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8 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 discountchubbs
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8718bff2f8 | ||
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discountchubbs
|
e8b907c0e2 | ||
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James Vecellio-Grant
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ab935a039c | ||
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James Vecellio-Grant
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6223edb4fe | ||
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discountchubbs
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39e204246c | ||
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discountchubbs
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28b56dd234 | ||
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Jason Wen
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61af0a0512 | ||
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github-actions[bot]
|
066c0e2957 |
@@ -42,7 +42,7 @@ jobs:
|
||||
WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
|
||||
echo "Compiling $WARP_PKL on QCOM"
|
||||
taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
|
||||
--frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${WARP_PKL}"
|
||||
--frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --split-frames --output "${WARP_PKL}"
|
||||
|
||||
BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
|
||||
echo "Compiling $BIG_WARP_PKL on AMD"
|
||||
|
||||
+4
-1
@@ -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.
|
||||
|
||||
# 351 Supported Cars
|
||||
# 354 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|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -153,18 +153,21 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Sonata 2018-19|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=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|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=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|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=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid (without HDA II) 2024-26|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=Hyundai Sonata Hybrid (without HDA II) 2024-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|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=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|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 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24|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 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L 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 Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24|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 Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|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 Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|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>|||
|
||||
|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|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q 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 Hybrid (with HDA II) 2025-26">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>|||
|
||||
|Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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 EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: ae82092f78...f087f898a1
@@ -162,7 +162,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsSPPersistent", {PERSISTENT, BYTES}},
|
||||
{"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
|
||||
{"CcncPortEolAck", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
|
||||
{"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
|
||||
{"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
@@ -185,7 +184,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
|
||||
{"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
|
||||
{"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"Offroad_CcncPortEol", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
|
||||
|
||||
@@ -1,8 +1,4 @@
|
||||
{
|
||||
"Offroad_CcncPortEol": {
|
||||
"text": "This branch will not receive any more functional updates. ccNC support is moving to master. See the ccNC Port topic on community.sunnypilot.ai for what you need to do.",
|
||||
"severity": 1
|
||||
},
|
||||
"Offroad_TemperatureTooHigh": {
|
||||
"text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
|
||||
"severity": 0
|
||||
|
||||
@@ -10,7 +10,6 @@ from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
|
||||
from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CcncPortEolGate, CcncPortEolNotice
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
|
||||
@@ -55,8 +54,6 @@ class MainLayout(Widget):
|
||||
if not self._onboarding_window.completed:
|
||||
gui_app.push_widget(self._onboarding_window)
|
||||
|
||||
self._ccnc_port_eol = CcncPortEolGate(self, CcncPortEolNotice)
|
||||
|
||||
def _render(self, _):
|
||||
self._handle_onroad_transition()
|
||||
self._render_main_content()
|
||||
|
||||
@@ -7,8 +7,6 @@ from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoad
|
||||
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
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CcncPortEolGate
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.ccnc_port_eol import MiciCcncPortEolNotice
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
@@ -66,8 +64,6 @@ class MiciMainLayout(Scroller):
|
||||
if not self._onboarding_window.completed:
|
||||
gui_app.push_widget(self._onboarding_window)
|
||||
|
||||
self._ccnc_port_eol = CcncPortEolGate(self, MiciCcncPortEolNotice)
|
||||
|
||||
# initialize correct onroad layout
|
||||
self._on_body_changed()
|
||||
|
||||
|
||||
@@ -1,71 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from collections.abc import Callable
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.common.qrcode import make_texture
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import FontWeight, TextAlignment, TextAlignmentVertical, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import Button, ButtonStyle
|
||||
from openpilot.system.ui.widgets.label import Label
|
||||
|
||||
CCNC_PORT_EOL_URL = "https://community.sunnypilot.ai/t/ccnc-port-non-hda2-hda2-supported-vehicles-features/1064/337?u=sunnyhaibin"
|
||||
|
||||
|
||||
class CcncPortEolGate:
|
||||
# The ack param clears on boot and on every offroad transition, so the notice is shown again after each drive.
|
||||
def __init__(self, main: Widget, notice_cls: Callable[[Callable[[], None]], Widget]):
|
||||
self._main = main
|
||||
self._notice = notice_cls(self._on_ack)
|
||||
self._acked = False
|
||||
gui_app.add_nav_stack_tick(self._tick)
|
||||
|
||||
def _tick(self):
|
||||
if ui_state.started:
|
||||
self._acked = False
|
||||
elif not self._acked and gui_app.get_active_widget() is self._main:
|
||||
gui_app.push_widget(self._notice)
|
||||
|
||||
def _on_ack(self):
|
||||
self._acked = True
|
||||
ui_state.params.put_bool("CcncPortEolAck", True, block=True)
|
||||
gui_app.pop_widgets_to(self._main, instant=True)
|
||||
|
||||
|
||||
class CcncPortEolNotice(Widget):
|
||||
def __init__(self, on_ack: Callable[[], None]):
|
||||
super().__init__()
|
||||
self._title = Label(tr("This branch is no longer updated"), font_size=75, font_weight=FontWeight.BOLD,
|
||||
text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
|
||||
self._desc = Label(tr("ccnc-port will not receive any more functional updates. ccNC support is moving to master.\n\n" +
|
||||
"Scan the QR code to see what you need to do."),
|
||||
font_size=55, font_weight=FontWeight.MEDIUM,
|
||||
text_alignment=TextAlignment.LEFT, text_alignment_vertical=TextAlignmentVertical.TOP)
|
||||
self._ack_btn = Button(tr("I understand"), button_style=ButtonStyle.PRIMARY, click_callback=on_ack)
|
||||
self._qr_texture = make_texture(CCNC_PORT_EOL_URL)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
rl.draw_rectangle_rec(rect, rl.BLACK)
|
||||
|
||||
qr_size = 560
|
||||
qr_x = rect.x + rect.width - qr_size - 90
|
||||
text_x = rect.x + 90
|
||||
text_w = qr_x - text_x - 60
|
||||
self._title.render(rl.Rectangle(text_x, rect.y + 90, text_w, 200))
|
||||
self._desc.render(rl.Rectangle(text_x, rect.y + 300, text_w, 450))
|
||||
|
||||
if self._qr_texture:
|
||||
src = rl.Rectangle(0, 0, self._qr_texture.width, self._qr_texture.height)
|
||||
rl.draw_texture_pro(self._qr_texture, src, rl.Rectangle(qr_x, rect.y + 90, qr_size, qr_size), rl.Vector2(0, 0), 0, rl.WHITE)
|
||||
|
||||
self._ack_btn.render(rl.Rectangle(rect.x + 45, rect.y + rect.height - 160 - 45, rect.width - 90, 160))
|
||||
|
||||
def __del__(self):
|
||||
if self._qr_texture and self._qr_texture.id != 0:
|
||||
rl.unload_texture(self._qr_texture)
|
||||
@@ -1,32 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from collections.abc import Callable
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.mici.layouts.onboarding import QRCodeWidget
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.ccnc_port_eol import CCNC_PORT_EOL_URL
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.mici_setup import GreyBigButton
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
|
||||
|
||||
class MiciCcncPortEolNotice(Scroller):
|
||||
def __init__(self, on_ack: Callable[[], None]):
|
||||
super().__init__()
|
||||
self._scroller.add_widgets([
|
||||
GreyBigButton("no longer\nupdated", "scroll to continue",
|
||||
gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
|
||||
GreyBigButton("", "ccnc-port will not receive any more functional updates. ccNC support is moving to master."),
|
||||
GreyBigButton("scan the QR code", "to see what to do"),
|
||||
QRCodeWidget(CCNC_PORT_EOL_URL),
|
||||
BigConfirmationCircleButton("I\nunderstand", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_ack),
|
||||
])
|
||||
|
||||
def _render(self, _):
|
||||
rl.draw_rectangle_rec(self._rect, rl.BLACK)
|
||||
super()._render(_)
|
||||
@@ -17,16 +17,25 @@ def main():
|
||||
parser.add_argument("--frame", required=True, help="width,height,stride,y_height,uv_height,buffer_size")
