mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-17 22:43:45 +08:00
Compare commits
29 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
e08eafefbe | ||
|
Jason Wen
|
0b1ed0d047 | ||
|
Jason Wen
|
9fb45b315a | ||
|
James Vecellio-Grant
|
94a32493e3 | ||
|
commaci-public
|
053d9c4468 | ||
|
Adeeb Shihadeh
|
85d364d4de | ||
|
Adeeb Shihadeh
|
dfbe0ee7c1 | ||
|
Adeeb Shihadeh
|
03e6c81821 | ||
|
Adeeb Shihadeh
|
047be14df9 | ||
|
stef
|
351701689f | ||
|
Adeeb Shihadeh
|
ec86732af8 | ||
|
Adeeb Shihadeh
|
0f40ca1d88 | ||
|
Adeeb Shihadeh
|
97542f838f | ||
|
stef
|
dcbd66ad81 | ||
|
Adeeb Shihadeh
|
391132465d | ||
|
Adeeb Shihadeh
|
a996f8ef90 | ||
|
Adeeb Shihadeh
|
6ad3532113 | ||
|
Adeeb Shihadeh
|
48b7f171a7 | ||
|
Adeeb Shihadeh
|
5e3d17c72c | ||
|
Adeeb Shihadeh
|
fb555fdefd | ||
|
Adeeb Shihadeh
|
28560d6cf1 | ||
|
Adeeb Shihadeh
|
748c725e3e | ||
|
Adeeb Shihadeh
|
3447ec1789 | ||
|
Adeeb Shihadeh
|
76b69af59a | ||
|
Adeeb Shihadeh
|
d9c4120f89 | ||
|
stef
|
df4566ef2f | ||
|
Toby Penner
|
516ec1e682 | ||
|
Adeeb Shihadeh
|
c988e78893 | ||
|
Shane Smiskol
|
bdc8e4b02c |
@@ -7,6 +7,19 @@ on:
|
||||
description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
|
||||
required: true
|
||||
type: string
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for (qcom or usbgpu)'
|
||||
required: true
|
||||
type: choice
|
||||
default: 'qcom'
|
||||
options:
|
||||
- qcom
|
||||
- usbgpu
|
||||
hf_repo:
|
||||
description: 'Hugging Face dataset repository'
|
||||
required: false
|
||||
type: string
|
||||
default: 'sunnypilot/sunnypilot_models_v1'
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
@@ -46,13 +59,14 @@ jobs:
|
||||
id: get-json
|
||||
run: |
|
||||
cd docs/docs
|
||||
latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
|
||||
PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
|
||||
latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
|
||||
next=$((latest+1))
|
||||
json_file="driving_models_v${next}.json"
|
||||
cp "driving_models_v${latest}.json" "$json_file"
|
||||
json_file="${PREFIX}${next}.json"
|
||||
cp "${PREFIX}${latest}.json" "$json_file"
|
||||
echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
|
||||
echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
|
||||
echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
|
||||
echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
|
||||
|
||||
- name: Extract tinygrad models
|
||||
id: set-matrix
|
||||
@@ -61,45 +75,23 @@ jobs:
|
||||
jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
|
||||
echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
- run: |
|
||||
mkdir -p ~/.ssh
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Clone GitLab docs repo and create new recompiled dir
|
||||
- name: Get next recompiled dir number
|
||||
id: create-recompiled-dir
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
HF_REPO: ${{ github.event.inputs.hf_repo }}
|
||||
run: |
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git sparse-checkout set --no-cone models/
|
||||
cd models
|
||||
latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
|
||||
if [[ -z "$latest_dir" ]]; then
|
||||
next_dir=1
|
||||
else
|
||||
next_dir=$((latest_dir+1))
|
||||
fi
|
||||
recompiled_dir="${next_dir}"
|
||||
mkdir -p "recompiled${recompiled_dir}"
|
||||
touch "recompiled${recompiled_dir}/.gitkeep"
|
||||
cd ../..
|
||||
pip install huggingface_hub
|
||||
recompiled_dir=$(python3 -c "
|
||||
from huggingface_hub import HfApi
|
||||
import re, sys
|
||||
api = HfApi()
|
||||
files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
|
||||
dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
|
||||
nums = [int(m.group(1)) for m in dirs if m]
|
||||
print(max(nums) + 1)
|
||||
" "$HF_REPO")
|
||||
echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Push empty recompiled dir to GitLab
|
||||
run: |
|
||||
cd gitlab_docs
|
||||
git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
|
||||
git push origin main
|
||||
|
||||
- name: Push new JSON to GitHub docs repo
|
||||
run: |
|
||||
cd docs
|
||||
@@ -123,25 +115,30 @@ jobs:
|
||||
is_20hz: ${{ matrix.model.is_20hz }}
|
||||
recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
|
||||
json_version: ${{ needs.setup.outputs.json_version }}
|
||||
target_hardware: ${{ github.event.inputs.target_hardware }}
|
||||
hf_repo: ${{ github.event.inputs.hf_repo }}
|
||||
set_min_version: ${{ github.event.inputs.set_min_version }}
|
||||
tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
|
||||
secrets: inherit
|
||||
|
||||
retry_failed_models:
|
||||
needs: [setup, get_and_build]
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ needs.setup.result != 'failure' && !cancelled() }}
|
||||
if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
|
||||
outputs:
|
||||
retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
|
||||
steps:
|
||||
- uses: actions/download-artifact@v4
|
||||
with:
|
||||
pattern: model-*
|
||||
pattern: artifact-name-*
|
||||
path: output
|
||||
continue-on-error: true
|
||||
|
||||
- id: set-retry-matrix
|
||||
run: |
|
||||
echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
|
||||
built=(); while IFS= read -r line; do built+=("$line"); done < <(
|
||||
find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
|
||||
built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
|
||||
find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
|
||||
)
|
||||
jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
|
||||
'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
|
||||
@@ -149,7 +146,7 @@ jobs:
|
||||
|
||||
retry_get_and_build:
|
||||
needs: [setup, get_and_build, retry_failed_models]
|
||||
if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
|
||||
if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
|
||||
strategy:
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
|
||||
@@ -161,146 +158,9 @@ jobs:
|
||||
is_20hz: ${{ matrix.model.is_20hz }}
|
||||
recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
|
||||
json_version: ${{ needs.setup.outputs.json_version }}
|
||||
target_hardware: ${{ github.event.inputs.target_hardware }}
|
||||
artifact_suffix: -retry
|
||||
hf_repo: ${{ github.event.inputs.hf_repo }}
|
||||
set_min_version: ${{ github.event.inputs.set_min_version }}
|
||||
tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
|
||||
secrets: inherit
|
||||
|
||||
publish_models:
|
||||
name: Publish models sequentially
|
||||
needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
|
||||
if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
|
||||
runs-on: ubuntu-latest
|
||||
strategy:
|
||||
fail-fast: false
|
||||
max-parallel: 1
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
|
||||
env:
|
||||
RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
|
||||
JSON_FILE: ${{ needs.setup.outputs.json_file }}
|
||||
ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
|
||||
steps:
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab.com SSH key to known_hosts
|
||||
run: |
|
||||
mkdir -p ~/.ssh
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Clone GitLab docs repo
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
echo "Cloning GitLab"
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
|
||||
cd gitlab_docs
|
||||
echo "checkout models/${RECOMPILED_DIR}"
|
||||
git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
|
||||
git checkout main
|
||||
cd ..
|
||||
|
||||
- name: Checkout docs repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot-models
|
||||
ref: gh-pages
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Validate recompiled dir and JSON version
|
||||
run: |
|
||||
if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
|
||||
echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
|
||||
exit 1
|
||||
fi
|
||||
if [ ! -f "$JSON_FILE" ]; then
|
||||
echo "JSON file $JSON_FILE does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
- name: Download artifact name file
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
|
||||
path: artifact_name
|
||||
|
||||
- name: Read artifact name
|
||||
id: read-artifact-name
|
||||
run: |
|
||||
ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
|
||||
echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Download model artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
path: output
|
||||
|
||||
- name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
|
||||
run: |
|
||||
find output -type f -name '*.onnx' -delete
|
||||
find output -type f -name 'big_*.pkl' -delete
|
||||
find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
|
||||
|
||||
- name: Copy model artifacts to gitlab
|
||||
env:
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
mkdir -p "$ARTIFACT_DIR"
|
||||
for path in output/*; do
|
||||
if [ "$(basename "$path")" = "artifact_name.txt" ]; then
|
||||
continue
|
||||
fi
|
||||
name="$(basename "$path")"
|
||||
if [ -d "$path" ]; then
|
||||
mkdir -p "$ARTIFACT_DIR/$name"
|
||||
cp -r "$path"/* "$ARTIFACT_DIR/$name/"
|
||||
echo "Copied dir $name -> $ARTIFACT_DIR/$name"
|
||||
else
|
||||
cp "$path" "$ARTIFACT_DIR/"
|
||||
echo "Copied file $name -> $ARTIFACT_DIR/"
|
||||
fi
|
||||
done
|
||||
|
||||
- name: Push recompiled dir to GitLab
|
||||
env:
|
||||
GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
run: |
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git pull origin main
|
||||
for d in models/"$RECOMPILED_DIR"/*/; do
|
||||
git sparse-checkout add "$d"
|
||||
done
|
||||
git add models/"$RECOMPILED_DIR"
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
|
||||
git push origin main
|
||||
- run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
|
||||
- name: update json
|
||||
run: |
|
||||
ARGS=""
|
||||
[ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
|
||||
ARGS="$ARGS --sort-by-date"
|
||||
ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
|
||||
eval python3 docs/json_parser.py \
|
||||
--json-path "$JSON_FILE" \
|
||||
--recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
|
||||
$ARGS
|
||||
|
||||
- name: Push updated json to GitHub
|
||||
run: |
|
||||
cd docs
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git checkout gh-pages
|
||||
git add docs/"$(basename $JSON_FILE)"
|
||||
git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
|
||||
git push origin gh-pages
|
||||
|
||||
@@ -29,11 +29,24 @@ on:
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
bypass_push:
|
||||
description: 'Bypass pushing to GitLab for build-all'
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for (qcom or usbgpu)'
|
||||
required: false
|
||||
default: true
|
||||
type: boolean
|
||||
type: string
|
||||
default: 'qcom'
|
||||
hf_repo:
|
||||
description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
|
||||
required: false
|
||||
type: string
|
||||
default: 'sunnypilot/sunnypilot_models_v1'
|
||||
set_min_version:
|
||||
description: 'Minimum selector version'
|
||||
required: false
|
||||
type: string
|
||||
tinygrad_ref:
|
||||
description: 'Tinygrad reference'
|
||||
required: false
|
||||
type: string
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
@@ -65,8 +78,8 @@ on:
|
||||
- None
|
||||
- Master Models
|
||||
- Release Models
|
||||
- 2025 World Models
|
||||
- 2026 World Models
|
||||
- 2026 Deep RL Models
|
||||
- Custom Merge Models
|
||||
- Other
|
||||
custom_model_folder:
|
||||
@@ -81,9 +94,22 @@ on:
|
||||
description: 'Minimum selector version'
|
||||
required: false
|
||||
type: string
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for'
|
||||
required: false
|
||||
type: choice
|
||||
default: 'qcom'
|
||||
options:
|
||||
- qcom
|
||||
- usbgpu
|
||||
hf_repo:
|
||||
description: 'Hugging Face dataset repository'
|
||||
required: false
|
||||
type: string
|
||||
default: 'sunnypilot/sunnypilot_models_v1'
|
||||
env:
|
||||
RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
|
||||
JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
|
||||
JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json
|
||||
|
||||
jobs:
|
||||
build_model:
|
||||
@@ -93,38 +119,20 @@ jobs:
|
||||
custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
|
||||
is_20hz: ${{ inputs.is_20hz }}
|
||||
artifact_suffix: ${{ inputs.artifact_suffix }}
|
||||
target_hardware: ${{ inputs.target_hardware }}
|
||||
secrets: inherit
|
||||
|
||||
publish_model:
|
||||
if: ${{ !inputs.bypass_push && !cancelled() }}
|
||||
if: ${{ !cancelled() && needs.build_model.result == 'success' }}
|
||||
concurrency:
|
||||
group: gitlab-push-${{ inputs.recompiled_dir }}
|
||||
group: hf-push-${{ inputs.recompiled_dir }}
|
||||
cancel-in-progress: false
|
||||
needs: build_model
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
id-token: write
|
||||
contents: write
|
||||
steps:
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab.com SSH key to known_hosts
|
||||
run: |
|
||||
mkdir -p ~/.ssh
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Clone GitLab docs repo
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
echo "Cloning GitLab"
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
|
||||
cd gitlab_docs
|
||||
echo "checkout models/${RECOMPILED_DIR}"
|
||||
git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
|
||||
git checkout main
|
||||
cd ..
