diff --git a/common/model.h b/common/model.h index fc1110431c..d134ebd15e 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "OP Model 7 (Default)" +#define DEFAULT_MODEL "POP model (Default)" diff --git a/scripts/reporter.py b/scripts/reporter.py index 64f6cb99b8..93b71761a9 100755 --- a/scripts/reporter.py +++ b/scripts/reporter.py @@ -33,16 +33,7 @@ if __name__ == "__main__": print("|-| ----- | --------- |") for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"): - # TODO: add checkpoint to DM - if "dmonitoring" in f: - continue - fn = os.path.basename(f) - master_path = MASTER_PATH + MODEL_PATH + fn - if os.path.exists(master_path): - master = get_checkpoint(master_path) - master_col = f"[{master}](https://reporter.comma.life/experiment/{master})" - else: - master_col = "N/A (new model)" + master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn) pr = get_checkpoint(BASEDIR + MODEL_PATH + fn) - print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|") + print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|") diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 7a82ff88b8..f02e667228 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -21,7 +21,7 @@ tg_flags = { }.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0') # Get model metadata -for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']: +for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)] cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' @@ -59,5 +59,6 @@ def tg_compile(flags, model_name): ) # Compile small models -for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']: +for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: tg_compile(tg_flags, model_name) + diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index df77c9c0e7..d774e475d7 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -40,10 +40,8 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODELS_DIR = Path(__file__).parent / 'models' VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl' VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl' -ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl' -ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl' -OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl' -OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl' +POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl' +POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl' LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 @@ -158,13 +156,7 @@ class ModelState(ModelStateBase): self.vision_output_slices = vision_metadata['output_slices'] vision_output_size = vision_metadata['output_shapes']['outputs'][1] - with open(OFF_POLICY_METADATA_PATH, 'rb') as f: - off_policy_metadata = pickle.load(f) - self.off_policy_input_shapes = off_policy_metadata['input_shapes'] - self.off_policy_output_slices = off_policy_metadata['output_slices'] - off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1] - - with open(ON_POLICY_METADATA_PATH, 'rb') as f: + with open(POLICY_METADATA_PATH, 'rb') as f: policy_metadata = pickle.load(f) self.policy_input_shapes = policy_metadata['input_shapes'] self.policy_output_slices = policy_metadata['output_slices'] @@ -188,13 +180,11 @@ class ModelState(ModelStateBase): self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) - self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32) self.parser = Parser() self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} self.update_imgs = None self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH))) - self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH))) - self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH))) + self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH))) def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]: parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()} @@ -243,17 +233,9 @@ class ModelState(ModelStateBase): self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - - self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() - off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices)) - off_policy_outputs_dict.pop('plan') - - - combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict} - if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict: - combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus'] + combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: - combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()]) + combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) return combined_outputs_dict diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx new file mode 120000 index 0000000000..e1b653a14a --- /dev/null +++ b/selfdrive/modeld/models/big_driving_policy.onnx @@ -0,0 +1 @@ +driving_policy.onnx \ No newline at end of file diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx new file mode 120000 index 0000000000..28ee71dd74 --- /dev/null +++ b/selfdrive/modeld/models/big_driving_vision.onnx @@ -0,0 +1 @@ +driving_vision.onnx \ No newline at end of file diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx deleted file mode 100644 index 5b0effc100..0000000000 --- a/selfdrive/modeld/models/driving_off_policy.onnx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e53f4e0527766082ba7bde38e275def0fe3c14f6c59ae2854439e239884d3ecc -size 13393365 diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx deleted file mode 100644 index bfe10ca185..0000000000 --- a/selfdrive/modeld/models/driving_on_policy.onnx +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ea89c50da3a16e710da292f97c81b083a982cfdee5c28eca0d37ed2fb99af6c5 -size 13022642 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx new file mode 100644 index 0000000000..7c71bc9471 --- /dev/null +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:853c6634746ff439a848349d00e4d5581cd941f13f7c1862c31b72a31cc24858 +size 14061595 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 335e9dbcf8..afd617667c 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6263aa3fbb44cde6c68a34cdb7cd8c389789dbc02b15c1911afdac4e018281ae -size 23267151 +oid sha256:940e9006a25f27f0b6e85da798e6a8fd1f6dd492dd7d0b9ff1a9436460f46129 +size 46887794 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 