modeld_v2: Support eGpu

.github/workflows/build-single-tinygrad-model.yaml

@@ -34,6 +34,14 @@ on:
         required: false
         default: true
         type: boolean
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: false
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - usbgpu
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -81,9 +89,17 @@ 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
 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:
@@ -93,6 +109,7 @@ 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:

.github/workflows/sunnypilot-build-model.yaml

@@ -191,7 +191,7 @@ jobs:
           if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
             echo "USBGPU build"
             export USBGPU=1
-            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"

docs/AI_POLICY.md

@@ -1,44 +0,0 @@
-# AI policy
-
-## Why this exists
-
-We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
-
-If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
-
-## The rule
-
-You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
-
-1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
-
-2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
-
-3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
-
-4. No AI-generated media (images, diagrams, videos) in issues or PRs.
-
-## Disclosure
-
-If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
-
-```
-Assisted-by: GitHub Copilot
-Assisted-by: Claude
-```
-
-Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
-
-## How we review
-
-Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
-
-Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
-
-## What happens
-
-Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
-
-## Maintainers
-
-Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.

docs/CONTRIBUTING.md

@@ -1,5 +1,3 @@
-> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
-
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -37,7 +35,6 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
-* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 

openpilot/common/params_keys.h

@@ -197,7 +197,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"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"}},

openpilot/selfdrive/car/car_specific.py

@@ -56,9 +56,6 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
-      if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
-        events.add(EventName.belowEngageSpeed)
-
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
       if self.CP.openpilotLongitudinalControl:

openpilot/selfdrive/modeld/compile_modeld.py

@@ -3,7 +3,6 @@ import argparse
 import atexit
 import math
 import os
-import pickle
 import tempfile
 import time
 import shutil
@@ -13,7 +12,6 @@ from collections import namedtuple
 import numpy as np
 
 from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
-from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 def _patch_tinygrad_fetch_fw():
   import hashlib
@@ -31,22 +29,6 @@ def _patch_tinygrad_fetch_fw():
   helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()
 
-def _patch_tinygrad_buffer_reduce():
-  from tinygrad.device import Buffer
-  def __reduce_ex__(self, protocol):
-    buf = None
-    if self._base is not None:
-      return self.__class__, (self.device, self.size, self.dtype, None, None, None, 0, self.base, self.offset, self.is_allocated())
-    if self.device == "NPY":
-      return self.__class__, (self.device, self.size, self.dtype, self._buf, self.options, None, self.uop_refcount)
-    if self.is_allocated():
-      buf = bytearray(self.nbytes)
-      self.copyout(memoryview(buf))
-      if protocol >= 5:
-        buf = pickle.PickleBuffer(buf)
-    return self.__class__, (self.device, self.size, self.dtype, None, self.options, buf, self.uop_refcount)
-  Buffer.__reduce_ex__ = __reduce_ex__
-_patch_tinygrad_buffer_reduce()
 
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
@@ -312,9 +294,6 @@ if __name__ == "__main__":
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  if 'USB+AMD' in os.environ.get('DEV', ''):
-    wait_usbgpu_link()
-
   model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 

openpilot/selfdrive/modeld/helpers.py

@@ -6,10 +6,11 @@ import struct
 import tempfile
 from pathlib import Path
 
+from openpilot.common.file_chunker import get_manifest_path
+from openpilot.common.hardware.usb import CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID, USB_DEVICES_PATH
+
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
-USBGPU_VID = 0xADD1
-USBGPU_PID = 0x0001
 
 
 def get_tg_input_devices(process_name: str, usbgpu: bool):
@@ -38,22 +39,21 @@ def dump_oob(obj, f):
 def load_oob(f):
   opcodes = f.read(struct.unpack('<q', f.read(8))[0])
   def buffers():
-    prev = None
     while (h := f.read(8)):
-      if prev is not None:
+      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
-        prev.release()
+      f.readinto(pb)
-      buf = bytearray(struct.unpack('<q', h)[0])
+      yield pb
-      f.readinto(buf)
-      prev = pickle.PickleBuffer(buf)
-      yield prev
   return pickle.load(io.BytesIO(opcodes), buffers=buffers())
 
 def usbgpu_present() -> bool:
-  for d in Path("/sys/bus/usb/devices").glob("*"):
+  for d in USB_DEVICES_PATH.glob("*"):
     try:
-      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
+      usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
-          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+      if usb_id == (CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID):
         return True
     except Exception:
       pass
   return False
+
+def usbgpu_compiled() -> bool:
+  return Path(get_manifest_path(modeld_pkl_path(usbgpu=True))).is_file()