|
||||
|
||||
- name: Checkout docs repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -133,16 +141,28 @@ jobs:
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Validate recompiled dir and JSON version
|
||||
- name: Install huggingface_hub
|
||||
run: pip install --upgrade "huggingface_hub>=0.22.0"
|
||||
|
||||
- name: Validate hf_repo and JSON version
|
||||
env:
|
||||
HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
|
||||
run: |
|
||||
if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
|
||||
echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
|
||||
exit 1
|
||||
fi
|
||||
if [ ! -f "$JSON_FILE" ]; then
|
||||
echo "JSON file $JSON_FILE does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
python3 -c "
|
||||
import sys
|
||||
from huggingface_hub import HfApi
|
||||
try:
|
||||
api = HfApi()
|
||||
api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
|
||||
print(f'Success: Repo {sys.argv[1]} exists.')
|
||||
except Exception as e:
|
||||
print('HF validation failed:', e)
|
||||
sys.exit(1)
|
||||
" "${{ inputs.hf_repo }}"
|
||||
|
||||
- name: Download artifact name file
|
||||
uses: actions/download-artifact@v4
|
||||
@@ -162,49 +182,26 @@ jobs:
|
||||
name: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
path: output
|
||||
|
||||
- name: Remove unwanted files
|
||||
run: |
|
||||
find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
|
||||
find output -type f -name 'dmonitoring_model.onnx' -delete
|
||||
|
||||
- name: Copy model artifact(s) to GitLab recompiled dir
|
||||
- name: Create models folder
|
||||
env:
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
mkdir -p "$ARTIFACT_DIR"
|
||||
for path in output/*; do
|
||||
if [ "$(basename "$path")" = "artifact_name.txt" ]; then
|
||||
continue
|
||||
fi
|
||||
name="$(basename "$path")"
|
||||
if [ -d "$path" ]; then
|
||||
mkdir -p "$ARTIFACT_DIR/$name"
|
||||
cp -r "$path"/* "$ARTIFACT_DIR/$name/"
|
||||
echo "Copied dir $name -> $ARTIFACT_DIR/$name"
|
||||
else
|
||||
cp "$path" "$ARTIFACT_DIR/"
|
||||
echo "Copied file $name -> $ARTIFACT_DIR/"
|
||||
fi
|
||||
done
|
||||
mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
|
||||
rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
|
||||
|
||||
- name: Push recompiled dir to GitLab
|
||||
- name: Upload to Hugging Face
|
||||
env:
|
||||
GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
|
||||
HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git pull origin main
|
||||
for d in models/"$RECOMPILED_DIR"/*/; do
|
||||
git sparse-checkout add "$d"
|
||||
done
|
||||
git add models/"$RECOMPILED_DIR"
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
|
||||
git push origin main
|
||||
hf upload ${{ inputs.hf_repo }} \
|
||||
output/ \
|
||||
"models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
|
||||
--repo-type=dataset
|
||||
|
||||
- run: |
|
||||
- name: Pull gh-pages
|
||||
run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
|
||||
@@ -220,9 +217,11 @@ jobs:
|
||||
fi
|
||||
[ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
|
||||
[ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
|
||||
[ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
|
||||
[ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
|
||||
eval python3 docs/json_parser.py \
|
||||
--json-path "$JSON_FILE" \
|
||||
--recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
|
||||
--recompiled-dir "local_models/$RECOMPILED_DIR" \
|
||||
--sort-by-date \
|
||||
$ARGS
|
||||
|
||||
|
||||
@@ -80,6 +80,7 @@ jobs:
|
||||
with:
|
||||
repository: commaai/openpilot
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
path: openpilot
|
||||
|
||||
@@ -89,18 +90,25 @@ jobs:
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
path: openpilot
|
||||
- name: Get commit date
|
||||
id: commit-date
|
||||
run: |
|
||||
cd ${{ github.workspace }}/openpilot
|
||||
cd ${{ github.workspace }}/openpilot/openpilot
|
||||
commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
|
||||
echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
|
||||
cat $GITHUB_OUTPUT
|
||||
- run: |
|
||||
cd ${{ github.workspace }}/openpilot
|
||||
git lfs pull
|
||||
cd ${{ github.workspace }}/openpilot/openpilot
|
||||
if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
|
||||
git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
|
||||
rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
|
||||
else
|
||||
git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
|
||||
find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
|
||||
fi
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
@@ -116,24 +124,10 @@ jobs:
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
|
||||
- run: git lfs pull
|
||||
- name: Cache SCons
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: ${{env.SCONS_CACHE_DIR}}
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
|
||||
# Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
|
||||
# for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
|
||||
restore-keys: |
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
@@ -144,7 +138,7 @@ jobs:
|
||||
export UV_PYTHON_PREFERENCE=managed
|
||||
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
uv sync
|
||||
uv sync --frozen
|
||||
printenv >> $GITHUB_ENV
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
cat $GITHUB_OUTPUT
|
||||
@@ -173,8 +167,6 @@ jobs:
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
path: ${{ env.MODELS_DIR }}
|
||||
- run: |
|
||||
rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
|
||||
|
||||
- name: Build Model
|
||||
run: |
|
||||
@@ -191,7 +183,7 @@ jobs:
|
||||
if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
|
||||
echo "USBGPU build"
|
||||
export USBGPU=1
|
||||
TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
|
||||
TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
|
||||
OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
|
||||
else
|
||||
echo "QCOM build"
|
||||
@@ -254,10 +246,8 @@ jobs:
|
||||
# Copy the model files
|
||||
rsync -avm \
|
||||
--include='*.dlc' \
|
||||
--include='*.pkl' \
|
||||
--include='*.chunk*' \
|
||||
--include='*.chunkmanifest' \
|
||||
--include='*.onnx' \
|
||||
--exclude='*' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
|
||||
Vendored
+1
@@ -22,6 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
|
||||
|
||||
export CI=1
|
||||
export PYTHONWARNINGS=error
|
||||
export COMMA_CACHE=/data/tmp/comma_download_cache
|
||||
#export LOGPRINT=debug # this has gotten too spammy...
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
|
||||
+14
-11
@@ -4,7 +4,7 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 342 Supported Cars
|
||||
# 345 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -34,6 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
@@ -82,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
@@ -158,7 +159,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
@@ -242,20 +243,20 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -334,6 +335,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: e220434b5d...abab7a1690
@@ -15,7 +15,7 @@ public:
|
||||
|
||||
static std::string get_serial() { return "cccccc"; }
|
||||
|
||||
static std::map<std::string, std::string> get_init_logs() {
|
||||
static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
|
||||
return {};
|
||||
}
|
||||
|
||||
|
||||
@@ -59,7 +59,7 @@ public:
|
||||
std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
|
||||
}
|
||||
|
||||
static std::map<std::string, std::string> get_init_logs() {
|
||||
static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
|
||||
std::map<std::string, std::string> ret = {
|
||||
{"/BUILD", util::read_file("/BUILD")},
|
||||
{"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
|
||||
@@ -73,12 +73,14 @@ public:
|
||||
temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
|
||||
ret["boot temp"] = temp;
|
||||
|
||||
// TODO: log something from system and boot
|
||||
for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
|
||||
for (std::string slot : {"a", "b"}) {
|
||||
std::string partition = part + "_" + slot;
|
||||
std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
|
||||
ret[partition] = hash.substr(0, hash.find_first_of(" "));
|
||||
// TODO: these are too slow to do on route log inits. need to do it async?