802f0ad859..a0b45d2a98 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -96,17 +96,11 @@ class Parser: self.parse_mdn('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('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) - self.parse_binary_crossentropy('meta', outs) - return outs - - def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) - plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) 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_binary_crossentropy('lane_lines_prob', outs) + self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) + self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('lead_prob', outs) lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) @@ -116,7 +110,7 @@ class Parser: return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: - plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) + plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) if 'planplus' in outs: @@ -126,6 +120,5 @@ class Parser: def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: outs = self.parse_vision_outputs(outs) - outs = self.parse_off_policy_outputs(outs) outs = self.parse_policy_outputs(outs) return outs diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript index ddf889c0c0..8526fd2729 100644 --- a/sunnypilot/modeld_v2/SConscript +++ b/sunnypilot/modeld_v2/SConscript @@ -13,7 +13,7 @@ if PC: model_dir = Dir("models").abspath cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}' - for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']: + for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']: if File(f"models/{model_name}.onnx").exists(): inputs.append(File(f"models/{model_name}.onnx")) inputs.append(File(f"models/{model_name}_tinygrad.pkl")) @@ -42,7 +42,7 @@ def tg_compile(flags, model_name): ) # Compile models -for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']: +for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_on_policy', 'driving_policy']: if File(f"models/{model_name}.onnx").exists(): tg_compile(tg_flags, model_name) diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py index d540efbffd..0260a3c3bc 100755 --- a/sunnypilot/models/default_model.py +++ b/sunnypilot/models/default_model.py @@ -8,16 +8,14 @@ from openpilot.sunnypilot import get_file_hash DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h") MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash") VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx") -OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx") -ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx") +POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx") def update_model_hash(): vision_hash = get_file_hash(VISION_ONNX_PATH) - off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH) - on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH) + policy_hash = get_file_hash(POLICY_ONNX_PATH) - combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest() + combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest() with open(MODEL_HASH_PATH, "w") as f: f.write(combined_hash) diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index 3fdf97dd1b..eaf923358c 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -793b5d480edb5a30eed3d0d3bdb43259522978670f6bc3dea7a4d661261d3c48 +5d4d21f1899de21137f69d74a4602c44cc5a6b04cf4e4aa9d0ec9206f8c30350 \ No newline at end of file diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py index abe685c36a..7c2fde70a8 100644 --- a/sunnypilot/models/tests/test_default_model.py +++ b/sunnypilot/models/tests/test_default_model.py @@ -6,17 +6,16 @@ See the LICENSE.md file in the root directory for more details. """ from openpilot.sunnypilot import get_file_hash -from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH +from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH import hashlib class TestDefaultModel: def test_compare_onnx_hashes(self): vision_hash = get_file_hash(VISION_ONNX_PATH) - off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH) - on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH) + policy_hash = get_file_hash(POLICY_ONNX_PATH) - combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest() + combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest() with open(MODEL_HASH_PATH) as f: current_hash = f.read().strip() diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 60721b6144..d4d28418a3 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -338,6 +338,9 @@ def hardware_thread(end_event, hw_queue) -> None: show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) + if show_alert: + msg.deviceState.fanSpeedPercentDesired = 100 + # Handle offroad/onroad transition should_start = all(onroad_conditions.values()) if started_ts is None: @@ -435,9 +438,10 @@ def hardware_thread(end_event, hw_queue) -> None: statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired) statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent) - # report to server once every 10 minutes + # report to server once every 10 minutes, or every 1s when thermally blocked rising_edge_started = should_start and not should_start_prev - if rising_edge_started or (count % int(600. / DT_HW)) == 0: + status_packet_interval = 1. if show_alert else 600. + if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0: dat = { 'count': count, 'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates], diff --git a/tools/cabana/cabana b/tools/cabana/cabana index 128e49400e..cd9bf1dd79 100755 --- a/tools/cabana/cabana +++ b/tools/cabana/cabana @@ -33,6 +33,6 @@ fi # Build _cabana cd "$ROOT" -scons -j4 tools/cabana/_cabana +scons -j4 tools/cabana/_cabana cereal/messaging/bridge exec "$DIR/_cabana" "$@" diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py index 46a0dcf3cb..6a443b4155 100644 --- a/tools/lib/github_utils.py +++ b/tools/lib/github_utils.py @@ -62,7 +62,7 @@ class GithubUtils: self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True) def get_bucket_sha(self, bucket): - github_path = f"git/refs/heads/{bucket}" + github_path = f"git/ref/heads/{bucket}" r = self.api_call(github_path, data_call=True, raise_on_failure=False) return r.json()['object']['sha'] if r.ok else None