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agnos 18.4: pin pycapnp to 2.1.0 (#38126)

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* Revert "modeld: fix capnp memory leak (#38117)"

This reverts commit 0f17a98793.

* Revert "fix memory leak from pycapnp 2.2+ (#38001)"

This reverts commit 294cb687f6.

* downgrade

* agnos 18.4
This commit is contained in:
Adeeb Shihadeh
2026-06-01 20:43:32 -07:00
committed by GitHub
parent 249cafe897
commit c87f613659
8 changed files with 39 additions and 49 deletions
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16
cereal/messaging/__init__.py
View File

@@ -40,16 +40,12 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder: def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
valid = kwargs.pop('valid', False) args = {
log_mono_time = kwargs.pop('logMonoTime', int(time.monotonic() * 1e9)) 'valid': False,
'logMonoTime': int(time.monotonic() * 1e9),
# pycapnp 2.2.x's kwargs/from_dict path creates cyclic garbage here. Realtime processes disable GC. **kwargs
dat = log.Event.new_message() }
dat.valid = valid dat = log.Event.new_message(**args)
dat.logMonoTime = log_mono_time
for field, value in kwargs.items():
setattr(dat, field, value)
if service is not None: if service is not None:
if size is None: if size is None:
dat.init(service) dat.init(service)

2
launch_env.sh
View File

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
export QCOM_PRIORITY=12 export QCOM_PRIORITY=12
if [ -z "$AGNOS_VERSION" ]; then if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="18.3" export AGNOS_VERSION="18.4"
fi fi
export STAGING_ROOT="/data/safe_staging" export STAGING_ROOT="/data/safe_staging"

2
pyproject.toml
View File

@@ -20,7 +20,7 @@ dependencies = [
# core # core
"cffi", "cffi",
"scons", "scons",
"pycapnp", "pycapnp==2.1.0", # 2.2 introduces a memory leak due to cyclic references
"Cython", "Cython",
"setuptools", "setuptools",
"numpy >=2.0", "numpy >=2.0",

8
selfdrive/modeld/modeld.py
View File

@@ -57,11 +57,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
else: else:
desired_curvature = prev_action.desiredCurvature desired_curvature = prev_action.desiredCurvature
action = log.ModelDataV2.Action() return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
action.desiredCurvature = float(desired_curvature) desiredAcceleration=float(desired_accel),
action.desiredAcceleration = float(desired_accel) shouldStop=bool(should_stop))
action.shouldStop = bool(should_stop)
return action
class FrameMeta: class FrameMeta:

4
selfdrive/pandad/pandad_api_impl.py
View File

@@ -39,9 +39,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
""" """
global _cached_writer_fields global _cached_writer_fields
dat = log.Event.new_message() dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
dat.valid = valid
dat.logMonoTime = int(time.monotonic() * 1e9)
can_data = dat.init(msgtype, len(can_msgs)) can_data = dat.init(msgtype, len(can_msgs))
# Cache schema fields on first call # Cache schema fields on first call

12
system/hardware/tici/agnos.json
View File

@@ -67,17 +67,17 @@
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"size": 4718592000, "size": 4718592000,
"sparse": true, "sparse": true,
"full_check": false, "full_check": false,
"has_ab": true, "has_ab": true,
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12
system/hardware/tici/all-partitions.json
View File

@@ -350,17 +350,17 @@
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"size": 4718592000, "size": 4718592000,
"sparse": true, "sparse": true,
"full_check": false, "full_check": false,
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32
uv.lock generated
View File

@@ -867,7 +867,7 @@ requires-dist = [
{ name = "pillow" }, { name = "pillow" },
{ name = "pre-commit-hooks", marker = "extra == 'testing'" }, { name = "pre-commit-hooks", marker = "extra == 'testing'" },
{ name = "psutil" }, { name = "psutil" },
{ name = "pycapnp" }, { name = "pycapnp", specifier = "==2.1.0" },
{ name = "pycryptodome" }, { name = "pycryptodome" },
{ name = "pyjwt" }, { name = "pyjwt" },
{ name = "pyserial" }, { name = "pyserial" },
@@ -1032,24 +1032,22 @@ wheels = [
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