|
||||
if (!route_log) {
|
||||
for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
|
||||
for (std::string slot : {"a", "b"}) {
|
||||
std::string partition = part + "_" + slot;
|
||||
std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
|
||||
ret[partition] = hash.substr(0, hash.find_first_of(" "));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -91,10 +91,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
{"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
@@ -186,7 +186,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"CustomButtonAction", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -196,11 +195,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
|
||||
// Model Manager params
|
||||
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
|
||||
{"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
|
||||
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
|
||||
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
|
||||
{"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},
|
||||
|
||||
// Neural Network Lateral Control
|
||||
{"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
|
||||
size 1579
|
||||
oid sha256:190e196eba6feffec125ac66cf7e77620b759e346fa69b80e3a3884a5694cb15
|
||||
size 3225
|
||||
|
||||
@@ -44,8 +44,7 @@ class LongControl:
|
||||
self.CP = CP
|
||||
self.CP_SP = CP_SP
|
||||
self.long_control_state = LongCtrlState.off
|
||||
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
|
||||
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
|
||||
self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
|
||||
rate=1 / DT_CTRL)
|
||||
self.last_output_accel = 0.0
|
||||
|
||||
|
||||
@@ -35,6 +35,7 @@ build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + c
|
||||
|
||||
# extra generated files used to trigger a rebuild
|
||||
generated_files = [
|
||||
'acados_ocp_long.json',
|
||||
f'{gen}/Makefile',
|
||||
|
||||
f'{gen}/main_long.c',
|
||||
|
||||
@@ -79,7 +79,9 @@ for usbgpu in [False, True] if USBGPU else [False]:
|
||||
file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
|
||||
driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
|
||||
camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
|
||||
cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
|
||||
# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
|
||||
taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
|
||||
cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
|
||||
f'--model-size {model_w}x{model_h} '
|
||||
f'--camera-resolutions {camera_res_args} '
|
||||
f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
|
||||
size 1753235978
|
||||
oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
|
||||
size 1757355221
|
||||
|
||||
@@ -102,7 +102,6 @@ class TestBoarddSpi(OpenpilotTestCase):
|
||||
edt = 1e3 / SERVICE_LIST[service].frequency
|
||||
assert edt*0.9 < np.mean(dts) < edt*1.1
|
||||
assert np.max(dts) < edt*8
|
||||
assert np.min(dts) < edt
|
||||
assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
|
||||
|
||||
with subtests.test(msg="CAN traffic"):
|
||||
|
||||
@@ -17,8 +17,8 @@
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to the failed reason."
|
||||
},
|
||||
"Offroad_NeosUpdate": {
|
||||
"text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
|
||||
"Offroad_ChestnutBranch": {
|
||||
"text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_UnregisteredHardware": {
|
||||
|
||||
@@ -234,7 +234,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
},
|
||||
|
||||
EventName.bigModelFailed: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"),
|
||||
ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.),
|
||||
},
|
||||
|
||||
EventName.lateralManeuver: {
|
||||
|
||||
@@ -337,7 +337,7 @@ class SelfdriveD(CruiseHelper):
|
||||
device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
|
||||
self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
|
||||
|
||||
if self.calibrated_pose is not None:
|
||||
if self.calibrated_pose is not None and not self.CP.notCar:
|
||||
excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
|
||||
if not self.excessive_actuation and excessive_actuation is not None:
|
||||
set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
|
||||
@@ -397,6 +397,9 @@ class SelfdriveD(CruiseHelper):
|
||||
# All events here should at least have NO_ENTRY and SOFT_DISABLE.
|
||||
num_events = len(self.events)
|
||||
|
||||
if self.big_model_active and big_failed:
|
||||
self.events.add(EventName.bigModelFailed)
|
||||
|
||||
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
|
||||
if self.sm.recv_frame['managerState'] and len(not_running):
|
||||
if not_running != self.not_running_prev:
|
||||
|
||||
@@ -7,7 +7,7 @@ import traceback
|
||||
from collections import defaultdict
|
||||
from tqdm import tqdm
|
||||
from typing import Any
|
||||
from opendbc.car.car_helpers import interface_names
|
||||
from opendbc.car.car_helpers import interface_names, interfaces
|
||||
from openpilot.common.git import get_commit
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
|
||||
@@ -64,7 +64,8 @@ segments = [
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "body", "psa"]
|
||||
excluded_interfaces = {brand for brand, platforms in interface_names.items()
|
||||
if all(interfaces[platform].get_non_essential_params(platform).dashcamOnly for platform in platforms)} | {"body"}
|
||||
|
||||
BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
|
||||
@@ -67,7 +67,7 @@ PROCS = {
|
||||
"openpilot.selfdrive.pandad.pandad": 0,
|
||||
"openpilot.system.loggerd.uploader": 15.0,
|
||||
"openpilot.system.loggerd.deleter": 1.0,
|
||||
"./pandad": 19.0,
|
||||
"./pandad": 40.0,
|
||||
"openpilot.system.qcomgpsd.qcomgpsd": 1.0,
|
||||
"openpilot.common.hardware.comma.modem": 10.0,
|
||||
}
|
||||
@@ -107,6 +107,10 @@ def cputime_total(ct):
|
||||
class TestOnroad(OpenpilotTestCase):
|
||||
COMMA_HARDWARE_TEST = True
|
||||
|
||||
def setUp(self):
|
||||
# Hardware setup is handled once for the full onroad test in setup_class.
|
||||
unittest.TestCase.setUp(self)
|
||||
|
||||
@classmethod
|
||||
def setup_class(cls):
|
||||
if "DEBUG" in os.environ:
|
||||
@@ -332,26 +336,34 @@ class TestOnroad(OpenpilotTestCase):
|
||||
assert np.all(eof_sof_diff < 50*1e6)
|
||||
|
||||
first_fid = {min(self.ts[c]['frameId']) for c in cams}
|
||||
assert len(first_fid) == 1, "Cameras don't start on same frame ID"
|
||||
if cam.endswith('CameraState'):
|
||||
if cams[0].endswith('CameraState'):
|
||||
# camerad guarantees that all cams start on frame ID 0
|
||||
# (note loggerd also needs to start up fast enough to catch it)
|
||||
assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
|
||||
assert min(first_fid) < 100, "Cameras start on frame ID too high"
|
||||
else:
|
||||
# encoderd synchronizes all camera encoders to the same starting frame
|
||||
assert len(first_fid) == 1, "Camera encoders don't start on same frame ID"
|
||||
|
||||
# we don't do a full segment rotation, so these might not match exactly
|
||||
last_fid = {max(self.ts[c]['frameId']) for c in cams}
|
||||
assert max(last_fid) - min(last_fid) < 10
|
||||
|
||||
start, end = min(first_fid), min(last_fid)
|
||||
for i in range(end-start):
|
||||
timestamps = {
|
||||
cam: dict(zip(self.ts[cam]['frameId'], self.ts[cam]['timestampSof'], strict=True))
|
||||
for cam in cams
|
||||
}
|
||||
common_frame_ids = set.intersection(*(set(ts) for ts in timestamps.values()))
|
||||
assert common_frame_ids, "Cameras have no overlapping frame IDs"
|
||||
|
||||
for frame_id in sorted(common_frame_ids):
|
||||
# road and wide cameras (first two) should be synced within 2ms
|
||||
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
|
||||
diff = (max(ts.values()) - min(ts.values()))
|
||||
assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
|
||||
ts = {cam: timestamps[cam][frame_id] / 1e6 for cam in cams[:2]}
|
||||
diff = max(ts.values()) - min(ts.values())
|
||||
assert diff < 2, f"Cameras not synced properly: {frame_id=}, {diff=:.1f}ms, {ts=}"
|
||||
|
||||
# cabin camera should be staggered ~25ms from road camera
|
||||
offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
|
||||
assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
|
||||
offset_ms = abs(timestamps[cams[2]][frame_id] - timestamps[cams[0]][frame_id]) / 1e6
|
||||
assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {frame_id}: {offset_ms:.1f}ms"
|
||||
|
||||
def test_camera_encoder_matches(self, subtests):
|
||||
# sanity check that the frame metadata is consistent with the encoded frames
|
||||
|
||||
@@ -3,7 +3,6 @@ from enum import IntEnum
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
|
||||
from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
|
||||
from openpilot.selfdrive.ui.layouts.home import HomeLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
|
||||
@@ -28,7 +27,6 @@ class MainLayout(Widget):
|
||||
super().__init__()
|
||||
|
||||
self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
|
||||
self._custom_button_sock = messaging.sub_sock('carState')
|
||||
|
||||
self._sidebar = Sidebar()
|
||||
self._current_mode = MainState.HOME
|
||||
@@ -42,10 +40,6 @@ class MainLayout(Widget):
|
||||
MainState.SETTINGS: SettingsLayout(),
|
||||
MainState.ONROAD: AugmentedRoadView(),
|
||||
}
|
||||
self._custom_button_callbacks = {
|
||||
CustomButtonAction.BOOKMARK: self._on_bookmark_clicked,
|
||||
CustomButtonAction.CYCLE_UI: self._cycle_ui,
|
||||
}
|
||||
|
||||
self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
|
||||
self._content_rect = rl.Rectangle(0, 0, 0, 0)
|
||||
@@ -61,7 +55,6 @@ class MainLayout(Widget):
|
||||
gui_app.push_widget(self._onboarding_window)
|
||||
|
||||
def _render(self, _):
|
||||
handle_custom_button(messaging.drain_sock(self._custom_button_sock), ui_state.params, self._custom_button_callbacks)
|
||||
self._handle_onroad_transition()
|
||||
self._render_main_content()
|
||||
|
||||
@@ -121,18 +114,6 @@ class MainLayout(Widget):
|
||||
def _on_settings_clicked(self):
|
||||
self.open_settings(PanelType.DEVICE)
|
||||
|
||||
def _show_onroad(self):
|
||||
self._set_current_layout(MainState.ONROAD)
|
||||
self._sidebar.set_visible(False)
|
||||
|
||||
def _cycle_ui(self):
|
||||
if self._current_mode == MainState.ONROAD and not self._sidebar.is_visible:
|
||||
self._sidebar.set_visible(True)
|
||||
elif self._current_mode == MainState.SETTINGS:
|
||||
self._show_onroad()
|
||||
else:
|
||||
self._on_settings_clicked()
|
||||
|
||||
def _on_bookmark_clicked(self):
|
||||
for service in ('bookmarkButton', 'userBookmark'):
|
||||
msg = messaging.new_message(service, valid=True)
|
||||
|
||||
@@ -4,7 +4,6 @@ from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
|
||||
from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
|
||||
from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
|
||||
from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
|
||||
@@ -24,7 +23,6 @@ class MiciMainLayout(Scroller):
|
||||
super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
|
||||
|
||||
self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
|
||||
self._custom_button_sock = messaging.sub_sock('carState')
|
||||
|
||||
self._prev_onroad = False
|
||||
self._prev_standstill = False
|
||||
@@ -37,10 +35,6 @@ class MiciMainLayout(Scroller):
|
||||
self._settings_layout = SettingsLayout()
|
||||
self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
|
||||
self._body_onroad_layout = BodyLayout()
|
||||
self._custom_button_callbacks = {
|
||||
CustomButtonAction.BOOKMARK: self._on_bookmark_clicked,
|
||||
CustomButtonAction.CYCLE_UI: self._cycle_ui,
|
||||
}
|
||||
|
||||
# Initialize widget rects
|
||||
for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
|
||||
@@ -101,8 +95,6 @@ class MiciMainLayout(Scroller):
|
||||
self._alerts_layout._update_state()
|
||||
|
||||
def _render(self, _):
|
||||
handle_custom_button(messaging.drain_sock(self._custom_button_sock), ui_state.params, self._custom_button_callbacks)
|
||||
|
||||
if not self._setup:
|
||||
if self._alerts_layout.active_alerts() > 0:
|
||||
self._scroller.scroll_to(self._alerts_layout.rect.x)
|
||||
@@ -158,23 +150,6 @@ class MiciMainLayout(Scroller):
|
||||
msg = messaging.new_message(service, valid=True)
|
||||
self._pm.send(service, msg)
|
||||
|
||||
def _show_layout(self, layout: Widget):
|
||||
if gui_app.widget_in_stack(self._onboarding_window):
|
||||
return
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(layout))
|
||||
|
||||
def _layout_visible(self, layout: Widget) -> bool:
|
||||
return abs(layout.rect.x - self._rect.x) < self._rect.width / 2
|
||||
|
||||
def _cycle_ui(self):
|
||||
if gui_app.widget_in_stack(self._settings_layout):
|
||||
self._show_layout(self._onroad_layout)
|
||||
elif gui_app.get_active_widget() is self and self._layout_visible(self._home_layout):
|
||||
if not gui_app.widget_in_stack(self._onboarding_window):
|
||||
gui_app.push_widget(self._settings_layout)
|
||||
else:
|
||||
self._show_layout(self._home_layout)
|
||||
|
||||
def _on_body_changed(self):
|
||||
self._car_onroad_layout.set_visible(not ui_state.is_body)
|
||||
self._body_onroad_layout.set_visible(bool(ui_state.is_body))
|
||||
|
||||
@@ -47,7 +47,7 @@ class SoftwareInfoLayoutMici(Widget):
|
||||
|
||||
self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False)
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
|
||||
|
||||
def _update_state(self):
|
||||
desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
|
||||
|
||||
@@ -132,7 +132,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
|
||||
|
||||
# 1. Never received selfdriveState since going onroad
|
||||
waiting_for_startup = recv_frame < ui_state.started_frame
|
||||
if waiting_for_startup and time_since_onroad > 5:
|
||||
if waiting_for_startup and time_since_onroad > 10:
|
||||
return ALERT_STARTUP_PENDING
|
||||
|
||||
# 2. Lost communication with selfdriveState after receiving it
|
||||
|
||||
@@ -150,8 +150,8 @@ class BigButton(Widget):
|
||||
super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
|
||||
|
||||
def _width_hint(self) -> int:
|
||||
# Single line if scrolling, so hide behind icon if exists
|
||||
icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
|
||||
# A value moves the title to the top, where it shares space with the icon.
|
||||
icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
|
||||
return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
|
||||
|
||||
def _get_label_font_size(self):
|
||||
|
||||
@@ -92,7 +92,7 @@ class AlertRenderer(Widget):
|
||||
|
||||
# 1. Never received selfdriveState since going onroad
|
||||
waiting_for_startup = recv_frame < ui_state.started_frame
|
||||
if waiting_for_startup and time_since_onroad > 5:
|
||||
if waiting_for_startup and time_since_onroad > 10:
|
||||
return ALERT_STARTUP_PENDING
|
||||
|
||||
# 2. Lost communication with selfdriveState after receiving it
|
||||
|
||||
@@ -1,19 +0,0 @@
|
||||
from enum import IntEnum
|
||||
|
||||
from opendbc.car.structs import car
|
||||
|
||||
|
||||
class CustomButtonAction(IntEnum):
|
||||
NONE = 0
|
||||
BOOKMARK = 1
|
||||
CYCLE_UI = 3
|
||||
|
||||
|
||||
def handle_custom_button(messages, params, callbacks):
|
||||
for msg in messages:
|
||||
custom_pressed = any(be.type == car.CarState.ButtonEvent.Type.altButton2 and be.pressed
|
||||
for be in msg.carState.buttonEvents)
|
||||
if custom_pressed:
|
||||
action = CustomButtonAction(params.get('CustomButtonAction', return_default=True))
|
||||
if callback := callbacks.get(action):
|
||||
callback()
|
||||
@@ -1,21 +0,0 @@
|
||||
from types import SimpleNamespace
|
||||
from unittest.mock import Mock
|
||||
|
||||
from opendbc.car.structs import car
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
|
||||
|
||||
|
||||
def test_custom_button_actions():
|
||||
params = Mock()
|
||||
press = SimpleNamespace(carState=SimpleNamespace(buttonEvents=[SimpleNamespace(
|
||||
type=car.CarState.ButtonEvent.Type.altButton2,
|
||||
pressed=True,
|
||||
)]))
|
||||
messages = [press, SimpleNamespace(carState=SimpleNamespace(buttonEvents=[])), press]
|
||||
callbacks = {action: Mock() for action in CustomButtonAction if action != CustomButtonAction.NONE}
|
||||
|
||||
for action, callback in callbacks.items():
|
||||
params.get.return_value = action
|
||||
handle_custom_button(messages, params, callbacks)
|
||||
assert callback.call_count == 2
|
||||
@@ -20,14 +20,14 @@ class TestSoundd(OpenpilotTestCase):
|
||||
sm.update(100)
|
||||
assert sm.updated['selfdriveState']
|
||||
|
||||
received_at = sm.recv_time['selfdriveState']
|
||||
clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
|
||||
sm.recv_time['selfdriveState'] = 0
|
||||
clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=SELFDRIVE_STATE_TIMEOUT)
|
||||
assert not check_selfdrive_timeout_alert(sm)
|
||||
|
||||
clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
|
||||
clock.return_value = SELFDRIVE_STATE_TIMEOUT + 0.1
|
||||
assert check_selfdrive_timeout_alert(sm)
|
||||
|
||||
clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
|
||||
clock.return_value = SELFDRIVE_STATE_TIMEOUT + 10
|
||||
assert not check_selfdrive_timeout_alert(sm)
|
||||
|
||||
def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
|
||||
|
||||
@@ -1,3 +1,2 @@
|
||||
SConscript(['common/transformations/SConscript'])
|
||||
SConscript(['modeld_v2/SConscript'])
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
|
||||
@@ -1,84 +0,0 @@
|
||||
import os
|
||||
import glob
|
||||
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
from openpilot.common.hardware import HARDWARE, PC
|
||||
|
||||
Import('env', 'arch', 'release')
|
||||
lenv = env.Clone()
|
||||
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
|
||||
|
||||
|
||||
def get_camera_configs():
|
||||
DEVICE_RESOLUTIONS = {
|
||||
"tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
|
||||
"tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
|
||||
"mici": (_os_fisheye.width, _os_fisheye.height),
|
||||
}
|
||||
if release or PC or 'CI' in os.environ:
|
||||
return set(DEVICE_RESOLUTIONS.values())
|
||||
return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
|
||||
|
||||
CAMERA_CONFIGS = get_camera_configs()
|
||||
|
||||
tg_flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
|
||||
}.get(arch, 'DEV=CPU:LLVM')
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
}.get(arch, 'IMAGE=0')
|
||||
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
|
||||
camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
|
||||
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
|
||||
compile_modeld_script = File("compile_modeld.py").abspath
|
||||
upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
|
||||
script_deps = [File("compile_modeld.py"), upstream_compile_script]
|
||||
|
||||
def compile_combined(model_type, onnx_args, output_name):
|
||||
output_pkl = File(f"models/{output_name}").abspath
|
||||
cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
|
||||
f'--model-type {model_type} '
|
||||
f'--model-size {model_w}x{model_h} '
|
||||
f'--camera-resolutions {camera_res_args} '
|
||||
f'{onnx_args} '
|
||||
f'--frame-skip {frame_skip} '
|
||||
f'--output {output_pkl}')
|
||||
onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
|
||||
return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
|
||||
|
||||
# Vision + Policy (stock default model)
|
||||
vision_onnx = File("models/driving_vision.onnx").abspath
|
||||
policy_onnx = File("models/driving_policy.onnx").abspath
|
||||
if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
|
||||
compile_combined('vision_policy',
|
||||
f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
|
||||
'driving_combined_tinygrad.pkl')
|
||||
|
||||
# Vision + Off-Policy
|
||||
off_policy_onnx = File("models/driving_off_policy.onnx").abspath
|
||||
if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
|
||||
policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
|
||||
compile_combined('vision_multi_policy',
|
||||
f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
|
||||
'driving_combined_multi_tinygrad.pkl')
|
||||
|
||||
# Vision + On-Policy + Off-Policy
|
||||
on_policy_onnx = File("models/driving_on_policy.onnx").abspath
|
||||
if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
|
||||
compile_combined('vision_multi_policy',
|
||||
f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
|
||||
'driving_combined_tri_tinygrad.pkl')
|
||||
|
||||
# Supercombo
|
||||
supercombo_onnx = File("models/supercombo.onnx").abspath
|
||||
if os.path.isfile(supercombo_onnx):
|
||||
compile_combined('supercombo',
|
||||
f'--supercombo-onnx {supercombo_onnx}',
|
||||
'driving_combined_supercombo_tinygrad.pkl')
|
||||
@@ -8,10 +8,10 @@ See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import pickle
|
||||
import tempfile
|
||||
import time
|
||||
from collections import defaultdict
|
||||
from functools import partial
|
||||
from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
|
||||
import numpy as np
|
||||
os.environ['GMMU'] = '0'
|
||||
|
||||
@@ -38,6 +38,9 @@ from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
|
||||
WARP_INPUTS = ['tfm', 'big_tfm']
|
||||
POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
|
||||
WARP_DEV = os.getenv('WARP_DEV')
|
||||
|
||||
|
||||
def _detect_desire_key(shapes: dict) -> str | None:
|
||||
@@ -76,7 +79,7 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
|
||||
|
||||
|
||||
def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
|
||||
is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
|
||||
is_supercombo: bool = False) -> tuple[dict, dict]:
|
||||
road_key, _ = _detect_vision_keys(input_shapes)
|
||||
if not road_key:
|
||||
raise ValueError("Vision road key missing from input shapes.")
