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fix

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This commit is contained in:
discountchubbs
2026-09-05 10:26:06 -07:00
parent da18292c3d
commit ee881434c1
1 changed files with 25 additions and 16 deletions
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openpilot/sunnypilot/modeld_v2/modeld.py
+25 -16
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@@ -112,8 +112,9 @@ class ModelState(ModelStateBase):
jits = load_oob(open_file_chunked(pkl_path))
metadata = jits['metadata']
self.WARP_DEV = metadata.get('warp_dev', 'QCOM' if COMMA_HARDWARE else 'CPU')
self.DEV = 'AMD' if self.chestnut else ('QCOM' if COMMA_HARDWARE else 'CPU')
self.use_frame_buffers = metadata.get('warp_dev') == 'AMD'
self.WARP_DEV = metadata.get('warp_dev', 'QCOM') if COMMA_HARDWARE else 'CPU'
self.DEV = ('AMD' if self.chestnut else 'QCOM') if COMMA_HARDWARE else 'CPU'
self.QUEUE_DEV = self.DEV
self.run_policy = jits['run_policy']
self.warp = jits[(cam_w, cam_h)]
@@ -130,7 +131,7 @@ class ModelState(ModelStateBase):
frame_skip, device=self.QUEUE_DEV)
else:
vision_metadata = metadata['vision']
policy_keys = [k for k in metadata if k != 'vision']
policy_keys = [k for k in metadata if k not in ('vision', 'warp_dev')]
if policy_keys == ['policy']:
self._combined_model_type = 'split'
else:
@@ -172,10 +173,14 @@ class ModelState(ModelStateBase):
nv12_info = get_nv12_info(cam_w, cam_h)
self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
yuv_size = self.frame_buf_params[self._road_key][3]
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()
self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
yuv_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.full_frames = {k: Tensor(self.frame_buffers[k], device='NPY').realize() for k in self._vision_input_names}
else:
self.frame_buffers = {}
self.full_frames = {k: Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize() for k in self._vision_input_names}
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}
@@ -191,8 +196,9 @@ class ModelState(ModelStateBase):
for v in self.numpy_inputs.values():
v[:] = 0
self.prev_desire[:] = 0
self.full_frames.clear()
self._blob_cache.clear()
if not self.use_frame_buffers:
self.full_frames.clear()
self._blob_cache.clear()
@property
@@ -210,13 +216,16 @@ class ModelState(ModelStateBase):
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
inputs: dict[str, np.ndarray], prepare_only: bool,
after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray] | None:
for key in bufs.keys():
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
yuv_size = self.frame_buf_params[key][3]
cache_key = (key, ptr)
if cache_key not in self._blob_cache:
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
self.full_frames[key] = self._blob_cache[cache_key]
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]))
else:
for key, buf in bufs.items():
ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
cache_key = (key, ptr)
if cache_key not in self._blob_cache:
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (self.frame_buf_params[key][3],), dtype='uint8', device=self.WARP_DEV)
self.full_frames[key] = self._blob_cache[cache_key]
desire_key = self.desire_key
inputs[desire_key][0] = 0