|
||||
parser.add_argument("--warp-to", required=True, help="model input WxH")
|
||||
parser.add_argument("--output", required=True)
|
||||
parser.add_argument("--split-frames", action="store_true", help="one input per camera (frame, big_frame), bound to the camera buffers by pointer")
|
||||
args = parser.parse_args()
|
||||
|
||||
from examples.openpilot.compile_warp import make_frame_prepare, parse_frame, parse_size
|
||||
from tinygrad import Device, Tensor, TinyJit
|
||||
frame = parse_frame(args.frame)
|
||||
warp = make_frame_prepare(frame, *parse_size(args.warp_to))
|
||||
run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
|
||||
rng = np.random.default_rng(42)
|
||||
inputs = {"input_frame": Tensor(rng.integers(0, 256, (2, frame.size), dtype=np.uint8), device=Device.DEFAULT).realize(),
|
||||
"M_inv": Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()}
|
||||
frames = rng.integers(0, 256, (2, frame.size), dtype=np.uint8)
|
||||
m_inv = Tensor((rng.standard_normal((2, 3, 3)) * 8).astype(np.float32), device=Device.DEFAULT).realize()
|
||||
if args.split_frames:
|
||||
run = TinyJit(lambda frame, big_frame, M_inv: Tensor.stack(warp(frame, M_inv[0]), warp(big_frame, M_inv[1])), prune=True)
|
||||
inputs = {"frame": Tensor(frames[0], device=Device.DEFAULT).realize(), "big_frame": Tensor(frames[1], device=Device.DEFAULT).realize(), "M_inv": m_inv}
|
||||
specs = {"frame": ((frame.size,), "|u1", Device.DEFAULT), "big_frame": ((frame.size,), "|u1", Device.DEFAULT),
|
||||
"M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
|
||||
else:
|
||||
run = TinyJit(lambda input_frame, M_inv: Tensor.stack(*(warp(input_frame[i], M_inv[i]) for i in range(2))), prune=True)
|
||||
inputs = {"input_frame": Tensor(frames, device=Device.DEFAULT).realize(), "M_inv": m_inv}
|
||||
specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
|
||||
with record_kernel_linear() as recorded:
|
||||
run(**inputs)
|
||||
run(**inputs)
|
||||
@@ -34,7 +43,6 @@ def main():
|
||||
assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
|
||||
part = serialize_jit(run, recorded[0], check)
|
||||
PlainJit(*part)
|
||||
specs = {"input_frame": ((2, frame.size), "|u1", Device.DEFAULT), "M_inv": ((2, 3, 3), "<f4", Device.DEFAULT)}
|
||||
write_bundle(args.output, {"run": part}, {"input_specs": specs, "metadata": {}})
|
||||
print(f"Saved warp to {args.output} ({len(part[0]['calls'])} kernels)")
|
||||
|
||||
|
||||
@@ -12,6 +12,8 @@ from functools import partial
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import _dtype, read_parts
|
||||
|
||||
SPLIT_FRAMES = ("big_frame", "frame")
|
||||
|
||||
|
||||
def pack_layout(shapes: dict[str, tuple], frame_size: int) -> tuple[dict[str, int], int]:
|
||||
offsets, offset = {}, 0
|
||||
@@ -39,29 +41,30 @@ def frame_part(warp_path: str, parts: dict, extras: dict) -> dict:
|
||||
(model, model_blob), (warp, warp_blob) = parts["run"], read_parts(warp_path)[0]["run"]
|
||||
states = sorted(name for name in extras["input_specs"] if f"next_{name}" in extras["metadata"]["output_shapes"])
|
||||
host = {name: shape for name, (shape, _, _) in extras["input_specs"].items() if name not in states and name != "new_img"}
|
||||
frame_size = next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2
|
||||
offsets, packed = pack_layout(host, frame_size)
|
||||
frame_specs = {s["name"]: s for s in warp["inputs"] if s["name"] in SPLIT_FRAMES}
|
||||
offsets, packed = pack_layout(host, 0 if frame_specs else next(s["numel"] for s in warp["inputs"] if s["name"] == "input_frame") // 2)
|
||||
shift, upload, u8 = len(model_blob), len(model["buffers"]) + len(warp["buffers"]), repr(_dtype("dtypes.uint8"))
|
||||