|
||||
@@ -92,74 +95,75 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
|
||||
desire_shape = input_shapes[desire_key]
|
||||
features_buffer = input_shapes.get('features_buffer')
|
||||
|
||||
if use_packed: # remove packed detection block after all models are recompiled
|
||||
npy_arrays = {
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32)
|
||||
}
|
||||
npy_arrays = {
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32)
|
||||
}
|
||||
|
||||
shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
|
||||
packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
|
||||
shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
|
||||
packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
|
||||
|
||||
split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
|
||||
split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
|
||||
for (k, s), v in zip(shapes.items(), split_views, strict=True):
|
||||
npy_arrays[k] = v.reshape(s)
|
||||
split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
|
||||
split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
|
||||
for (k, s), v in zip(shapes.items(), split_views, strict=True):
|
||||
npy_arrays[k] = v.reshape(s)
|
||||
|
||||
queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize(),
|
||||
'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
|
||||
}
|
||||
queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize(),
|
||||
'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
|
||||
}
|
||||
|
||||
if features_buffer:
|
||||
queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
if features_buffer:
|
||||
queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
|
||||
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
|
||||
else:
|
||||
# TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
|
||||
npy_arrays = {
|
||||
'desire': np.zeros(desire_shape[2], dtype=np.float32),
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32)
|
||||
}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
|
||||
npy_arrays[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
}
|
||||
|
||||
if features_buffer:
|
||||
queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
|
||||
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
|
||||
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
|
||||
|
||||
return queues, npy_arrays
|
||||
|
||||
|
||||
def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
|
||||
frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
|
||||
frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False)
|
||||
|
||||
|
||||
def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
|
||||
device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
|
||||
device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)
|
||||
|
||||
|
||||
def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
|
||||
features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
|
||||
frame_prepare = make_frame_prepare(nv12, *model_size)
|
||||
def make_random_images(keys, shape, device):
|
||||
return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys}
|
||||
|
||||
|
||||
def make_warp_queues(device=Device.DEFAULT):
|
||||
npy = {
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
|
||||
return queues, npy
|
||||
|
||||
|
||||
def make_warp(nv12: NV12Frame, model_w: int, model_h: int):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
|
||||
|
||||
def warp(tfm, big_tfm, frame, big_frame):
|
||||
tfm = tfm.to(WARP_DEV)
|
||||
big_tfm = big_tfm.to(WARP_DEV)
|
||||
Tensor.realize(tfm, big_tfm)
|
||||
|
||||
warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
|
||||
warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
|
||||
return Tensor.cat(warped_frame, warped_big_frame)
|
||||
return warp
|
||||
|
||||
|
||||
def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
@@ -172,20 +176,14 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
|
||||
is_supercombo = vision_runner is None
|
||||
npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
|
||||
|
||||
def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
|
||||
def run_policy(warped, img_q, big_img_q, feat_q, packed_npy_inputs, **kwargs):
|
||||
desire_q = kwargs['desire_q']
|
||||
|
||||
packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
|
||||
tfm_dev = tfm.to(Device.DEFAULT)
|
||||
big_tfm_dev = big_tfm.to(Device.DEFAULT)
|
||||
warped_dev = warped.to(Device.DEFAULT)
|
||||
Tensor.realize(packed_npy_inputs_dev, warped_dev)
|
||||
|
||||
Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
|
||||
big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()
|
||||
|
||||
unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
|
||||
unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
|
||||
@@ -220,42 +218,52 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
|
||||
shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
|
||||
return policy_out
|
||||
|
||||
return runner
|
||||
return run_policy
|
||||
|
||||
|
||||
def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
|
||||
print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
def compile_jit(jit, make_random_inputs, input_keys, make_queues):
|
||||
SEED = 42
|
||||
def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_queues(Device.DEFAULT)
|
||||
rng = np.random.default_rng(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
|
||||
testing = test_val is not None or test_buffers is not None
|
||||
n_runs = 1 if testing else 3
|
||||
|
||||
feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
|
||||
if not feat_meta:
|
||||
raise ValueError("Could not find vision, model, or policy metadata.")
|
||||
for i in range(n_runs):
|
||||
for v in npy.values():
|
||||
v[:] = rng.standard_normal(v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
random_inputs = make_random_inputs()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
features_slice = feat_meta['output_slices']['hidden_state']
|
||||
WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
|
||||
if i == 0:
|
||||
val = [np.copy(v.numpy()) for v in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else []
|
||||
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
|
||||
|
||||
is_supercombo = vision_runner is None
|
||||
run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
|
||||
run_jit = TinyJit(run_func, prune=True)
|
||||
queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
|
||||
if test_val is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
|
||||
assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
if test_buffers is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
|
||||
assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
return val, buffers
|
||||
|
||||
for i in range(3):
|
||||
rng = np.random.default_rng(42 + i)
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
|
||||
for arr in npy_arrays.values():
|
||||
arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
|
||||
|
||||
Device.default.synchronize()
|
||||
start_time = time.perf_counter()
|
||||
run_jit(**queues, frame=frame, big_frame=big_frame)
|
||||
mid_time = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
print(f" [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
|
||||
|
||||
# TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
|
||||
return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
|
||||
print('capture + replay')
|
||||
test_val, test_buffers = random_inputs_run(jit, SEED)
|
||||
print('pickle round trip')
|
||||
with tempfile.TemporaryFile(dir=".") as f:
|
||||
dump_oob(jit, f)
|
||||
f.seek(0)
|
||||
deserialized_jit = load_oob(f)
|
||||
random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
|
||||
return deserialized_jit
|
||||
|
||||
|
||||
def _parse_size(size_str: str) -> tuple[int, int]:
|
||||
@@ -277,19 +285,6 @@ def read_file_chunked_to_shm(path):
|
||||
return shm_path
|
||||
|
||||
|
||||
def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
|
||||
vision_runner, policy_runners: list, metadata: dict) -> dict:
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
return {
|
||||
(cam_w, cam_h): {
|
||||
name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
|
||||
frame_skip, vision_runner, policy_runners, metadata)
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
for cam_w, cam_h in camera_resolutions
|
||||
}
|
||||
|
||||
|
||||
def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
|
||||
runners, keys = [], []
|
||||
for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
|
||||
@@ -300,7 +295,18 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
|
||||
from openpilot.system.hardware.chestnut.flash import link_up
|
||||
for _ in range(10):
|
||||
if link_up():
|
||||
break
|
||||
time.sleep(1)
|
||||
else:
|
||||
raise RuntimeError("Chestnut not ready, skipping big model build")
|
||||
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
|
||||
parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
|
||||
@@ -317,7 +323,8 @@ if __name__ == "__main__":
|
||||
parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
|
||||
|
||||
args = parser.parse_args()
|
||||
output_data = defaultdict(dict)
|
||||
model_w, model_h = args.model_size
|
||||
output_data = {}
|
||||
|
||||
args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
|
||||
args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
|
||||
@@ -348,17 +355,31 @@ if __name__ == "__main__":
|
||||
vision_meta = output_data['metadata'].get('vision', {})
|
||||
|
||||
derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
|
||||
output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
|
||||
vision_runner, policy_runners, output_data['metadata']))
|
||||
all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
|
||||
feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy')
|
||||
assert feat_meta is not None
|
||||
features_slice = feat_meta['output_slices']['hidden_state']
|
||||
is_supercombo = vision_runner is None
|
||||
|
||||
print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
|
||||
run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
|
||||
run_policy_jit = TinyJit(run_policy_func, prune=True)
|
||||
make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo)
|
||||
make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV)
|
||||
output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues)
|
||||
|
||||
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))
|
||||
make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_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)
|
||||
|
||||
with open(args.output, "wb") as file:
|
||||
# TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
|
||||
pickle.dump(output_data, file)
|
||||
dump_oob(output_data, file)
|
||||
|
||||
pkl_size = os.path.getsize(args.output)
|
||||
print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
|
||||
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
chunk_targets = get_chunk_targets(args.output, pkl_size)
|
||||
chunk_file(args.output, chunk_targets)
|
||||
print(f"Chunked into {len(chunk_targets) - 1} file(s)")
|
||||
|
||||
@@ -9,17 +9,13 @@ See the LICENSE.md file in the root directory for more details.
