Enhance the LFS sync script in release pipeline

This commit significantly extends the `sync-lfs.sh` script used in the release process. Rather than just switching LFS configurations and pulling/pushing, it now incorporates operations like creating a clone for branch, resetting changes, trapping exit signals and cleaning up.

This improvement enhances the reliability of synchronizing Large File Storage (LFS) objects between repositories by incorporating additional safety checks and informative echo statements. The shell script now also handles situations such as exiting in the midway more gracefully. This enhanced script is expected to provide a smoother and more reliable release process.

cereal/custom.capnp

@@ -32,8 +32,6 @@ enum ModelGeneration {
   three @3;
   four @4;
   five @5;
-  six @6;
-  seven @7;
 }
 
 struct ControlsStateSP @0x81c2f05a394cf4af {

cereal/log.capnp

@@ -871,7 +871,6 @@ struct DrivingModelData {
   frameId @0 :UInt32;
   frameIdExtra @1 :UInt32;
   frameDropPerc @6 :Float32;
-  modelExecutionTime @7 :Float32;
 
   action @2 :ModelDataV2.Action;
 
@@ -1011,8 +1010,6 @@ struct ModelDataV2 {
     brake3MetersPerSecondSquaredProbs @4 :List(Float32);
     brake4MetersPerSecondSquaredProbs @5 :List(Float32);
     brake5MetersPerSecondSquaredProbs @6 :List(Float32);
-    gasPressProbs @7 :List(Float32);
-    brakePressProbs @8 :List(Float32);
   }
 
   struct Pose {

common/params.cc

@@ -239,7 +239,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DrivingModelGeneration", PERSISTENT},
     {"DrivingModelMetadataText", PERSISTENT},
     {"DrivingModelName", PERSISTENT},
-    {"DrivingModelSelectorVersion", CLEAR_ON_MANAGER_START},
     {"DrivingModelText", PERSISTENT},
     {"DrivingModelUrl", PERSISTENT},
     {"DynamicExperimentalControl", PERSISTENT | BACKUP},

release/ci/sync-lfs.sh

@@ -1,7 +1,51 @@
 #!/usr/bin/env bash
-mv .lfsconfig .lfsconfig.bak
-mv .lfsconfig-comma .lfsconfig
-git lfs fetch --all; git lfs pull
-mv .lfsconfig .lfsconfig-comma
-mv .lfsconfig.bak .lfsconfig
-git lfs fetch --all; git lfs push --all origin
+# How to use: run from the root of the openpilot repository with the following command: ./release/ci/sync-lfs.sh
+
+# Set variables
+export their_repo="https://github.com/commaai/openpilot.git"
+export their_branch="master"
+export current_branch=$(git rev-parse --abbrev-ref HEAD)
+export our_lfs_url=${LFS_URL:-"https://gitlab.com/sunnypilot/public/sunnypilot-lfs.git/info/lfs"}
+export our_lfs_push_url=${LFS_PUSH_URL:-"ssh://git@gitlab.com/sunnypilot/public/sunnypilot-lfs.git"}
+
+echo "Syncing LFS objects from $their_repo:$their_branch to $our_lfs_url"
+echo "Pushing LFS objects to $our_lfs_push_url"
+
+# Function to reset to the current branch and perform a hard reset
+function reset_hard {
+    exit_status=$?
+    echo "Resetting to the current branch and performing a hard reset..."
+    git reset --hard
+    git switch $current_branch
+    exit $exit_status
+}
+
+# Set trap to ensure reset on exit
+trap reset_hard SIGINT SIGTERM EXIT
+
+# Add remote if it does not exist
+git remote add comma $their_repo 2>/dev/null || echo "Remote 'comma' already exists."
+
+# Fetch the specified branch from the remote
+git fetch comma $their_branch
+
+# Clean up old branch if it exists
+git branch -D ${their_branch}-upstream 2>/dev/null || echo "No old branch to clean up."
+
+# Checkout new branch based on the upstream branch
+git checkout -b ${their_branch}-upstream comma/$their_branch
+
+# Write the .lfsconfig directly
+cat <<EOL > .lfsconfig
+[lfs]
+    url = $our_lfs_url
+    pushurl = $our_lfs_push_url
+    locksverify = false
+EOL
+
+# Fetch all LFS objects and push them to the specified pushurl
+git lfs fetch --all
+git lfs push --all $our_lfs_push_url
+git restore .lfsconfig
+
+# Switch back to the current branch (handled by trap)

selfdrive/controls/radard.py

@@ -255,8 +255,8 @@ class RadarD:
     self.radar_state.radarErrors = list(radar_errors)
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
-    if len(sm['modelV2'].velocity.x):
-      model_v_ego = sm['modelV2'].velocity.x[0]
+    if len(sm['modelV2'].temporalPose.trans):
+      model_v_ego = sm['modelV2'].temporalPose.trans[0]
     else:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3