|
||||
def view(name: str, nbytes: int, dtype: str) -> dict:
|
||||
return {"buffer": upload, "offset": offsets[name], "nbytes": nbytes, "dtype": dtype}
|
||||
outputs = sorted(s["slot"] for s in model["inputs"] if s["name"] is None)
|
||||
names = sorted(["host", *states])
|
||||
names = sorted(["host", *states, *frame_specs])
|
||||
slots = {s["slot"]: names.index(s["name"]) for s in model["inputs"] if s["name"] in states} | \
|
||||
{slot: len(names) + i for i, slot in enumerate(outputs)}
|
||||
returned = warp["returns"]["tensors"][0]
|
||||
model_inputs = {s["slot"]: {"input": slots[s["slot"]]} if s["slot"] in slots else
|
||||
{k: v for k, v in returned.items() if k != "shape"} | {"buffer": returned["buffer"] + len(model["buffers"])} if s["name"] == "new_img" else
|
||||
view(s["name"], s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in model["inputs"]}
|
||||
warp_inputs = {s["slot"]: view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"])
|
||||
for s in warp["inputs"]}
|
||||
warp_inputs = {s["slot"]: {"input": names.index(s["name"])} if s["name"] in frame_specs else
|
||||
view("frames" if s["name"] == "input_frame" else "tfm", s["numel"] * _dtype(s["dtype"]).itemsize, s["dtype"]) for s in warp["inputs"]}
|
||||
|
||||
def remap(calls: list, inputs: dict, buffers: int, lib: int) -> list:
|
||||
return [call | ({"lib": [call["lib"][0] + lib, call["lib"][1] + lib]} if "lib" in call else {}) |
|
||||
{"args": [dict(inputs[a["input"]]) if "input" in a else a | {"buffer": a["buffer"] + buffers} for a in call["args"]]} for call in calls]
|
||||
header = {"input_names": names, "returns": {"kind": "NoneType", "tensors": []}, "check": None,
|
||||
"inputs": [{"slot": names.index("host"), "name": "host", "dtype": u8, "numel": packed, "device": "NPY"}] +
|
||||
[s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots],
|
||||
[s | {"slot": slots[s["slot"]]} for s in model["inputs"] if s["slot"] in slots] +
|
||||
[s | {"slot": names.index(name)} for name, s in frame_specs.items()],
|
||||
"buffers": model["buffers"] + [b | ({"init": [b["init"][0] + shift, b["init"][1] + shift]} if "init" in b else {}) for b in warp["buffers"]] +
|
||||
[{"nbytes": packed, "device": model["inputs"][0]["device"], "dtype": u8}],
|
||||
"calls": [{"kind": "copy", "args": [{"buffer": upload, "offset": 0, "nbytes": packed, "dtype": u8}, {"input": names.index("host")}]}] +
|
||||
|
||||
@@ -270,15 +270,32 @@ def _program_uop(call: dict, lib: bytes):
|
||||
UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
|
||||
|
||||
|
||||
def _input_tensors(kwargs: dict) -> list: # in _prepare_jit_inputs' order
|
||||
from tinygrad import Tensor
|
||||
tensors = [t for _, t in sorted(kwargs.items()) if t.__class__ is Tensor]
|
||||
for value in kwargs.values():
|
||||
tensors += [t for t in (value.values() if isinstance(value, dict) else value if isinstance(value, (tuple, list)) else ())
|
||||
if t.__class__ is Tensor and not any(t is y for y in tensors)]
|
||||
return tensors
|
||||
|
||||
|
||||
class _Jit:
|
||||
def __init__(self, captured, input_names: list, buffers: list):
|
||||
self.captured, self.input_names, self.buffers = captured, input_names, buffers
|
||||
|
||||
def __call__(self, *args, **kwargs):
|
||||
import tinygrad.engine.jit as jit
|
||||
from tinygrad.uop.ops import Ops
|
||||
# same names, no variables: the binding is the tensors' own uops, without _prepare_jit_inputs' graph rewrites
|
||||
if not args and self.__dict__.get("_names") == sorted(kwargs):
|
||||
tensors = _input_tensors(kwargs)
|
||||
if all(t.uop.is_realized for t in tensors):
|
||||
return self.captured([t.uop.src[0] if t.uop.op is Ops.UNSHARD else t.uop for t in tensors], {})
|
||||