|
||||
import os
|
||||
os.environ['GMMU'] = '0'
|
||||
from openpilot.common.hardware import COMMA_HARDWARE
|
||||
os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
|
||||
USBGPU = "USBGPU" in os.environ
|
||||
if USBGPU:
|
||||
os.environ['DEV'] = 'AMD'
|
||||
os.environ['AMD_IFACE'] = 'USB'
|
||||
import pickle
|
||||
from openpilot.selfdrive.modeld.helpers import usbgpu_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
|
||||
@@ -27,7 +23,6 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.device import Device
|
||||
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
@@ -40,12 +35,13 @@ from openpilot.system import sentry
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
|
||||
from openpilot.selfdrive.modeld.modeld import ChestnutState
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
|
||||
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
|
||||
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
|
||||
@@ -88,7 +84,7 @@ class ModelState(ModelStateBase):
|
||||
inputs: dict[str, np.ndarray]
|
||||
prev_desire: np.ndarray
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
|
||||
ModelStateBase.__init__(self)
|
||||
|
||||
env_pkl = os.environ.get('COMBINED_MODEL_PKL')
|
||||
@@ -103,6 +99,7 @@ class ModelState(ModelStateBase):
|
||||
self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
|
||||
self.MIN_LAT_CONTROL_SPEED = 0.3
|
||||
self.PLANPLUS_CONTROL: float = 1.0
|
||||
self.usbgpu = usbgpu
|
||||
|
||||
pkl_path = _find_driving_pkl(model_bundle)
|
||||
assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
|
||||
@@ -110,24 +107,20 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
|
||||
cloudlog.warning(f"loading combined pkl: {pkl_path}")
|
||||
# TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
|
||||
jits = pickle.load(open_file_chunked(pkl_path))
|
||||
jits = load_oob(open_file_chunked(pkl_path))
|
||||
|
||||
self.DEV = Device.DEFAULT
|
||||
self.WARP_DEV = 'CPU' if USBGPU else self.DEV
|
||||
self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
|
||||
self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
|
||||
self.QUEUE_DEV = self.DEV
|
||||
|
||||
metadata = jits['metadata']
|
||||
|
||||
self._run_policy = jits[(cam_w, cam_h)]['run_policy']
|
||||
self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
|
||||
|
||||
# TODO-SP: Remove legacy use_packed detection block after all models are recompiled
|
||||
captured = getattr(self._run_policy, 'captured', None)
|
||||
if captured is not None:
|
||||
use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
|
||||
self.is_legacy_model = 'run_policy' not in jits # remove after next recompile
|
||||
if self.is_legacy_model:
|
||||
self.warp = jits[(cam_w, cam_h)]['warp_enqueue']
|
||||
self.run_policy = jits[(cam_w, cam_h)]['run_policy']
|
||||
else:
|
||||
use_packed = True
|
||||
self.run_policy = jits['run_policy']
|
||||
self.warp = jits[(cam_w, cam_h)]
|
||||
|
||||
if 'model' in metadata:
|
||||
model_metadata = metadata['model']
|
||||
@@ -136,10 +129,9 @@ class ModelState(ModelStateBase):
|
||||
self._policy_slices_list = []
|
||||
self._combined_model_type = 'supercombo'
|
||||
self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
|
||||
frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
|
||||
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
|
||||
frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
|
||||
frame_skip, device=self.QUEUE_DEV)
|
||||
else:
|
||||
vision_metadata = metadata['vision']
|
||||
policy_keys = [k for k in metadata if k != 'vision']
|
||||
@@ -152,13 +144,12 @@ class ModelState(ModelStateBase):
|
||||
self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
|
||||
self.policy_output_slices = self._policy_slices_list[0]
|
||||
self._has_on_policy = any('on' in k.lower() for k in policy_keys)
|
||||
first_policy_metadata = metadata[policy_keys[0]]
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
policy_input_shapes = first_policy_metadata['input_shapes']
|
||||
self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
|
||||
frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
|
||||
frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
|
||||
self._vision_input_names = [key for key in vision_metadata['input_shapes'] if 'img' in key]
|
||||
first_policy_meta = metadata[policy_keys[0]]
|
||||
frame_skip = derive_frame_skip(vision_metadata['input_shapes'], first_policy_meta['input_shapes'])
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_metadata['input_shapes'],
|
||||
first_policy_meta['input_shapes'],
|
||||
frame_skip, device=self.QUEUE_DEV)
|
||||
|
||||
self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
|
||||
self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
|
||||
@@ -186,10 +177,33 @@ class ModelState(ModelStateBase):
|
||||
self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
|
||||
|
||||
yuv_size = self.frame_buf_params[self._road_key][3]
|
||||
self._warp_enqueue(
|
||||
**self.input_queues,
|
||||
frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
|
||||
big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
|
||||
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()
|
||||
|
||||
if self.is_legacy_model: # Remove this conditional hack after recompile
|
||||
self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
|
||||
else:
|
||||
self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
|
||||
|
||||
if self.usbgpu:
|
||||
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}
|
||||
|
||||
dummy_inputs = {}
|
||||
for k, v in self.numpy_inputs.items():
|
||||
if k not in ['tfm', 'big_tfm', 'prev_feat']:
|
||||
dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype)
|
||||
|
||||
self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False)
|
||||
|
||||
for v in self.numpy_inputs.values():
|
||||
v[:] = 0
|
||||
self.prev_desire[:] = 0
|
||||
self.full_frames.clear()
|
||||
self._blob_cache.clear()
|
||||
|
||||
|
||||
@property
|
||||
@@ -227,11 +241,17 @@ class ModelState(ModelStateBase):
|
||||
self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
|
||||
if prepare_only:
|
||||
self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
return None
|
||||
|
||||
raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
if self.is_legacy_model: # remove after next recompile
|
||||
if prepare_only:
|
||||
self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
return None
|
||||
raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
else:
|
||||
if prepare_only:
|
||||
self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
return None
|
||||
warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped)
|
||||
|
||||
if self._combined_model_type == 'supercombo':
|
||||
model_output = raw_outputs.numpy().flatten()
|
||||
@@ -267,10 +287,9 @@ class ModelState(ModelStateBase):
|
||||
buf[0, :-1] = buf[0, 1:]
|
||||
buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
|
||||
|
||||
# TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
|
||||
if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
|
||||
feat_val = self.input_queues['feat_q'].numpy()
|
||||
self.input_queues['feat_q'].assign(feat_val).realize()
|
||||
if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
|
||||
cloudlog.error("model output not finite, dropping frame")
|
||||
return None
|
||||
|
||||
return outputs
|
||||
|
||||
@@ -278,8 +297,8 @@ class ModelState(ModelStateBase):
|
||||
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
|
||||
if 'action' not in model_output:
|
||||
plan = model_output['plan'][0]
|
||||
desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
|
||||
action_t=long_action_t)
|
||||
desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
|
||||
action_t=long_action_t)
|
||||
|
||||
curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
|
||||
if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
|
||||
@@ -287,8 +306,8 @@ class ModelState(ModelStateBase):
|
||||
else:
|
||||
desired_accel = model_output['action'][0, 1]
|
||||
desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
|
||||
should_stop = (v_ego < 0.3 and desired_accel < 0.1)
|
||||
|
||||
stop = v_ego < 0.3 and desired_accel < 0.1
|
||||
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
|
||||
|
||||
if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
|
||||
@@ -297,7 +316,7 @@ class ModelState(ModelStateBase):
|
||||
else:
|
||||
desired_curvature = prev_action.desiredCurvature
|
||||
|
||||
return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
|
||||
return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), shouldStop=bool(stop))
|
||||
|
||||
|
||||
def main(demo=False):
|
||||
@@ -308,6 +327,14 @@ def main(demo=False):
|
||||
setproctitle(PROCESS_NAME)
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
USBGPU = usbgpu_present()
|
||||
if USBGPU:
|
||||
os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
|
||||
|
||||
params = Params()
|
||||
params.put_bool("UsbGpuLoading", USBGPU)
|
||||
params.remove("UsbGpuActive")
|
||||
|
||||
# visionipc clients
|
||||
while True:
|
||||
available_streams = VisionIpcClient.available_streams("camerad", block=False)
|
||||
@@ -332,15 +359,34 @@ def main(demo=False):
|
||||
cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
|
||||
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
|
||||
cloudlog.warning("models loaded, modeld starting")
|
||||
st = time.monotonic()
|
||||
|
||||
model = None
|
||||
if USBGPU:
|
||||
import threading
|
||||
def load():
|
||||
nonlocal model
|
||||
model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
|
||||
t = threading.Thread(target=load, daemon=True)
|
||||
t.start()
|
||||
t.join(60)
|
||||
if model is None:
|
||||
params.put_bool("UsbGpuActive", False)
|
||||
raise RuntimeError("eGPU model load failed or timed out (60s)")
|
||||
params.put_bool("UsbGpuActive", True)
|
||||
else:
|
||||
model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
|
||||
|
||||
params.put_bool("UsbGpuLoading", False)
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# messaging
|
||||
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
|
||||
pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
|
||||
pm = PubMaster(pub_socks)
|
||||
sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
|
||||
|
||||
publish_state = PublishState()
|
||||
params = Params()
|
||||
chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None
|
||||
|
||||
# setup filter to track dropped frames
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
|
||||
@@ -478,6 +524,7 @@ def main(demo=False):
|
||||
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
|
||||
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
|
||||
frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
|
||||
modelv2_send.modelV2.big = model.usbgpu
|
||||
|
||||
desire_state = modelv2_send.modelV2.meta.desireState
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
@@ -498,6 +545,8 @@ def main(demo=False):
|
||||
pm.send('modelDataV2SP', mdv2sp_send)
|
||||
last_vipc_frame_id = meta_main.frame_id
|
||||
|
||||
if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
|
||||
chestnut_state.send()
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
|
||||
@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pathlib
|
||||
import pickle
|
||||
import tempfile
|
||||
|
||||
import openpilot.sunnypilot.models.helpers as helpers
|
||||
@@ -164,14 +163,16 @@ ARCHETYPES = {
|
||||
def make_pkl_data(archetype):
|
||||
return {
|
||||
'metadata': archetype.metadata_structure,
|
||||
(CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
|
||||
'run_policy': _noop_jit,
|
||||
(CAM_W, CAM_H): _noop_jit,
|
||||
}
|
||||
|
||||
|
||||
def write_pkl(tmp_path, archetype):
|
||||
from openpilot.selfdrive.modeld.helpers import dump_oob
|
||||
pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
|
||||
with open(pkl_path, 'wb') as f:
|
||||
pickle.dump(make_pkl_data(archetype), f)
|
||||
dump_oob(make_pkl_data(archetype), f)
|
||||
return pkl_path
|
||||
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ class TestRecoveryPower(OpenpilotTestCase):
|
||||
|
||||
def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
|
||||
recorded_vel.append(plan_vel.copy())
|
||||
return 0.0, False
|
||||
return 0.0
|
||||
|
||||
def mock_curvature(output, plan, vego, lat_action_t, mlsim):
|
||||
recorded_curv_plans.append(plan.copy())
|
||||
|
||||
@@ -13,6 +13,7 @@ from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.hardware.hw import Paths
|
||||
from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
|
||||
from openpilot.selfdrive.modeld.helpers import usbgpu_present
|
||||
|
||||
from openpilot.cereal import custom
|
||||
|
||||
@@ -103,11 +104,11 @@ class ModelParser:
|
||||
class ModelCache:
|
||||
"""Handles caching of model data to avoid frequent remote fetches"""
|
||||
|
||||
def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)):
|
||||
def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9), suffix: str = ""):
|
||||
self.params = params
|
||||
self.cache_timeout = cache_timeout
|
||||
self._LAST_SYNC_KEY = "ModelManager_LastSyncTime"
|
||||
self._CACHE_KEY = "ModelManager_ModelsCache"
|
||||
self._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}"
|
||||
self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}"
|
||||
|
||||
def _is_expired(self) -> bool:
|
||||
"""Checks if the cache has expired"""
|
||||
@@ -139,24 +140,37 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v19.json"
|
||||
MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v19.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
self.model_cache = ModelCache(params)
|
||||
self.model_parser = ModelParser()
|
||||
self._is_usbgpu: bool | None = None
|
||||
self.model_cache = ModelCache(params)
|
||||
self.model_url = self.MODEL_URL
|
||||
self._update_model_source()
|
||||
|
||||
def _update_model_source(self) -> None:
|
||||
"""Updates what json to use based on usbgpu availability"""
|
||||
is_usbgpu = usbgpu_present()
|
||||
if is_usbgpu != self._is_usbgpu:
|
||||
self._is_usbgpu = is_usbgpu
|
||||
self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
|
||||
self.model_url = self.MODEL_URL_USBGPU if is_usbgpu else self.MODEL_URL
|
||||
self.params.put("ModelManager_ActiveJson", self.model_url, block=True)
|
||||
|
||||
def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
|
||||
"""Fetches fresh model data from remote and updates cache.
|
||||
Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
|
||||
"""
|
||||
try:
|
||||
response = requests.get(self.MODEL_URL, timeout=10)
|
||||
response = requests.get(self.model_url, timeout=10)
|
||||
|
||||
# Explicitly handle 404 differently
|
||||
if response.status_code == 404:
|
||||
cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
|
||||
raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
|
||||
cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}")
|
||||
raise HTTPError(f"404 Not Found: {self.model_url}", response=response)
|
||||
|
||||
# Raise for any other 4xx/5xx
|
||||
response.raise_for_status()
|
||||
@@ -179,6 +193,7 @@ class ModelFetcher:
|
||||
|
||||
def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
|
||||
"""Gets the list of available models, with smart cache handling"""
|
||||
self._update_model_source()
|
||||
cached_data, is_expired = self.model_cache.get()
|
||||
|
||||
if cached_data and not is_expired:
|
||||
@@ -202,10 +217,7 @@ if __name__ == "__main__":
|
||||
for bundle in bundles:
|
||||
for model in bundle.models:
|
||||
model_overrides = {override.key: override.value for override in bundle.overrides}
|
||||
# Print model details
|
||||
print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
|
||||
# Print artifact details
|
||||
print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
|
||||
# Print metadata details
|
||||
if model.artifact.chunks:
|
||||
print(f"Contains {len(model.artifact.chunks)} chunks.")
