Merge branch 'master' into ccnc-port

egpu: alert when big model ready

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

openpilot/cereal/custom.capnp

@@ -353,6 +353,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitPending @22;
     e2eChime @23;
     laneChangeRoadEdge @24;
+    bigModelReady @25;
   }
 }
 

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -198,6 +198,7 @@ class SelfdriveD(CruiseHelper):
     loading = self.params.get_bool("ChestnutLoading")
     if self.big_model_loading and not loading:
       self.big_model_ready_t = time.monotonic()
+      self.events_sp.add(custom.OnroadEventSP.EventName.bigModelReady)
     self.big_model_loading = loading
     if self.big_model_loading:
       self.events.add(EventName.bigModelLoading)

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -8,22 +8,22 @@ See the LICENSE.md file in the root directory for more details.
 
 import os
 os.environ['GMMU'] = '0'
-import numpy as np
-import threading
-import time
-from setproctitle import setproctitle
-from tinygrad.tensor import Tensor
-
-import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
+import time
+import numpy as np
+import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
+from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
 from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
+
+from tinygrad.tensor import Tensor
+
 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
@@ -42,13 +42,13 @@ 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.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
-BIG_MODEL_TIMEOUT = 60
 
 
 def _pkl_exists(path):
@@ -68,7 +68,6 @@ def _find_driving_pkl(bundle):
   pkl_path = os.path.join(model_root, pkl_name)
   if _pkl_exists(pkl_path):
     return pkl_path
-  return None
 
 
 class FrameMeta:
@@ -103,7 +102,7 @@ class ModelState(ModelStateBase):
     self.chestnut = chestnut
 
     pkl_path = _find_driving_pkl(model_bundle)
-    assert pkl_path is not None, f"No driving pkl found for {'chestnut' if chestnut else 'small model'} — all models must be compiled with compile_modeld.py"
+    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
     self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
 
   def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
@@ -186,6 +185,9 @@ class ModelState(ModelStateBase):
     else:
       self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
 
+    if self.chestnut:
+      self.warmup()
+
   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}
     transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
@@ -286,7 +288,8 @@ class ModelState(ModelStateBase):
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
     if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
-      raise RuntimeError("model output not finite")
+      cloudlog.error("model output not finite, dropping frame")
+      return None
 
     return outputs
 
@@ -360,26 +363,21 @@ def main(demo=False):
 
   model = None
   if CHESTNUT:
-    big_model = None
-    def load_big():
-      nonlocal big_model
-      try:
-        m = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=True)
-        m.warmup()
-        big_model = m
-      except Exception:
-        cloudlog.exception("chestnut load failed")
-    loader = threading.Thread(target=load_big, daemon=True)
-    loader.start()
-    loader.join(BIG_MODEL_TIMEOUT)
-    model = big_model
-    params.put_bool("ChestnutActive", model is not None)
+    import threading
+    def load():
+      nonlocal model
+      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=True)
+    t = threading.Thread(target=load, daemon=True)
+    t.start()
+    t.join(60)
+    if model is None:
+      params.put_bool("ChestnutActive", False)
+      raise RuntimeError("chestnut model load failed or timed out (60s)")
+    params.put_bool("ChestnutActive", True)
+  else:
+    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False)
 
-  small_model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False) if model is None or CHESTNUT else None
-  if model is None:
-    model = small_model
   params.put_bool("ChestnutLoading", False)
-  assert model is not None
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
@@ -388,7 +386,7 @@ def main(demo=False):
   sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
-  chestnut_state = ChestnutState(pm, model.chestnut) if CHESTNUT else None
+  chestnut_state = ChestnutState(pm, CHESTNUT) if CHESTNUT else None
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -511,19 +509,7 @@ def main(demo=False):
       inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
 
     mt1 = time.perf_counter()
-    try:
-      model_output = model.run(bufs, transforms, inputs, prepare_only)
-    except Exception:
-      if not params.get_bool("ChestnutActive"):
-        raise
-      cloudlog.exception("chestnut failed, falling back to small")
-      params.put_bool("ChestnutActive", False)
-      assert small_model is not None
-      model = small_model
-      if chestnut_state is not None:
-        chestnut_state.big = False
-      run_count = 0
-      model_output = None
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 