openpilot/selfdrive/modeld/modeld.py

@@ -2,6 +2,7 @@
 import os
 os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
+import threading
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
@@ -18,17 +19,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
-from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
-
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -36,16 +33,17 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
+BIG_MODEL_TIMEOUT = 60
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           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],
+    desired_accel = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                     plan[:,Plan.ACCELERATION][:,0],
+                                        plan[:,Plan.ACCELERATION][:,0],
-                                                     ModelConstants.T_IDXS,
+                                        ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
+                                        action_t=long_action_t)
     desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
                                                 plan[:,Plan.ORIENTATION_RATE][:,2],
                                                 ModelConstants.T_IDXS,
@@ -54,7 +52,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
   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 = should_stop(v_ego, desired_accel)
   desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
   if v_ego > MIN_LAT_CONTROL_SPEED:
     desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
@@ -63,7 +61,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
 
   return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
                                 desiredAcceleration=float(desired_accel),
-                                shouldStop=bool(should_stop))
+                                shouldStop=bool(stop))
 
 
 class FrameMeta:
@@ -76,12 +74,10 @@ class FrameMeta:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
 
-class ModelState(ModelStateBase):
+class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
-    ModelStateBase.__init__(self)
-    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
     jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
@@ -138,16 +134,24 @@ class ModelState(ModelStateBase):
       outputs_dict['raw_pred'] = model_output.copy()
     return outputs_dict
 
+  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}
+    eye = np.eye(3, dtype=np.float32)
+    dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
+    self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  _present = usbgpu_present()
+  USBGPU = usbgpu_present() and usbgpu_compiled()
-  _compiled = os.path.isfile(get_manifest_path(modeld_pkl_path(usbgpu=True)))
-  USBGPU = _present and _compiled
   params = Params()
-  params.put_bool("UsbGpuPresent", _present)
+  params.put_bool("UsbGpuLoading", USBGPU)
-  params.put_bool("UsbGpuCompiled", _compiled)
+  params.remove("UsbGpuActive")
 
   config_realtime_process(7, 54)
 
@@ -174,15 +178,33 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
-  if USBGPU:
-    wait_usbgpu_link()
   st = time.monotonic()
   cloudlog.warning("loading model")
-  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
+  model = None
+  if USBGPU:
+    big_model = None
+    def load_big():
+      nonlocal big_model
+      try:
+        m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
+        m.warmup()
+        big_model = m
+      except Exception:
+        cloudlog.exception("big model load failed")
+    loader = threading.Thread(target=load_big, daemon=True)
+    loader.start()
+    loader.join(BIG_MODEL_TIMEOUT)
+    model = big_model
+    params.put_bool("UsbGpuActive", model is not None)
+
+  small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or USBGPU else None
+  if model is None:
+    model = small_model
+  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"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
@@ -252,9 +274,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    if sm.frame % 60 == 0:
+    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -293,7 +313,17 @@ def main(demo=False):
     }
 
     mt1 = time.perf_counter()
-    model_output = model.run(bufs, transforms, inputs)
+    try:
+      model_output = model.run(bufs, transforms, inputs)
+    except Exception:
+      if not params.get_bool("UsbGpuActive"):
+        raise
+      # fallback to small model
+      cloudlog.exception("big model failed, fall back to small")
+      params.put_bool("UsbGpuActive", False)
+      model = small_model
+      run_count = 0
+      model_output = None
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
@@ -301,7 +331,6 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
@@ -316,14 +345,12 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 

openpilot/selfdrive/ui/layouts/main.py

@@ -13,7 +13,6 @@ from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout
 
 
 class MainState(IntEnum):