|
||||
|
||||
@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
|
||||
from openpilot.common.hardware.hw import Paths
|
||||
|
||||
# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
|
||||
REQUIRED_JSON_VERSION = 16
|
||||
REQUIRED_JSON_VERSION = 17
|
||||
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
|
||||
|
||||
@@ -1,12 +1,13 @@
|
||||
import requests
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
|
||||
from openpilot.sunnypilot.models.fetcher import ModelFetcher
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
|
||||
|
||||
def fetch_tinygrad_ref():
|
||||
response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
|
||||
fetcher = ModelFetcher(Params())
|
||||
response = requests.get(fetcher.model_url, timeout=10)
|
||||
response.raise_for_status()
|
||||
json_data = response.json()
|
||||
return json_data.get("tinygrad_ref")
|
||||
|
||||
@@ -2172,26 +2172,6 @@
|
||||
"title": "Hyundai / Kia / Genesis Settings",
|
||||
"description": "",
|
||||
"items": [
|
||||
{
|
||||
"key": "CustomButtonAction",
|
||||
"widget": "multiple_button",
|
||||
"title": "Steering Custom Button",
|
||||
"description": "Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.",
|
||||
"options": [
|
||||
{
|
||||
"value": 0,
|
||||
"label": "None"
|
||||
},
|
||||
{
|
||||
"value": 1,
|
||||
"label": "Bookmark"
|
||||
},
|
||||
{
|
||||
"value": 3,
|
||||
"label": "Cycle UI"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "HyundaiLongitudinalTuning",
|
||||
"widget": "multiple_button",
|
||||
|
||||
@@ -10,17 +10,6 @@ sections:
|
||||
title: Hyundai / Kia / Genesis Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: CustomButtonAction
|
||||
widget: multiple_button
|
||||
title: Steering Custom Button
|
||||
description: Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.
|
||||
options:
|
||||
- value: 0
|
||||
label: None
|
||||
- value: 1
|
||||
label: Bookmark
|
||||
- value: 3
|
||||
label: Cycle UI
|
||||
- key: HyundaiLongitudinalTuning
|
||||
widget: multiple_button
|
||||
title: Custom Longitudinal Tuning
|
||||
|
||||
@@ -33,6 +33,7 @@ USBDEVFS_SETCONFIGURATION = 0x80045505
|
||||
USBDEVFS_CLAIMINTERFACE = 0x8004550F
|
||||
USBDEVFS_RESET = 0x5514
|
||||
USBDEVFS_CLEAR_HALT = 0x80045515
|
||||
MAX_REGISTER_READ_SIZE = 255
|
||||
|
||||
_deadline = float("inf")
|
||||
|
||||
@@ -146,6 +147,7 @@ def claim_interface(path, setup=False):
|
||||
class Flash:
|
||||
def __init__(self):
|
||||
self.fd = -1
|
||||
self.max_register_read_size = MAX_REGISTER_READ_SIZE
|
||||
|
||||
def close(self):
|
||||
if self.fd >= 0:
|
||||
@@ -160,6 +162,9 @@ class Flash:
|
||||
if in_rom_bootloader(vid_pid, product):
|
||||
raise RomFallback("chestnut fell back to the ROM bootloader")
|
||||
if path is not None:
|
||||
speed = int(open(path + "/speed").read())
|
||||
# USB2 firmware truncates larger reads to one full packet without a terminating ZLP.
|
||||
self.max_register_read_size = 64 if speed < 5000 else MAX_REGISTER_READ_SIZE
|
||||
self.fd = claim_interface(path)
|
||||
return
|
||||
time.sleep(0.1)
|
||||
@@ -231,8 +236,8 @@ class Flash:
|
||||
while len(out) < length:
|
||||
n = min(4096, length - len(out))
|
||||
self.transaction(0x03, addr + len(out), max(4096, n))
|
||||
for off in range(0, n, 255):
|
||||
out += self.reg_read(0x7000 + off, min(255, n - off))
|
||||
for off in range(0, n, self.max_register_read_size):
|
||||
out += self.reg_read(0x7000 + off, min(self.max_register_read_size, n - off))
|
||||
return bytes(out)
|
||||
|
||||
def erase_sector(self, addr):
|
||||
|
||||
@@ -238,6 +238,8 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
|
||||
fan_controller = FanController(int(1./DT_HW))
|
||||
chestnut = Chestnut()
|
||||
big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")) or \
|
||||
os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest"))
|
||||
|
||||
while not end_event.is_set():
|
||||
sm.update(PANDA_STATES_TIMEOUT)
|
||||
@@ -299,6 +301,7 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
|
||||
set_usb_state(msg.deviceState, last_hw_state.usb_state)
|
||||
chestnut.update(started_ts is None, last_hw_state.usb_state)
|
||||
set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available)
|
||||
|
||||
# this subset is only used for offroad
|
||||
temp_sources = [
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
#include "sunnypilot/common/version.h"
|
||||
|
||||
// ***** log metadata *****
|
||||
kj::Array<capnp::word> logger_build_init_data() {
|
||||
kj::Array<capnp::word> logger_build_init_data(bool route_log) {
|
||||
uint64_t wall_time = nanos_since_epoch();
|
||||
|
||||
MessageBuilder msg;
|
||||
@@ -72,7 +72,7 @@ kj::Array<capnp::word> logger_build_init_data() {
|
||||
"df -h", // usage for all filesystems
|
||||
};
|
||||
|
||||
auto hw_logs = Hardware::get_init_logs();
|
||||
auto hw_logs = Hardware::get_init_logs(route_log);
|
||||
|
||||
auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
|
||||
for (int i = 0; i < log_commands.size(); i++) {
|
||||
@@ -166,7 +166,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal =
|
||||
LoggerState::LoggerState(const std::string &log_root) {
|
||||
route_name = logger_get_identifier("RouteCount");
|
||||
route_path = log_root + "/" + route_name;
|
||||
init_data = logger_build_init_data();
|
||||
init_data = logger_build_init_data(true);
|
||||
}
|
||||
|
||||
LoggerState::~LoggerState() {
|
||||
|
||||
@@ -32,6 +32,6 @@ protected:
|
||||
std::unique_ptr<ZstdFileWriter> rlog, qlog;
|
||||
};
|
||||
|
||||
kj::Array<capnp::word> logger_build_init_data();
|
||||
kj::Array<capnp::word> logger_build_init_data(bool route_log = false);
|
||||
std::string logger_get_identifier(std::string key);
|
||||
std::string zstd_decompress(const std::string &in);
|
||||
|
||||
@@ -3,11 +3,12 @@ import sys
|
||||
import time
|
||||
import signal
|
||||
import struct
|
||||
import threading
|
||||
import requests
|
||||
import urllib.parse
|
||||
from datetime import datetime, UTC
|
||||
|
||||
from openpilot.cereal import messaging
|
||||
from openpilot.cereal import log, messaging
|
||||
from openpilot.common.api import Api
|
||||
from openpilot.common.time_helpers import system_time_valid
|
||||
from openpilot.common.params import Params
|
||||
@@ -46,7 +47,6 @@ def get_assistnow_messages() -> list[bytes]:
|
||||
params = Params()
|
||||
if token := params.get('AssistNowToken'):
|
||||
cloudlog.warning("Downloading AssistNow data directly from u-blox")
|
||||
# TODO: implement adding the last known location
|
||||
r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
|
||||
'token': token,
|
||||
'gnss': 'gps,glo',
|
||||
@@ -240,14 +240,6 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
|
||||
))
|
||||
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
|
||||
|
||||
# A configured u-blox token takes precedence over comma's AGPS proxy.
|
||||
try:
|
||||
for msg in get_assistnow_messages():
|
||||
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
|
||||
cloudlog.warning("AssistNow messages sent")
|
||||
except Exception:
|
||||
cloudlog.warning("failed to get AssistNow messages")
|
||||
|
||||
cloudlog.warning("Pigeon GPS on!")
|
||||
break
|
||||
except TimeoutError:
|
||||
@@ -287,12 +279,38 @@ def run_receiving(duration: int = 0):
|
||||
|
||||
start_time = time.monotonic()
|
||||
last_almanac_save = time.monotonic()
|
||||
assist_attempted = False
|
||||
assist_messages = None
|
||||
|
||||
def download_assistnow() -> None:
|
||||
nonlocal assist_messages
|
||||
sm = messaging.SubMaster(['deviceState'])
|
||||
while assist_messages is None:
|
||||
sm.update(1000)
|
||||
if system_time_valid() and sm['deviceState'].networkType != log.DeviceState.NetworkType.none:
|
||||
try:
|
||||
assist_messages = get_assistnow_messages()
|
||||
except Exception:
|
||||
cloudlog.warning("failed to get AssistNow messages")
|
||||
time.sleep(10.)
|
||||
threading.Thread(target=download_assistnow, daemon=True).start()
|
||||
|
||||
while (duration == 0) or (time.monotonic() - start_time < duration):
|
||||
if assist_messages is not None and not assist_attempted:
|
||||
assist_attempted = True
|
||||
try:
|
||||
for msg in assist_messages:
|
||||
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
|
||||
cloudlog.warning("AssistNow messages sent")
|
||||
except Exception:
|
||||
cloudlog.warning("failed to send AssistNow messages")
|
||||
|
||||
dat = pigeon.receive()
|
||||
if len(dat) > 0:
|
||||
if dat[0] == 0x00:
|
||||
cloudlog.warning("received invalid data from ublox, re-initing!")