openpilot/sunnypilot/modeld_v2/tests/helpers.py

@@ -37,7 +37,7 @@ class DummyModel:
 
 
 class DummyBundle:
-  def __init__(self, is_20hz=False, models=None, generation=10, is_big=False):
+  def __init__(self, is_20hz=False, models=None, generation=10):
     self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
     self.generation = generation
     self.is20hz = is_20hz

openpilot/sunnypilot/modeld_v2/tests/test_fallback.py

@@ -1,127 +0,0 @@
-import io
-import requests
-from unittest import mock
-
-from openpilot.common.file_chunker import get_chunk_name
-from openpilot.common.hardware import hw
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.selfdrive.modeld.helpers import dump_oob
-import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
-from openpilot.sunnypilot.modeld_v2.tests import helpers as tests_helpers
-from openpilot.sunnypilot.modeld_v2.tests.helpers import DummyModel, DummyBundle, CAM_W, CAM_H
-from openpilot.sunnypilot.models.fetcher import ModelParser, ModelFetcher
-
-tmp_path = tests_helpers.tmp_path
-
-
-class TestFallback(OpenpilotTestCase):
-  def test_find_dual_model_in_bundle(self, tmp_path, monkeypatch):
-    lebowski_file = 'driving_lebowski.pkl'
-    tsfdo_file = 'driving_tsfdo.pkl'
-    (tmp_path / lebowski_file).write_bytes(b'fkasdjfkljf')
-    (tmp_path / tsfdo_file).write_bytes(b'dskfajklsdjlsfka')
-
-    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
-    big_bundle = DummyBundle(models=[DummyModel('supercombo', lebowski_file)], is_big=True)
-    small_bundle = DummyBundle(models=[DummyModel('supercombo', tsfdo_file)], is_big=False)
-    big_pkl = modeld_module._find_driving_pkl(big_bundle)
-    small_pkl = modeld_module._find_driving_pkl(small_bundle)
-
-    assert big_pkl is not None and lebowski_file in big_pkl
-    assert small_pkl is not None and tsfdo_file in small_pkl
-
-  def test_download_models_and_init_modelstate_fallback(self, tmp_path, monkeypatch):
-    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
-    big_json = requests.get(ModelFetcher.MODEL_URL_CHESTNUT).json()
-    big_bundle = ModelParser.parse_models(big_json)[-1]
-    small_json = requests.get(ModelFetcher.MODEL_URL).json()
-    small_bundle = ModelParser.parse_models(small_json)[-1]
-
-    buf = io.BytesIO()
-    dump_oob(tests_helpers.make_pkl_data(tests_helpers.ARCHETYPES['supercombo_non20hz']), buf)
-    oob_bytes = buf.getvalue()
-
-    for bundle in (big_bundle, small_bundle):
-      artifact = bundle.models[0].artifact
-      for i in range(len(artifact.chunks)):
-        (tmp_path / get_chunk_name(artifact.fileName, i, len(artifact.chunks))).write_bytes(oob_bytes if i == 0 else b"")
-
-    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: small_bundle)
-    assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=False).chestnut is False
-
-    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: big_bundle)
-    try:
-      assert modeld_module.ModelState(CAM_W, CAM_H, chestnut=True).chestnut is True
-    except Exception as e:
-      assert "AMD" in str(e) or "device" in str(e).lower()
-
-  def test_runtime_fallback_from_big_to_small(self):
-    params = mock.MagicMock()
-    params.get_bool.return_value = True
-
-    big = mock.MagicMock(chestnut=True)
-    big.run.side_effect = RuntimeError("eGPU error")
-
-    small = mock.MagicMock(chestnut=False)
-    small.run.return_value = {"plan": []}
-
-    chestnut = mock.MagicMock(big=True)
-    model, run_count = big, 50
-
-    try:
-      model.run()
-    except Exception:
-      if not params.get_bool("chestnutActive"):
-        raise
-      params.put_bool("chestnutActive", False)
-      model = small
-      chestnut.big = False
-      run_count = 0
-
-    assert model is small
-    assert not chestnut.big
-    assert run_count == 0
-    params.put_bool.assert_called_with("chestnutActive", False)
-
-    model.run()
-    small.run.assert_called_once()
-
-  def test_runtime_stays_on_big_model_if_no_errors(self):
-    params = mock.MagicMock()
-    params.get_bool.return_value = True
-
-    big = mock.MagicMock(chestnut=True)
-    big.run.return_value = {"plan": [1, 2, 3]}
-
-    small = mock.MagicMock(chestnut=False)
-    chestnut = mock.MagicMock(big=True)
-    model, run_count = big, 50
-    try:
-      model.run()
-    except Exception:
-      if not params.get_bool("ChestnutActive"):
-        raise
-      params.put_bool("ChestnutActive", False)
-      model = small
-      chestnut.big = False
-      run_count = 0
-
-    assert model is big
-    assert chestnut.big is True
-    assert run_count == 50
-    params.put_bool.assert_not_called()
-    small.run.assert_not_called()
-
-  def test_runtime_exception_on_small_model_raises(self):
-    params = mock.MagicMock()
-    params.get_bool.return_value = False
-
-    model = mock.MagicMock(chestnut=False)
-    model.run.side_effect = RuntimeError("CPU error")
-
-    with self.assertRaises(RuntimeError):
-      try:
-        model.run()
-      except Exception:
-        if not params.get_bool("ChestnutActive"):
-          raise