input_uops, var_vals, names, _ = jit._prepare_jit_inputs(args, kwargs)
|
||||
if names != self.input_names:
|
||||
raise ValueError(f"expected inputs {self.input_names}, got {names}")
|
||||
if not args and not var_vals:
|
||||
self._names = sorted(kwargs)
|
||||
return self.captured(input_uops, var_vals)
|
||||
|
||||
|
||||
@@ -311,7 +328,7 @@ class PlainJit(_Jit):
|
||||
calls.append(_program_uop(call, bytes(blob[slice(*call["lib"])])).call(*arguments))
|
||||
else:
|
||||
calls.append(arguments[0].store_call(arguments[1]))
|
||||
# stand-ins for JIT inputs: copy staging to GPU is decided from the input buffers, the real ones bind per call
|
||||
# allocate gpu buffers
|
||||
stand_ins = {slot: UOp.from_buffer(Buffer(_device(spec["device"], device_map), spec["numel"] * _dtype(spec["dtype"]).itemsize).ensure_allocated(),
|
||||
_dtype(spec["dtype"])) for slot, spec in inputs.items()}
|
||||
input_uops = tuple(stand_ins.get(slot, next(iter(stand_ins.values()), None)) for slot in range(max(stand_ins, default=-1) + 1))
|
||||
|
||||
@@ -11,7 +11,7 @@ import pickle
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout
|
||||
from openpilot.sunnypilot.modeld_v2.frame_fusion import pack_layout, SPLIT_FRAMES
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import load_model
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import (POLICY_INPUTS, derive_frame_skip,
|
||||
make_split_input_queues, make_supercombo_input_queues)
|
||||
@@ -169,16 +169,18 @@ class NativeTinygradAdapter(BaseModelAdapter):
|
||||
self.warp_frame_size = self.frame_copy_size
|
||||
self._init_common()
|
||||
self.run_model = self.jits['run']
|
||||
self.split = [name for name in SPLIT_FRAMES if name in self.run_model.input_names]
|
||||
self.frame_inputs: dict[str, Tensor] = {}
|
||||
|
||||
self.input_queues = {name: Tensor(np.zeros(shape, dtype=dtype), device=self.model_device).realize()
|
||||
for name, (shape, dtype) in self.input_shapes.items() if name in self.state_pairs}
|
||||
shapes = {name: shape for name, (shape, _) in self.input_shapes.items() if name not in self.state_pairs and name != 'new_img'}
|
||||
offsets, packed = pack_layout(shapes, self.warp_frame_size)
|
||||
offsets, packed = pack_layout(shapes, 0 if self.split else self.warp_frame_size)
|
||||
self.packed_input = np.zeros(packed, dtype=np.uint8)
|
||||
self.host = Tensor(self.packed_input, device='NPY')
|
||||
self.numpy_inputs = {name: np.ndarray(shape, dtype=np.float32, buffer=self.packed_input, offset=offsets[name])
|
||||
for name, shape in ({'tfm': (2, 3, 3)} | shapes).items()}
|
||||
self.frames = self.packed_input[offsets['frames']:].reshape(2, self.warp_frame_size)
|
||||
self.frames = self.packed_input[offsets['frames']:].reshape(2, -1)
|
||||
|
||||
self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in self.jits['output_specs'].items()}
|
||||
for name, next_name in self.state_pairs.items():
|
||||
@@ -187,17 +189,29 @@ class NativeTinygradAdapter(BaseModelAdapter):
|
||||
|
||||
def copy_frames(self, bufs):
|
||||
for i, key in enumerate(self._vision_input_names):
|
||||
if key in bufs:
|
||||
if key not in bufs:
|
||||
continue
|
||||
if not self.split:
|
||||
data = bufs[key].data if hasattr(bufs[key], 'data') else bufs[key]
|
||||
np.copyto(self.frames[i], np.frombuffer(data, dtype=np.uint8, count=self.warp_frame_size))
|
||||
elif (name := ('frame', 'big_frame')[i]) in self.split:
|
||||
if isinstance(bufs[key], np.ndarray): # cached memory: the GPU would read stale lines in place
|
||||
self.frame_inputs[name] = Tensor(np.ascontiguousarray(bufs[key][:self.warp_frame_size]), device=self.model_device).realize()
|
||||
continue
|
||||
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data # visionipc buffers are coherent