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
 
 ONROAD_DELAY = 2.5  # seconds
 

openpilot/selfdrive/ui/sunnypilot/layouts/home.py

@@ -1,68 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, 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.
-"""
-import pyray as rl
-from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.multilang import tr, trn
-from openpilot.system.ui.widgets.label import gui_label
-
-BRAND_FONT_SIZE = 48
-BRAND_DESC_SPACING = 12
-
-
-class HomeLayoutSP(HomeLayout):
-  def _render_header(self):
-    font = gui_app.font(FontWeight.MEDIUM)
-
-    version_text_width = self.header_rect.width
-
-    if self.update_available:
-      version_text_width -= self.update_notif_rect.width
-
-      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
-      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
-
-      text = tr("UPDATE")
-      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
-      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
-      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
-      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
-
-    if self.alert_count > 0:
-      version_text_width -= self.alert_notif_rect.width
-
-      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
-      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
-
-      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
-      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
-      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
-      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
-      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
-
-    if self.update_available or self.alert_count > 0:
-      version_text_width -= SPACING * 1.5
-
-    version_right = self.header_rect.x + self.header_rect.width
-    version_left = version_right - version_text_width
-
-    brand = "sunnypilot"
-    description = self.params.get("UpdaterCurrentDescription") or ""
-
-    desc_width = 0
-    if description:
-      desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
-      desc_width = desc_size.x
-      desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
-      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
-
-    brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
-    spacing = BRAND_DESC_SPACING if description else 0
-    brand_x = version_right - desc_width - spacing - brand_size.x
-    brand_rect = rl.Rectangle(max(version_left, brand_x), self.header_rect.y, brand_size.x, self.header_rect.height)
-    gui_label(brand_rect, brand, BRAND_FONT_SIZE, rl.WHITE, font_weight=FontWeight.AUDIOWIDE)

openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py

@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
     self._done_callback = done_callback
     self._step = 0
 
-    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
 
     self._content = [
       {

openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py

@@ -1,15 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, 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 openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
-from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.widgets.label import UnifiedLabel
-
-
-class MiciHomeLayoutSP(MiciHomeLayout):
-  def __init__(self):
-    super().__init__()
-    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)

openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -4,6 +4,7 @@ Copyright (c) 2021-, Haibin Wen, 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.cereal import custom
@@ -47,8 +48,10 @@ class CurrentModelInfo(Widget):
     self.info_text.render()
 
 class ModelsLayoutMici(NavScroller):
-  def __init__(self):
+  def __init__(self, back_callback: Callable):
     super().__init__()
+    self.set_back_callback(back_callback)
+    self.original_back_callback = back_callback
     self.focused_widget = None
 
     self.current_model_info = CurrentModelInfo()
@@ -82,10 +85,12 @@ class ModelsLayoutMici(NavScroller):
 
     return folders
 
-  def _push_selection_view(self, items):
+  def _show_selection_view(self, items, back_callback: Callable):
-    scroller = NavScroller()
+    self._scroller._items = items
-    scroller._scroller.add_widgets(items)
+    for item in items:
-    gui_app.push_widget(scroller)
+      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
+    self._scroller.scroll_panel.set_offset(0)
+    self.set_back_callback(back_callback)
 
   def _show_folders(self):
     self.focused_widget = self.select_model_btn
@@ -107,18 +112,15 @@ class ModelsLayoutMici(NavScroller):
           folder_buttons.insert(0, btn)
         else:
           folder_buttons.append(btn)
-    self._push_selection_view(folder_buttons)
+    self._show_selection_view(folder_buttons, self._reset_main_view)
-
-  def _pop_to_main(self):
-    gui_app.pop_widgets_to(self)
 
   def _select_model(self, bundle):
     ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
-    self._pop_to_main()
+    self._reset_main_view()
 
   def _select_default(self):
     ui_state.params.remove("ModelManager_ActiveBundle")
-    self._pop_to_main()
+    self._reset_main_view()
 
   def _select_folder(self, folder_name):
     favs = ui_state.params.get("ModelManager_Favs")
@@ -133,7 +135,13 @@ class ModelsLayoutMici(NavScroller):
       btn = BigButton(txt)
       btn.set_click_callback(lambda b=bundle: self._select_model(b))
       btns.append(btn)
-    self._push_selection_view(btns)
+    self._show_selection_view(btns, self._show_folders)
+
+  def _reset_main_view(self):
+    self._scroller._items = self.main_items  # type: ignore[assignment] # ty: ignore[invalid-assignment]
+    self.set_back_callback(self.original_back_callback)
+    self._scroller.scroll_panel.set_offset(0)
+    self._scroller.scroll_to(0)
 
   def hide_event(self):
     super().hide_event()

openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -32,11 +32,11 @@ class SettingsLayoutSP(OP.SettingsLayout):
                                                 BIG_ICON_SIZE)
     self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
 
-    sunnylink_panel = SunnylinkLayoutMici()
+    sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
     sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
     sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
 