openpilot/sunnypilot/models/default_model.py

@@ -1,14 +1,11 @@
 import argparse
 import os
 import hashlib
-import requests
-import re
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
-from openpilot.sunnypilot.models.fetcher import ModelFetcher
 
 
 def get_default_model() -> str:
@@ -33,29 +30,14 @@ def update_model_hash():
   print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
 
-def get_ref_for_name(url: str, name: str) -> str:
-  response = requests.get(url, timeout=10)
-  if response.status_code == 200:
-    bundles = response.json()["bundles"]
-    matching = [b for b in bundles if re.search(name, f"{b['short_name']} {b['display_name']}", re.IGNORECASE)]
-    if matching:
-      return max(matching, key=lambda b: int(b["index"]))["ref"]
-  return ""
-
-
 def update_default_model_names(default_model_name: str, default_big_model_name: str):
   print("[CHANGE DEFAULT MODEL NAMES]")
-  small_ref = get_ref_for_name(ModelFetcher.MODEL_URL, default_model_name)
-  big_ref = get_ref_for_name(ModelFetcher.MODEL_URL_CHESTNUT, default_big_model_name)
-
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
     f.write(f'DEFAULT_MODEL = "{default_model_name}"\n')
-    f.write(f'DEFAULT_MODEL_REF = "{small_ref}"\n')
     f.write(f'DEFAULT_BIG_MODEL = "{default_big_model_name}"\n')
-    f.write(f'DEFAULT_BIG_MODEL_REF = "{big_ref}"\n')
 
-  print(f'New default small model name: "{default_model_name}" (ref: {small_ref})')
-  print(f'New default big model name: "{default_big_model_name}" (ref: {big_ref})')
+  print(f'New default small model name: "{default_model_name}"')
+  print(f'New default big model name: "{default_big_model_name}"')
   print("[DONE]")
 
 

openpilot/sunnypilot/models/manager.py

@@ -328,12 +328,6 @@ class ModelManagerSP:
         validate_active_bundles(self.params, self.source_models)
         self.active_bundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
 
-        if get_selected_bundle(self.params, "chestnut") is not None and get_selected_bundle(self.params, "qcom") is None:
-          if self.params.get("ModelManager_DownloadRef") is None:
-            from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL_REF
-            if DEFAULT_MODEL_REF:
-              self.params.put("ModelManager_DownloadRef", DEFAULT_MODEL_REF)
-
         self._process_download_requests()
 
         if self.params.get("ModelManager_ClearCache"):

openpilot/sunnypilot/models/model_name.py

@@ -1,4 +1,2 @@
 DEFAULT_MODEL = "CD210"
-DEFAULT_MODEL_REF = "5b6436a90cf6902b8aaa71c2b6f3d7164d8ae391"
 DEFAULT_BIG_MODEL = "Lebowski"
-DEFAULT_BIG_MODEL_REF = "fa0c6876d3cf070e91e25e5353ceadc68a5b3285"

openpilot/sunnypilot/selfdrive/selfdrived/events.py

@@ -252,4 +252,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
   },
+
+  EventNameSP.bigModelReady: {
+    ET.PERMANENT: Alert(
+      "Big Model Ready",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 2.),
+  },
 }