|
||||
if (key, ptr) not in self._blob_cache:
|
||||
self._blob_cache[(key, ptr)] = Tensor.from_blob(ptr, (self.warp_frame_size,), dtype='uint8', device=self.model_device)
|
||||
self.frame_inputs[name] = self._blob_cache[(key, ptr)]
|
||||
|
||||
def reset_warmup_buffers(self) -> None:
|
||||
self.packed_input[:] = 0
|
||||
self.frame_inputs.clear()
|
||||
self._blob_cache.clear()
|
||||
for key in self.state_pairs:
|
||||
self.input_queues[key].assign(0).realize()
|
||||
|
||||
def run(self):
|
||||
self.run_model(host=self.host, **self.input_queues, output_buffers=self.outputs)
|
||||
self.run_model(host=self.host, **self.input_queues, **self.frame_inputs, output_buffers=self.outputs)
|
||||
return self.outputs['outputs']
|
||||
|
||||
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:4b22fd6bcb3a3e8a642e6866449dd9c30c12e694ff0741cad9e34e4b00d8c5fa
|
||||
size 3698799
|
||||
oid sha256:d776c72125156b5dd3eb59768409401e28c8a52a3a619cd3b9f02c10a156fda6
|
||||
size 3699072
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:9a17fd6acece4fab23784ef0f3f8bba28a049e9599e5e9e5ee7b36e4b1d24a6f
|
||||
size 7924847
|
||||
oid sha256:a3f13ed12e087817a86afd48b2496c66c4f61a1925065b676b2945e81fabaacd
|
||||
size 7924864
|
||||
|
||||
@@ -144,6 +144,21 @@ class TestPlainArtifact(OpenpilotTestCase):
|
||||
for name in ("outputs", "next_state_feat_q"):
|
||||
assert np.array_equal(inputs["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
|
||||
|
||||
split_path = os.path.join(self.tmp.name, "warp_split_tinygrad.pkl")
|
||||
with mock.patch.object(sys, "argv", ["compile_warp", "--frame", FRAME, "--warp-to", f"{MODEL_W}x{MODEL_H}", "--output", split_path, "--split-frames"]):
|
||||
compile_warp.main()
|
||||
split = load_model(path, cache=False, extend=functools.partial(frame_part, split_path))
|
||||
assert split["run"].input_names == ["big_frame", "frame", "host", "state_feat_q"]
|
||||
offsets, packed = pack_layout(HOST, 0)
|
||||
host = np.zeros(packed, np.uint8)
|
||||
for name, shape in ({"tfm": (2, 3, 3)} | HOST).items():
|
||||
np.ndarray(shape, np.float32, host, offsets[name])[...] = tfm.numpy() if name == "tfm" else inputs[name].numpy()
|
||||
out = {"outputs": Tensor.zeros(OUT).contiguous().realize(), "next_state_feat_q": Tensor.zeros(STATE).contiguous().realize()}
|
||||
split["run"](host=Tensor(host, device="NPY"), frame=Tensor(frames.numpy()[0]).realize(), big_frame=Tensor(frames.numpy()[1]).realize(),
|
||||
state_feat_q=expected["state_feat_q"], output_buffers=out)
|
||||
for name in ("outputs", "next_state_feat_q"):
|
||||
assert np.array_equal(out[name].numpy(), expected["output_buffers"][name].numpy()), name
|
||||
|
||||
def test_tinygrad_api_the_loader_reads(self):
|
||||
import tinygrad.engine.jit as jit
|
||||
from tinygrad.device import Buffer, TinyELF
|
||||
|
||||
@@ -252,7 +252,6 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
chestnut = Chestnut()
|
||||
chestnut_status = ChestnutStatus()
|
||||
branch = get_short_branch()
|
||||
set_offroad_alert("Offroad_CcncPortEol", True)
|
||||
|
||||
while not end_event.is_set():
|
||||
sm.update(PANDA_STATES_TIMEOUT)
|
||||
@@ -354,7 +353,6 @@ def hardware_thread(end_event, hw_queue) -> None:
|
||||
|
||||
startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
|
||||
startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
|
||||
startup_conditions["ccnc_port_eol_ack"] = params.get_bool("CcncPortEolAck")
|
||||
startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
|
||||
startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
|
||||
startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp
|
||||
|
||||
Reference in New Issue
Block a user