selfdrive/modeld/constants.py

@@ -76,14 +76,13 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
   # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)

selfdrive/modeld/custom_model_metadata.py

@@ -1,10 +1,9 @@
 from enum import IntFlag
-import os, sys
+import os
 
 from cereal import custom
 from openpilot.common.params import Params
 
-DRIVING_MODEL_SELECTOR_VERSION = 6
 SIMULATION = "SIMULATION" in os.environ
 
 ModelGeneration = custom.ModelGeneration
@@ -34,10 +33,6 @@ class ModelCapabilities(IntFlag):
   In V2, 'prev_desired_curv' (no plural) is used as the input for the same 'desired_curvature' output.
   """
 
-  PlanVelocity = 2 ** 5
-
-  ModelOutputSlicesV1 = 2 ** 6
-
 
 class CustomModelMetadata:
   def __init__(self, params=None, init_only=False) -> None:
@@ -50,19 +45,13 @@ class CustomModelMetadata:
     self.capabilities: ModelCapabilities = self.get_model_capabilities()
     self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \
                        self.capabilities != ModelCapabilities.Default
-    self.initialized = False
 
   def read_model_generation_param(self) -> ModelGeneration:
     return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
 
   def get_model_capabilities(self) -> ModelCapabilities:
     """Returns the model capabilities for a given generation."""
-    if self.generation == ModelGeneration.seven:
-      return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.PlanVelocity | \
-             ModelCapabilities.ModelOutputSlicesV1
-    elif self.generation == ModelGeneration.six:
-      return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.PlanVelocity
-    elif self.generation == ModelGeneration.five:
+    if self.generation == ModelGeneration.five:
       return ModelCapabilities.DesiredCurvatureV2
     elif self.generation == ModelGeneration.four:
       return ModelCapabilities.DesiredCurvatureV2
@@ -75,29 +64,3 @@ class CustomModelMetadata:
     else:
       # Default model is meant to represent the capabilities of the prebuilt model
       return ModelCapabilities.Default
-
-  def custom_meta(self):
-    if not self.initialized:
-      if self.capabilities & ModelCapabilities.ModelOutputSlicesV1:
-        class Meta:
-          ENGAGED = slice(0, 1)
-          # next 2, 4, 6, 8, 10 seconds
-          GAS_DISENGAGE = slice(1, 41, 8)
-          BRAKE_DISENGAGE = slice(2, 41, 8)
-          STEER_OVERRIDE = slice(3, 41, 8)
-          HARD_BRAKE_3 = slice(4, 41, 8)
-          HARD_BRAKE_4 = slice(5, 41, 8)
-          HARD_BRAKE_5 = slice(6, 41, 8)
-          GAS_PRESS = slice(7, 41, 8)
-          BRAKE_PRESS = slice(8, 41, 8)
-          # next 0, 2, 4, 6, 8, 10 seconds
-          LEFT_BLINKER = slice(41, 53, 2)
-          RIGHT_BLINKER = slice(42, 53, 2)
-
-        module = 'openpilot.selfdrive.modeld.constants'
-        if module in sys.modules:
-          sys.modules[module].Meta = Meta
-        else:
-          raise ImportError(f"The module '{module}' is not imported yet or does not exist.")
-
-      self.initialized = True

selfdrive/modeld/dmonitoringmodeld.py

@@ -14,7 +14,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
-from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
 
 CALIB_LEN = 3
 REG_SCALE = 0.25
@@ -88,15 +88,15 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
   msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
   msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
   msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
-  msg.faceProb = float(sigmoid(ds_result.face_prob))
-  msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
-  msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
-  msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
-  msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
-  msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
-  msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
-  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
-  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
+  msg.faceProb = sigmoid(ds_result.face_prob)
+  msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
+  msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
+  msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
+  msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
+  msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
+  msg.occludedProb = sigmoid(ds_result.occluded_prob)
+  msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
+  msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
 