-    models_panel = ModelsLayoutMici()
+    models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
     models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
     models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
 

openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 
+from collections.abc import Callable
 
 from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
@@ -53,8 +54,9 @@ class SunnylinkInfo(Widget):
     self.sponsor_text.render()
 
 class SunnylinkLayoutMici(NavScroller):
-  def __init__(self):
+  def __init__(self, back_callback: Callable):
     super().__init__()
+    self.set_back_callback(back_callback)
     self._restore_in_progress = False
     self._backup_in_progress = False
     self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")

openpilot/selfdrive/ui/tests/diff/replay_script.py

@@ -338,11 +338,8 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
 
   settings_cases: Cases = [
     lambda: scroll_through_cases(toggle_cases),
-    None,  # sunnylink (just open and close)
-    None,  # models (just open and close)
     lambda: scroll_through_cases(network_cases),
     lambda: scroll_through_cases(device_cases),
-    lambda: script.wait(WAIT_SHORT),  # software
     lambda: script.wait(WAIT_SHORT),  # pairing
     lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # firehose (scroll down and back up)
     lambda: scroll_through_cases(developer_cases),

openpilot/sunnypilot/modeld_v2/SConscript

@@ -1,9 +1,12 @@
 import os
 import glob
+import sys
+import subprocess
 
 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
+from openpilot.selfdrive.modeld.helpers import usbgpu_present
 
 Import('env', 'arch', 'release')
 lenv = env.Clone()
@@ -22,14 +25,21 @@ def get_camera_configs():
 
 CAMERA_CONFIGS = get_camera_configs()
 
-tg_flags = {
+def probe_devices():
-  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  return set(subprocess.run(
-  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
+    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
-}.get(arch, 'DEV=CPU:LLVM')
+    capture_output=True, text=True, check=True).stdout.strip().splitlines())
 
-image_flag = {
+available = probe_devices()
-  'larch64': 'IMAGE=2',
+if 'CUDA' in available:
-}.get(arch, 'IMAGE=0')
+  tg_backend = 'CUDA'
+  tg_flags = f'DEV={tg_backend}'
+elif 'QCOM' in available:
+  tg_backend = 'QCOM'
+  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
+else:
+  tg_backend = 'CPU'
+  tg_flags = f'DEV=CPU HOME={os.path.expanduser("~")}' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -41,17 +51,30 @@ 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]
 
+USBGPU = usbgpu_present()
+if USBGPU:
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
+  usbgpu_lock = File("models/.usb_gpu.lock").abspath
+
 def compile_combined(model_type, onnx_args, output_name):
-  output_pkl = File(f"models/{output_name}").abspath
+  for usbgpu in ([False, True] if USBGPU else [False]):
-  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
+    prefix = 'big_' if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '')
-         f'--model-type {model_type} '
+    final_output_name = prefix + output_name
-         f'--model-size {model_w}x{model_h} '
+    output_pkl = File(f"models/{final_output_name}").abspath
-         f'--camera-resolutions {camera_res_args} '
+
-         f'{onnx_args} '
+    active_tg_flags = usbgpu_tg_flags if usbgpu else tg_flags
-         f'--frame-skip {frame_skip} '
+
-         f'--output {output_pkl}')
+    cmd = (f'{pythonpath_string} {active_tg_flags} python3 {compile_modeld_script} '
-  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
+           f'--model-type {model_type} '
-  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+           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')]
+    node = lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+    if usbgpu:
+      lenv.SideEffect(usbgpu_lock, node)
 
 # Vision + Policy (stock default model)
 vision_onnx = File("models/driving_vision.onnx").abspath

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -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'
 
@@ -76,7 +76,7 @@ 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.")
@@ -92,69 +92,44 @@ 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 = {
-    npy_arrays = {
+    'tfm': np.zeros((3, 3), dtype=np.float32),
-      'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_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)
+  shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
 
-    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+  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 []
+  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):
+  for (k, s), v in zip(shapes.items(), split_views, strict=True):
-      npy_arrays[k] = v.reshape(s)
+    npy_arrays[k] = v.reshape(s)
 
-    queues = {
+  queues = {
-      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    '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(),
+    '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]),
+    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                    dtype=np.float32), device=device).contiguous().realize(),
+                  dtype=np.float32), device=device).contiguous().realize(),
-      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
-    }
+  }
 
-    if features_buffer:
+  if features_buffer:
-      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+    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()
+                       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')})
+  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()})
 
