mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-11 02:33:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

stride

Browse Source
This commit is contained in:
discountchubbs
2026-09-05 12:50:43 -07:00
parent f21c488370
commit ebd395b5fc
2 changed files with 11 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
openpilot/sunnypilot/modeld_v2/compile_modeld.py
+3 -2
View File
@@ -32,7 +32,7 @@ def _patch_tinygrad_fetch_fw():
helpers.fetch_fw = fetch_fw
_patch_tinygrad_fetch_fw()
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, nv12_copy_size, sample_desire, sample_skip, shift_and_sample
from tinygrad import dtypes
from tinygrad.device import Device
from tinygrad.engine.jit import TinyJit
@@ -377,8 +377,9 @@ if __name__ == "__main__":
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))
frame_copy_size = nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
warp_input_dev = 'NPY' if Device.DEFAULT == 'AMD' else Device.DEFAULT
make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=warp_input_dev)
make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=frame_copy_size, device=warp_input_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)
openpilot/sunnypilot/modeld_v2/modeld.py
+8 -4
View File
@@ -42,7 +42,9 @@ from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_p
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, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
from openpilot.sunnypilot.modeld_v2.compile_modeld import (derive_frame_skip, make_split_input_queues,
make_supercombo_input_queues, nv12_copy_size,
WARP_INPUTS, POLICY_INPUTS)
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
from openpilot.sunnypilot.models.helpers import get_active_bundle
@@ -174,8 +176,9 @@ class ModelState(ModelStateBase):
self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
yuv_size = nv12_info[3]
self.frame_copy_size = nv12_copy_size(*nv12_info[:3])
if self.use_frame_buffers:
self.frame_buffers = {k: np.zeros(yuv_size, dtype=np.uint8) for k in self._vision_input_names}
self.frame_buffers = {k: np.zeros(self.frame_copy_size, dtype=np.uint8) for k in self._vision_input_names}
self.full_frames = {k: Tensor(self.frame_buffers[k], device='NPY').realize() for k in self._vision_input_names}
else:
self.frame_buffers = {}
@@ -183,7 +186,8 @@ class ModelState(ModelStateBase):
self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[self._road_key], big_frame=self.full_frames[self._wide_key])
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}
dummy_size = self.frame_copy_size if self.use_frame_buffers else self.frame_buf_params[self._road_key][3]
dummy_frames = {k: np.zeros(dummy_size, 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 = {}
@@ -218,7 +222,7 @@ class ModelState(ModelStateBase):
after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray] | None:
if self.use_frame_buffers:
for key, buf in bufs.items():
np.copyto(self.frame_buffers[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_buf_params[key][3]))
np.copyto(self.frame_buffers[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_copy_size))
else:
for key, buf in bufs.items():
ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data