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
   model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
@@ -105,8 +105,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:
   ds.frameId = frame_id
   ds.modelExecutionTime = execution_time
   ds.dspExecutionTime = dsp_execution_time
-  ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
-  ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
+  ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
+  ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
   ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
   fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
   fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)

selfdrive/modeld/fill_model_msg.py

@@ -3,7 +3,7 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities
+from openpilot.selfdrive.modeld.custom_model_metadata import ModelCapabilities
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -55,8 +55,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
                    nav_enabled: bool, valid: bool,
-                   custom_model: CustomModelMetadata) -> None:
-  custom_model.custom_meta()
+                   custom_model_valid: bool, custom_model_capabilities: ModelCapabilities) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
@@ -67,10 +66,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  model_use_lateral_planner = custom_model.valid and custom_model.capabilities & ModelCapabilities.LateralPlannerSolution
+  model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution
   if not model_use_lateral_planner:
     action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
@@ -80,7 +78,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.frameAge = frame_age
   modelV2.frameDropPerc = frame_drop_perc
   modelV2.timestampEof = timestamp_eof
-  model_use_nav = custom_model.valid and custom_model.capabilities & ModelCapabilities.NoO
+  model_use_nav = custom_model_valid and custom_model_capabilities & ModelCapabilities.NoO
   if model_use_nav:
     modelV2.locationMonoTimeDEPRECATED = timestamp_llk
   modelV2.modelExecutionTime = model_execution_time
@@ -174,8 +172,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
@@ -187,22 +183,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  if custom_model.valid:
-    if custom_model.capabilities & ModelCapabilities.PlanVelocity:
-      temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-      temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-      temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-      temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-    else:
-      temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
-      temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
-      temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
-      temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
-  else:
-    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+  temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
+  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
+  temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
+  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
 
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:

selfdrive/modeld/modeld.py

@@ -377,7 +377,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen,
-                     custom_model_metadata)
+                     custom_model_metadata.valid, custom_model_metadata.capabilities)
 
       if not (custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution):
         desire_state = modelv2_send.modelV2.meta.desireState

selfdrive/modeld/models/commonmodel.cc

@@ -47,4 +47,8 @@ ModelFrame::~ModelFrame() {
   CL_CHECK(clReleaseMemObject(u_cl));
   CL_CHECK(clReleaseMemObject(y_cl));
   CL_CHECK(clReleaseCommandQueue(q));
-}
+}
+
+float sigmoid(float input) {
+  return 1 / (1 + expf(-input));
+}

selfdrive/modeld/models/commonmodel.h

@@ -16,6 +16,8 @@
 #include "selfdrive/modeld/transforms/loadyuv.h"
 #include "selfdrive/modeld/transforms/transform.h"
 
+float sigmoid(float input);
+
 class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);

selfdrive/modeld/models/commonmodel.pxd

@@ -12,6 +12,8 @@ cdef extern from "common/clutil.h":
   cl_context cl_create_context(cl_device_id)
 
 cdef extern from "selfdrive/modeld/models/commonmodel.h":
+  float sigmoid(float)
+
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -8,8 +8,10 @@ from libc.string cimport memcpy
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
 
+def sigmoid(x):
+  return cppSigmoid(x)
 
 cdef class CLContext(BaseCLContext):
   def __cinit__(self):

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0dab94dc94db5e372f56d26f9dda98bd31fd76e4c16027da611132263848d0c1
-size 62486347
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312

selfdrive/modeld/parse_model_outputs.py

@@ -1,19 +1,15 @@
 import numpy as np
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
-def safe_exp(x, out=None):
-  # -11 is around 10**14, more causes float16 overflow
-  return np.exp(np.clip(x, -np.inf, 11), out=out)
-
 def sigmoid(x):
-  return 1. / (1. + safe_exp(-x))
+  return 1. / (1. + np.exp(-x))
 
 def softmax(x, axis=-1):
   x -= np.max(x, axis=axis, keepdims=True)
   if x.dtype == np.float32 or x.dtype == np.float64:
-    safe_exp(x, out=x)
+    np.exp(x, out=x)
   else:
-    x = safe_exp(x)
+    x = np.exp(x)
   x /= np.sum(x, axis=axis, keepdims=True)
   return x
 
@@ -48,7 +44,7 @@ class Parser:
 
     n_values = (raw.shape[2] - out_N)//2
     pred_mu = raw[:,:,:n_values]
-    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+    pred_std = np.exp(raw[:,:,n_values: 2*n_values])
 
     if in_N > 1:
       weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
@@ -91,8 +87,7 @@ class Parser:
     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_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('sim_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('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))

selfdrive/modeld/runners/onnxmodel.py

@@ -14,12 +14,8 @@ def attributeproto_fp16_to_fp32(attr):
   attr.data_type = 1
   attr.raw_data = float32_list.astype(np.float32).tobytes()
 