|
||||
init(pigeon)
|
||||
assist_attempted = False
|
||||
continue
|
||||
|
||||
# send out to socket
|
||||
|
||||
@@ -207,13 +207,10 @@ def handle_agnos_update() -> None:
|
||||
set_consistent_flag(False)
|
||||
|
||||
cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
|
||||
set_offroad_alert("Offroad_NeosUpdate", True)
|
||||
|
||||
manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
|
||||
target_slot_number = get_target_slot_number()
|
||||
flash_agnos_update(manifest_path, target_slot_number, cloudlog)
|
||||
set_offroad_alert("Offroad_NeosUpdate", False)
|
||||
|
||||
|
||||
|
||||
class Updater:
|
||||
|
||||
@@ -48,6 +48,11 @@ def create_short_name(full_name: str) -> str:
|
||||
return result[:8]
|
||||
|
||||
|
||||
def create_pkl_name(full_name: str) -> str:
|
||||
pkl = re.sub(r'[^a-zA-Z0-9]+', '_', full_name).strip('_').lower()
|
||||
return pkl
|
||||
|
||||
|
||||
def _read_pkl_bytes(pkl_path: Path) -> bytes:
|
||||
manifest = Path(f"{pkl_path}.chunkmanifest")
|
||||
if manifest.exists():
|
||||
@@ -154,14 +159,15 @@ if __name__ == "__main__":
|
||||
_output_dir = Path(args.output_dir)
|
||||
_output_dir.mkdir(exist_ok=True, parents=True)
|
||||
_short_name = create_short_name(args.custom_name) if args.custom_name else None
|
||||
_pkl = create_pkl_name(args.custom_name) if args.custom_name else None
|
||||
|
||||
_driving_pkl = _find_driving_pkl(_output_dir)
|
||||
if not _driving_pkl:
|
||||
print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
if _short_name:
|
||||
new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
|
||||
if _pkl:
|
||||
new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl"
|
||||
if not new_pkl.exists():
|
||||
_driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
|
||||
else:
|
||||
|
||||
+1
-1
Submodule teleoprtc_repo updated: 31db236a9e...1aa8fc433b
+1
-1
Submodule tinygrad_repo updated: 2fecac4e4a...66ee3cfb4f
@@ -2,15 +2,14 @@
|
||||
set -e
|
||||
set -x
|
||||
|
||||
# git diff --name-status origin/release3-staging | grep "^A" | less
|
||||
|
||||
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
|
||||
|
||||
cd $DIR
|
||||
|
||||
BUILD_DIR=/data/openpilot
|
||||
SOURCE_DIR="$(git rev-parse --show-toplevel)"
|
||||
|
||||
export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
|
||||
|
||||
if [ -z "$RELEASE_BRANCH" ]; then
|
||||
echo "RELEASE_BRANCH is not set"
|
||||
exit 1
|
||||
@@ -23,33 +22,36 @@ BUILD_BRANCH=release-mici-staging
|
||||
source $DIR/identity.sh
|
||||
|
||||
echo "[-] Setting up repo T=$SECONDS"
|
||||
rm -rf $BUILD_DIR
|
||||
mkdir -p $BUILD_DIR
|
||||
if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then
|
||||
rm -rf $BUILD_DIR
|
||||
fi
|
||||
git -C "$SOURCE_DIR" worktree prune
|
||||
git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR"
|
||||
cd $BUILD_DIR
|
||||
git init
|
||||
git remote add origin git@github.com:commaai/openpilot.git
|
||||
git checkout --orphan $BUILD_BRANCH
|
||||
git update-ref -d "refs/heads/$BUILD_BRANCH"
|
||||
git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH"
|
||||
git read-tree --empty
|
||||
|
||||
# do the files copy
|
||||
echo "[-] copying files T=$SECONDS"
|
||||
cd $SOURCE_DIR
|
||||
cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/
|
||||
./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
|
||||
|
||||
# in the directory
|
||||
cd $BUILD_DIR
|
||||
|
||||
rm -f panda/board/obj/panda.bin.signed
|
||||
rm -f panda/board/obj/panda_h7.bin.signed
|
||||
# use the full CPU available for speeding up the build.
|
||||
# openpilot resets the CPU frequencies when test_onroad.py runs below.
|
||||
for policy in /sys/devices/system/cpu/cpufreq/policy*; do
|
||||
[ -d "$policy" ] || continue
|
||||
hardware_max="$(cat "$policy/cpuinfo_max_freq")"
|
||||
echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null
|
||||
done
|
||||
|
||||
VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-] '{print $2}')
|
||||
echo "[-] committing version $VERSION T=$SECONDS"
|
||||
git add -f .
|
||||
git commit -a -m "openpilot v$VERSION release"
|
||||
|
||||
# Build and test before launch_chffrplus.sh creates the on-device package
|
||||
# symlinks. SConstruct uses the same package roots for build subprocesses.
|
||||
export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
|
||||
scons
|
||||
if [ -n "$INCLUDE_BIG_MODEL" ]; then
|
||||
test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest
|
||||
fi
|
||||
|
||||
if [ -z "$PANDA_DEBUG_BUILD" ]; then
|
||||
# release panda fw
|
||||
@@ -72,7 +74,6 @@ find . -name '*.a' -delete
|
||||
find . -name '*.o' -delete
|
||||
find . -name '*.os' -delete
|
||||
find . -name '*.pyc' -delete
|
||||
find . -name 'moc_*' -delete
|
||||
find . -name '__pycache__' -delete
|
||||
rm -rf .sconsign.dblite Jenkinsfile tools/release/
|
||||
rm -f openpilot/selfdrive/modeld/models/*.onnx*
|
||||
@@ -88,9 +89,11 @@ git checkout openpilot/third_party/
|
||||
# Mark as prebuilt release
|
||||
touch prebuilt
|
||||
|
||||
VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-] '{print $2}')
|
||||
# Add built files to git
|
||||
git add -f .
|
||||
git commit --amend -m "openpilot v$VERSION"
|
||||
# writing larger objects is faster than compressing them on-device
|
||||
git -c core.compression=0 add -f .
|
||||
git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION"
|
||||
|
||||
# Run tests
|
||||
cd $BUILD_DIR
|
||||
@@ -102,6 +105,7 @@ REFS=()
|
||||
for branch in ${RELEASE_BRANCH//,/ }; do
|
||||
REFS+=("$BUILD_BRANCH:$branch")
|
||||
done
|
||||
git push -f origin "${REFS[@]}"
|
||||
# uploading the larger pack is faster than spending CPU to optimize it
|
||||
git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}"
|
||||
|
||||
echo "[-] done T=$SECONDS"
|
||||
|
||||
@@ -30,20 +30,14 @@ git submodule deinit -f --all
|
||||
git rm -rf --cached .
|
||||
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
|
||||
|
||||
# cleanup before the copy
|
||||
cd $SOURCE_DIR
|
||||
git clean -xdff
|
||||
git submodule foreach --recursive git clean -xdff
|
||||
|
||||
# do the files copy
|
||||
echo "[-] copying files T=$SECONDS"
|
||||
cd $SOURCE_DIR
|
||||
./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
|
||||
./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$TARGET_DIR" --
|
||||
|
||||
# in the directory
|
||||
cd $TARGET_DIR
|
||||
rm -rf .git/modules/
|
||||
rm -f panda/board/obj/panda.bin.signed
|
||||
|
||||
find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;
|
||||
|
||||
@@ -57,9 +51,10 @@ echo -n "$GIT_HASH" > git_src_commit
|
||||
echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
|
||||
|
||||
echo "[-] committing version $VERSION T=$SECONDS"
|
||||
git add -f .
|
||||
# writing larger objects is faster than compressing them on-device
|
||||
git -c core.compression=0 add -f .
|
||||
git status
|
||||
git commit -a -m "sunnypilot v$VERSION release
|
||||
git -c core.compression=0 commit -a -m "sunnypilot v$VERSION release
|
||||
|
||||
date: $DATETIME
|
||||
master commit: $GIT_HASH
|
||||
@@ -83,7 +78,8 @@ fi
|
||||
|
||||
if [ ! -z "$BRANCH" ]; then
|
||||
echo "[-] Pushing to $BRANCH T=$SECONDS"
|
||||
git push -f origin tmp:$BRANCH
|
||||
# uploading the larger pack is faster than spending CPU to optimize it
|
||||
git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin tmp:$BRANCH
|
||||
fi
|
||||
|
||||
echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
|
||||
|
||||
@@ -1,20 +1,19 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import re
|
||||
from pathlib import Path
|
||||
import subprocess
|
||||
import sys
|
||||
|
||||
HERE = os.path.abspath(os.path.dirname(__file__))
|
||||
ROOT = os.path.abspath(os.path.join(HERE, "../.."))
|
||||
|
||||
blacklist = [
|
||||
".git/",
|
||||
".venv/",
|
||||
".github/workflows/",
|
||||
|
||||
"matlab.*.md",
|
||||
|
||||
# skip big model for now
|
||||
"openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
|
||||
|
||||
# no LFS or submodules in release
|
||||
".lfsconfig",
|
||||
".gitattributes",
|
||||
@@ -30,14 +29,17 @@ whitelist: list[str] = [
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
for f in Path(ROOT).rglob("**/*"):
|
||||
if not (f.is_file() or f.is_symlink()):
|
||||
tracked_files = subprocess.check_output(["git", "ls-files", "-z", "--recurse-submodules"], cwd=ROOT).split(b"\0")
|
||||
for tracked_file in tracked_files:
|
||||
if not tracked_file:
|
||||
continue
|
||||
|
||||
rf = str(f.relative_to(ROOT))
|
||||
rf = os.fsdecode(tracked_file)
|
||||
if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"):
|
||||
continue
|
||||
blacklisted = any(re.search(p, rf) for p in blacklist)
|
||||
whitelisted = any(re.search(p, rf) for p in whitelist)
|
||||
if blacklisted and not whitelisted:
|
||||
continue
|
||||
|
||||
print(rf)
|
||||
sys.stdout.buffer.write(tracked_file + b"\0")
|
||||
|
||||
@@ -52,24 +52,43 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "charset-normalizer"
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version = "3.4.9"
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version = "3.5.1"
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source = { registry = "https://pypi.org/simple" }
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wheels = [
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{ url = "https://files.pythonhosted.org/packages/84/fc/be21acae7d5b4ceb26f48b7dcda2ab65f2ad2fb865030aeff51b1a000d97/zensical-0.0.55-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:bc8d2f8a343311f668c96aced77ca679144d62dc0f191dadbd9d7bc84e980295", size = 13535419, upload-time = "2026-08-16T10:19:45.584Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/c8/37/000e3a9cec7aad0087a353e913fd973dbe355ce3b6efdc1cce2d31764f2c/zensical-0.0.55-cp310-abi3-win32.whl", hash = "sha256:c63d6d925b69e5e115a96e6981e2c24194abda3757e65fb5ff843329f1b8bdfb", size = 12448614, upload-time = "2026-08-16T10:19:47.843Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/8a/ab/f660dbc74b7acb5547c6920068516e5570965b64ae757f30847df0ab51db/zensical-0.0.55-cp310-abi3-win_amd64.whl", hash = "sha256:cbe65f11dab3f019fc047ddbf147b6f6ac8f6e2a83232c8be6d65fa7c50ee7df", size = 12712414, upload-time = "2026-08-16T10:19:50.053Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
||||
Reference in New Issue
Block a user