2.meta.desireState
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
sunnypilot/modeld/parse_model_outputs.py
+2
View File
@@ -91,6 +91,8 @@ class Parser:
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
if 'sim_pose' in outs:
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
sunnypilot/modeld/runners/run_helpers.py
+90
View File
@@ -0,0 +1,90 @@
# 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.
import os
import pickle
import numpy as np
from cereal import custom
from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
from openpilot.sunnypilot.modeld.runners import ModelRunner
from openpilot.sunnypilot.models.helpers import get_active_bundle
from openpilot.system.hardware import PC
from openpilot.system.hardware.hw import Paths
from pathlib import Path
USE_ONNX = os.getenv('USE_ONNX', PC)
CUSTOM_MODEL_PATH = Paths.model_root()
METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
ModelManager = custom.ModelManagerSP
def get_model_path():
if USE_ONNX:
return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
if bundle := get_active_bundle():
drive_model = next(model for model in bundle.models if model.type == ModelManager.Type.drive)
return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}"}
return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
def load_metadata():
metadata_path = METADATA_PATH
if bundle := get_active_bundle():
metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"
with open(metadata_path, 'rb') as f:
return pickle.load(f)
def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
# img buffers are managed in openCL transform code so we don't pass them as inputs
inputs = {
k: np.zeros(v, dtype=np.float32).flatten()
for k, v in model_metadata['input_shapes'].items()
if 'img' not in k
}
return inputs
def load_meta_constants(model_metadata):
"""
Determines and loads the appropriate meta model class based on the metadata provided. The function checks
specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
model class to return.
:param model_metadata: Dictionary containing metadata about the model. It includes
details such as input shapes, output slices, and other configurations for identifying
metadata-dependent meta model classes.
:type model_metadata: dict
:return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
based on the conditions and metadata provided.
:rtype: type
"""
meta = Meta # Default Meta
if 'sim_pose' in model_metadata['input_shapes'].keys():
# Meta for models with sim_pose input
meta = MetaSimPose
else:
# Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
meta_slice = model_metadata['output_slices']['meta']
meta_tf_slice = slice(5868, 5921, None)
if (
meta_slice.start == meta_tf_slice.start and
meta_slice.stop == meta_tf_slice.stop and
meta_slice.step == meta_tf_slice.step
):
meta = MetaTombRaider
return meta
sunnypilot/models/fetcher.py
+3
View File
@@ -71,11 +71,14 @@ class ModelParser:
model_bundle.status = 0
model_bundle.generation = int(value["generation"])
model_bundle.environment = value["environment"]
model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
return model_bundle
@staticmethod
def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
# TODO-SP: Remove the following filter once we add support for tinygrad model switcher
json_data = {k: v for k, v in json_data.items() if v.get("runner", -1) == custom.ModelManagerSP.Runner.snpe}
return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
sunnypilot/models/helpers.py
+4 -12
View File
@@ -33,14 +33,6 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
return None
def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
if filename.endswith(".thneed"):
return custom.ModelManagerSP.Runner.snpe
if filename.endswith("_tinygrad.pkl"):
return custom.ModelManagerSP.Runner.tinygrad
def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
"""
Determines and returns the active model runner type, based on provided parameters.
@@ -65,15 +57,15 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
params = Params()
if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
return int(cached_runner_type)
if isinstance(cached_runner_type, str) and cached_runner_type.isdigit():
return int(cached_runner_type)
runner_type = custom.ModelManagerSP.Runner.tinygrad
if active_bundle := get_active_bundle(params):
drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
runner_type = get_model_runner_by_filename(drive_model.fileName)
runner_type = active_bundle.runner.raw
if cached_runner_type != runner_type:
params.put("ModelRunnerTypeCache", str(runner_type))
params.put("ModelRunnerTypeCache", str(int(runner_type)))
return runner_type
sunnypilot/models/manager.py
+5 -4
View File
@@ -128,12 +128,12 @@ class ModelManagerSP:
os.makedirs(destination_path, exist_ok=True)
try:
tasks = [self._process_model(model, destination_path)
for model in self.selected_bundle.models]
tasks = [self._process_model(model, destination_path) for model in self.selected_bundle.models]
await asyncio.gather(*tasks)
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
self.active_bundle = self.selected_bundle
self.params.put("ModelManager_ActiveBundle", self.selected_bundle.to_bytes())
self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_bytes())
self.selected_bundle = None
except Exception:
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
@@ -153,6 +153,7 @@ class ModelManagerSP:
while True:
try:
self.available_models = self.model_fetcher.get_available_models()
self.active_bundle = get_active_bundle(self.params)
if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):
if model_to_download := next((model for model in self.available_models if model.index == int(index_to_download)), None):
sunnypilot/selfdrive/controls/lib/drive_helpers.py
+27
View File
@@ -0,0 +1,27 @@
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
from openpilot.sunnypilot.modeld.constants import ModelConstants
def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
if len(psis) != CONTROL_N:
psis = [0.0]*CONTROL_N
curvatures = [0.0]*CONTROL_N
v_ego = max(MIN_SPEED, v_ego)
# MPC can plan to turn the wheel and turn back before t_delay. This means
# in high delay cases some corrections never even get commanded. So just use
# psi to calculate a simple linearization of desired curvature
current_curvature_desired = curvatures[0]
psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
average_curvature_desired = psi / (v_ego * steer_delay)
desired_curvature = 2 * average_curvature_desired - current_curvature_desired
# This is the "desired rate of the setpoint" not an actual desired rate
max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
safe_desired_curvature = clip(desired_curvature,
current_curvature_desired - max_curvature_rate * DT_MDL,
current_curvature_desired + max_curvature_rate * DT_MDL)
return safe_desired_curvature
system/manager/process_config.py
+3 -2
View File
@@ -1,11 +1,12 @@
import os
import operator
from cereal import car
from cereal import car, custom
from openpilot.common.params import Params
from openpilot.system.hardware import PC, TICI
from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
from sunnypilot.models.helpers import get_active_model_runner
from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -73,7 +74,7 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
def is_snpe_model(started, params, CP: car.CarParams) -> bool:
"""Check if the active model runner is SNPE."""
return False # FIXME-SP: Enable in future PR
return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
def is_stock_model(started, params, CP: car.CarParams) -> bool:
"""Check if the active model runner is stock."""