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
+def convert_fp16_to_fp32(path):
+  model = onnx.load(path)
   for i in model.graph.initializer:
     if i.data_type == 10:
       attributeproto_fp16_to_fp32(i)
@@ -27,8 +23,6 @@ def convert_fp16_to_fp32(onnx_path_or_bytes):
     if i.type.tensor_type.elem_type == 10:
       i.type.tensor_type.elem_type = 1
   for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
     for a in i.attribute:
       if hasattr(a, 't'):
         if a.t.data_type == 10:

selfdrive/test/process_replay/model_replay.py

@@ -130,7 +130,6 @@ if __name__ == "__main__":
       ignore = [
         'logMonoTime',
         'drivingModelData.frameDropPerc',
-        'drivingModelData.modelExecutionTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-9d4d653d8cc361fe2ba53f74fd8fcfe1f1d559ed
+01e8432830805165527d1dbadd5f009d19430b39

selfdrive/test/process_replay/process_replay.py

@@ -566,7 +566,7 @@ CONFIGS = [
     proc_name="modeld",
     pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
-    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
+    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,

selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc

@@ -177,18 +177,5 @@ std::vector<Model> ModelsFetcher::getModelsFromURL(const QString&url) {
 }
 
 std::vector<Model> ModelsFetcher::getModelsFromURL() {
-  return getModelsFromURL("https://docs.sunnypilot.ai/driving_models.json");
-}
-
-std::vector<Model> ModelsFetcher::getCompatibleModels(const QString &selector_version) {
-  std::vector<Model> allModels = getModelsFromURL();
-  std::vector<Model> compatibleModels;
-
-  for (const auto &model : allModels) {
-    if (model.isCompatible(selector_version)) {
-      compatibleModels.push_back(model);
-    }
-  }
-
-  return compatibleModels;
+  return getModelsFromURL("https://docs.sunnypilot.ai/models_v5.json");
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h

@@ -34,7 +34,6 @@ Last updated: July 29, 2024
 #include <QDir>
 #include <QJsonObject>
 #include <QTimer>
-#include <QVersionNumber>
 
 #include "common/swaglog.h"
 #include "common/util.h"
@@ -87,8 +86,6 @@ public:
     index = json["index"].toString();
     environment = json["environment"].toString();
     generation = json["generation"].toString();
-
-    minDrivingModelSelectorVersion = json["minimum_selector_version"].toString();
   }
 
   // Method to convert model back to QJsonObject, if needed
@@ -120,9 +117,6 @@ public:
     json["index"] = index;
     json["environment"] = environment;
     json["generation"] = generation;
-
-    json["minimum_selector_version"] = minDrivingModelSelectorVersion;
-
     return json;
   }
 
@@ -140,13 +134,6 @@ public:
   QString index;
   QString environment;
   QString generation;
-
-  QString minDrivingModelSelectorVersion;
-
-  bool isCompatible(const QString &selector_version) const {
-    return QVersionNumber::fromString(selector_version) >=
-           QVersionNumber::fromString(minDrivingModelSelectorVersion);
-  }
 };
 
 class ModelsFetcher : public QObject {
@@ -158,7 +145,6 @@ public:
   static std::vector<Model> getModelsFromURL(const QUrl&url);
   static std::vector<Model> getModelsFromURL(const QString&url);
   static std::vector<Model> getModelsFromURL();
-  static std::vector<Model> getCompatibleModels(const QString &selector_version);
 
 signals:
   void downloadProgress(double percentage);

selfdrive/ui/sunnypilot/qt/offroad/settings/software_settings.cc

@@ -210,13 +210,12 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
   checkNetwork();
   const auto currentModelName = QString::fromStdString(params.get("DrivingModelName"));
   const bool is_release_sp = params.getBool("IsReleaseSPBranch");
-  const QString selector_version = QString::fromStdString(params.get("DrivingModelSelectorVersion"));
-  const auto compatible_models = ModelsFetcher::getCompatibleModels(selector_version);
+  const auto models = ModelsFetcher::getModelsFromURL();
 
   QMap<QString, QString> index_to_model;
 
   // Collecting indices with display names
-  for (const auto &model : compatible_models) {
+  for (const auto &model : models) {
     if ((is_release_sp && model.environment == "release") || !is_release_sp) {
       index_to_model.insert(model.index, model.displayName);
     }
@@ -244,7 +243,7 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
   }
 
   // Finding and setting the selected model
-  for (auto &model : compatible_models) {
+  for (auto &model : models) {
     if (model.displayName == selectedModelName) {
       selectedModelToDownload = model;
       selectedNavModelToDownload = model;

system/manager/manager.py

@@ -11,7 +11,6 @@ import openpilot.system.sentry as sentry
 from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
-from openpilot.selfdrive.modeld.custom_model_metadata import DRIVING_MODEL_SELECTOR_VERSION
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.mapd_installer import VERSION
@@ -65,7 +64,6 @@ def manager_init() -> None:
     ("DisableOnroadUploads", "0"),
     ("DisengageLateralOnBrake", "0"),
     ("DrivingModelGeneration", "0"),
-    ("DrivingModelSelectorVersion", str(DRIVING_MODEL_SELECTOR_VERSION)),
     ("DynamicLaneProfile", "1"),
     ("DynamicPersonality", "0"),
     ("EnableMads", "1"),