   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]:
+                            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, use_packed=use_packed)
+  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]:
+                                 device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
+  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],
@@ -233,29 +208,34 @@ def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_onl
     raise ValueError("Could not find vision, model, or policy metadata.")
 
   features_slice = feat_meta['output_slices']['hidden_state']
-  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
+  WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
 
   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)
+  def run_once(seed):
-
+    queues, npy = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
-  for i in range(3):
+    rng = np.random.default_rng(seed)
-    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():
+    for value in npy.values():
-      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
+      value[:] = rng.standard_normal(value.shape).astype(value.dtype)
-
     Device.default.synchronize()
-    start_time = time.perf_counter()
+    outs = run_jit(**queues, frame=frame, big_frame=big_frame)
-    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")
+    return [np.copy(value.numpy()) for value in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else []
 
-  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
+  for i in range(3):
-  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
+    run_once(42 + i)
+
+  if not prepare_only:
+    baseline = run_once(42)
+    with tempfile.TemporaryFile(dir=".") as f:
+      dump_oob(run_jit, f)
+      f.seek(0)
+      run_jit = load_oob(f)
+    assert all(np.array_equal(baseline, deserialized) for baseline, deserialized in zip(baseline, run_once(42), strict=True)), "OOB pickling regression"
+  return run_jit
 
 
 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -352,8 +332,7 @@ if __name__ == "__main__":
                         vision_runner, policy_runners, output_data['metadata']))
 
   with open(args.output, "wb") as file:
-    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    dump_oob(output_data, file)
-    pickle.dump(output_data, file)
 
   pkl_size = os.path.getsize(args.output)
   print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -10,11 +10,14 @@ import os
 os.environ['GMMU'] = '0'
 from openpilot.common.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-USBGPU = "USBGPU" in os.environ
+
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
+from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
+
+USBGPU = usbgpu_present()
 if USBGPU:
   os.environ['DEV'] = 'AMD'
   os.environ['AMD_IFACE'] = 'USB'
-import pickle
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
@@ -108,11 +111,10 @@ 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 = load_oob(open_file_chunked(pkl_path))
-    jits = pickle.load(open_file_chunked(pkl_path))
 
     self.DEV = Device.DEFAULT
-    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
+    self.WARP_DEV = ('QCOM' if TICI else 'CPU') if USBGPU else self.DEV
     self.QUEUE_DEV = self.DEV
 
     metadata = jits['metadata']
@@ -120,13 +122,6 @@ class ModelState(ModelStateBase):
     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', [])
-    else:
-      use_packed = True
-
     if 'model' in metadata:
       model_metadata = metadata['model']
       self.vision_output_slices = model_metadata['output_slices']
@@ -137,7 +132,7 @@ class ModelState(ModelStateBase):
       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']
@@ -156,7 +151,7 @@ class ModelState(ModelStateBase):
       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)
+                                                                     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)
@@ -189,6 +184,26 @@ class ModelState(ModelStateBase):
       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())
 
+    if 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
   def mlsim(self) -> bool:
@@ -265,11 +280,6 @@ 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()
-
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
@@ -306,6 +316,9 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
+  if USBGPU:
+    wait_usbgpu_link()
+
   # visionipc clients
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -340,6 +353,9 @@ def main(demo=False):
   publish_state = PublishState()
   params = Params()
 
+  params.put_bool("UsbGpuPresent", USBGPU)
+  params.put_bool("UsbGpuCompiled", USBGPU)
+
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
   frame_id = 0

openpilot/sunnypilot/models/fetcher.py

@@ -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._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}"
-    self._CACHE_KEY = "ModelManager_ModelsCache"
+    self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}"
 
   def _is_expired(self) -> bool:
     """Checks if the cache has expired"""
@@ -139,24 +140,28 @@ 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"
 
   def __init__(self, params: Params):
     self.params = params
-    self.model_cache = ModelCache(params)
     self.model_parser = ModelParser()
+    if usbgpu_present():
+      self.model_cache = ModelCache(params, suffix="_USBGPU")
+      self.model_url = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v18.json"
+    else:
+      self.model_cache = ModelCache(params)
+      self.model_url = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
 
   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}")
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}")
-        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+        raise HTTPError(f"404 Not Found: {self.model_url}", response=response)
 
       # Raise for any other 4xx/5xx
       response.raise_for_status()

openpilot/sunnypilot/models/tests/test_tinygrad_ref.py

@@ -1,11 +1,12 @@
 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
 
-
 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")