renaming file just in case

.github/PULL_REQUEST_TEMPLATE/sourcery_ai.md

@@ -0,0 +1,15 @@
+---
+name: Sourcery AI assistant
+about: For enhancing your PR
+title: '@sourcery-ai'
+labels: ''
+assignees: ''
+---
+
+**Tips and suggestions**
+
+* Trigger a new review: Comment @sourcery-ai review on the pull request.
+* Continue discussions: Reply directly to Sourcery's review comments.
+* Generate a GitHub issue from a review comment: Ask Sourcery to create an issue from a review comment by replying to it.
+* Generate a pull request title: Write @sourcery-ai anywhere in the pull request title to generate a title at any time.
+* Generate a pull request summary: Write @sourcery-ai summary anywhere in the pull request body to generate a PR summary at any time. You can also use this command to specify where the summary should be inserted.

selfdrive/modeld/modeld.py

@@ -1,13 +1,21 @@
 #!/usr/bin/env python3
+import os
 from openpilot.system.hardware import TICI
 
-from openpilot.selfdrive.modeld.runners.model_runner import ONNXRunner, TinygradRunner
-
 #
+if TICI:
+  from tinygrad.tensor import Tensor
+  from tinygrad.dtype import dtypes
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
 import time
+import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
+from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -25,8 +33,13 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
 
+PROCESS_NAME = "selfdrive.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
 class FrameMeta:
   frame_id: int = 0
@@ -56,12 +69,27 @@ class ModelState:
       'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
-    # Initialize model runner
-    self.model_runner = TinygradRunner() if TICI else ONNXRunner(self.frames)
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes =  model_metadata['input_shapes']
+
+    self.output_slices = model_metadata['output_slices']
+    net_output_size = model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
+    if TICI:
+      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+      with open(MODEL_PKL_PATH, "rb") as f:
+        self.model_run = pickle.load(f)
+    else:
+      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_model_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_model_outputs
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -78,15 +106,24 @@ class ModelState:
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs)
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      for key in imgs_cl:
+        if key not in self.tensor_inputs:
+          self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
+    else:
+      for key in imgs_cl:
+        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
 
     if prepare_only:
       return None
 
-    # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+    if TICI:
+      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    else:
+      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
     self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
@@ -153,6 +190,7 @@ def main(demo=False):
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
 
+
   if demo:
     CP = get_demo_car_params()
   else:

selfdrive/modeld/runners/model_runner.py

@@ -1,92 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-
-#
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
-import pickle
-import numpy as np
-from pathlib import Path
-from abc import ABC, abstractmethod
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATH = Path(__file__).parent / '../models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / '../models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
-
-class ModelRunner(ABC):
-  """Abstract base class for model runners that defines the interface for running ML models."""
-
-  def __init__(self):
-    """Initialize the model runner with paths to model and metadata files."""
-    with open(METADATA_PATH, 'rb') as f:
-      self.model_metadata = pickle.load(f)
-    self.input_shapes = self.model_metadata['input_shapes']
-    self.output_slices = self.model_metadata['output_slices']
-    self.inputs: dict = {}
-
-  @abstractmethod
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray])-> dict:
-    """Prepare inputs for model inference."""
-
-  @abstractmethod
-  def run_model(self):
-    """Run model inference with prepared inputs."""
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
-    """Slice model outputs according to metadata configuration."""
-    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_outputs
-
-
-class TinygradRunner(ModelRunner):
-  """Tinygrad implementation of model runner for TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-    # Load Tinygrad model
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
-    # Initialize image tensors if not already done
-    for key in imgs_cl:
-      if key not in self.inputs:
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
-
-    # Update numpy inputs
-    for k, v in numpy_inputs.items():
-      if k not in self.inputs:
-        self.inputs[k] = Tensor(v, device='NPY').realize()
-
-    return self.inputs
-
-  def run_model(self):
-    return self.model_run(**self.inputs).numpy().flatten()
-
-
-class ONNXRunner(ModelRunner):
-  """ONNX implementation of model runner for non-TICI hardware."""
-
-  def __init__(self, frames: dict[str, DrivingModelFrame]):
-    super().__init__()
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-    self.frames = frames
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
-    self.inputs = numpy_inputs.copy()
-    for key in imgs_cl:
-      self.inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-    return self.inputs
-
-  def run_model(self):
-    return self.runner.run(None, self.inputs)[0].flatten()