Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into hkg-angle-steering-2025

# Conflicts: # opendbc_repo
2026-09-10 13:33:43 +08:00 · 2026-09-07 20:51:40 -04:00 · 2026-08-27 16:57:56 -04:00 · 2026-08-25 02:03:09 -04:00 · 2026-08-23 16:35:28 +02:00 · 2026-08-17 10:29:01 -04:00
13 changed files with 2484 additions and 337 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -1,148 +0,0 @@
-name: Test Stock vs Sunnypilot Model Equivalence
-
-on:
-  workflow_dispatch:
-    inputs:
-      model_ref:
-        description: 'Upstream openpilot commit ref'
-        required: false
-        default: ''
-  pull_request:
-    paths:
-      - 'openpilot/selfdrive/modeld/**'
-      - 'openpilot/sunnypilot/modeld_v2/**'
-
-jobs:
-  test_stock_parity:
-    name: Compare Stock vs Sunnypilot Model Replay
-    runs-on: macos-latest
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - run: scons -j$(nproc 2>/dev/null || sysctl -n hw.logicalcpu) openpilot/cereal msgq_repo openpilot/common
-      - name: Fetch Big Model ONNX
-        run: |
-          mkdir -p /tmp/onnx_models
-          if [ -n "${{ inputs.model_ref }}" ]; then
-            echo "Fetching ONNX from upstream openpilot ref ${{ inputs.model_ref }}..."
-            git clone --depth 1 https://github.com/commaai/openpilot.git /tmp/upstream_openpilot
-            cd /tmp/upstream_openpilot
-            git fetch --depth 1 origin ${{ inputs.model_ref }}
-            git checkout ${{ inputs.model_ref }}
-            git lfs pull -I "**/selfdrive/modeld/models/big_driving_supercombo.onnx"
-            find . -name "big_driving_supercombo.onnx" -exec cp {} /tmp/onnx_models/ \;
-          else
-            cp openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx /tmp/onnx_models/
-          fi
-
-      - name: Compile models
-        env:
-          DEV: "CPU"
-          JIT_BATCH_SIZE: "0"
-        run: |
-          BIG_ONNX="/tmp/onnx_models/big_driving_supercombo.onnx"
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RESOLUTIONS=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-
-          python3 openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx "$BIG_ONNX" \
-            --model-size "$MODEL_SIZE" \
-            --camera-resolutions $CAMERA_RESOLUTIONS \
-            --output /tmp/stock_model.pkl \
-            --frame-skip 4 \
-            --benchmark-runs 1 &
-
-          python3 openpilot/sunnypilot/modeld_v2/compile_modeld.py \
-            --model-type supercombo \
-            --supercombo-onnx "$BIG_ONNX" \
-            --model-size "$MODEL_SIZE" \
-            --camera-resolutions $CAMERA_RESOLUTIONS \
-            --output /tmp/sunnypilot_model.pkl \
-            --frame-skip 4 \
-            --benchmark-runs 1 &
-          wait
-
-      - name: Run model replay
-        env:
-          DEV: "CPU"
-        run: |
-          python3 openpilot/sunnypilot/modeld_v2/model_replay.py \
-            --sunnypilot-model /tmp/sunnypilot_model.pkl \
-            --stock-model /tmp/stock_model.pkl \
-            --frames 20 \
-            --plot-dir /tmp/replay_plots
-
-      - name: Upload Replay Plots
-        uses: actions/upload-artifact@v4
-        if: always()
-        continue-on-error: true
-        with:
-          name: model_replay_plots_${{ github.event.number || github.sha }}
-          path: /tmp/replay_plots
-
-      - name: Checkout ci-artifacts
-        if: github.repository == 'sunnypilot/sunnypilot' && github.event_name == 'pull_request'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/ci-artifacts
-
-      - name: Push plots to ci-artifacts
-        if: github.repository == 'sunnypilot/sunnypilot' && github.event_name == 'pull_request'
-        working-directory: ${{ github.workspace }}/ci-artifacts
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          BRANCH="model_replay_pr_${{ github.event.number }}"
-          git fetch origin $BRANCH || true
-          git checkout $BRANCH 2>/dev/null || git checkout --orphan $BRANCH
-          rm -rf plots && mkdir -p plots
-          cp /tmp/replay_plots/*.png plots/
-          echo "${{ github.sha }}" > ref_commit
-          git add plots ref_commit
-          git commit -m "Model replay plots for PR #${{ github.event.number }}@${{ github.sha }}" || echo "No changes to commit"
-          git push origin $BRANCH --force
-
-      - name: Comment Model Replay Report on PR
-        if: github.repository == 'sunnypilot/sunnypilot' && github.event_name == 'pull_request'
-        uses: actions/github-script@v7
-        with:
-          script: |
-            const fs = require('fs');
-            const prNumber = context.payload.pull_request.number;
-            const branch = `model_replay_pr_${prNumber}`;
-            const baseUrl = `https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/${branch}/plots`;
-
-            const priorityPlots = ['desiredCurvature.png', 'desiredAcceleration.png', 'velocity.x.png', 'leadsV3.x.png', 'execution_timings.png'];
-            const allFiles = fs.readdirSync('/tmp/replay_plots').filter(f => f.endsWith('.png'));
-            const orderedFiles = [
-              ...priorityPlots.filter(f => allFiles.includes(f)),
-              ...allFiles.filter(f => !priorityPlots.includes(f)).sort()
-            ];
-
-            let table = '<table>';
-            for (let i = 0; i < orderedFiles.length; i += 2) {
-              table += '<tr>';
-              table += `<td><img src="${baseUrl}/${orderedFiles[i]}" alt="${orderedFiles[i]}"><br><b>${orderedFiles[i].replace('.png', '')}</b></td>`;
-              if (i + 1 < orderedFiles.length) {
-                table += `<td><img src="${baseUrl}/${orderedFiles[i+1]}" alt="${orderedFiles[i+1]}"><br><b>${orderedFiles[i+1].replace('.png', '')}</b></td>`;
-              } else {
-                table += '<td></td>';
-              }
-              table += '</tr>';
-            }
-            table += '</table>';
-
-            const body = `### Model Replay Parity Report for PR #${prNumber} (@${context.sha.substring(0, 7)})\n\n` +
-              `<details><summary>All Model Replay Plots</summary>\n\n${table}\n\n</details>`;
-
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: body
-            });
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -37,6 +37,8 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "release3-staging"): "release-tizi-staging",
  ("mici", "release3"): "release-mici",
  ("mici", "release3-staging"): "release-mici-staging",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -1,187 +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 argparse
-import os
-import sys
-import time
-import matplotlib.pyplot as plt
-import numpy as np
-from tinygrad.device import Device
-
-from openpilot.common.file_chunker import open_file_chunked
-from openpilot.selfdrive.modeld.compile_modeld import MODELD_INPUTS, make_input_queues, nv12_copy_size
-from openpilot.selfdrive.modeld.helpers import load_oob
-from openpilot.selfdrive.test.process_replay.model_replay import SEGMENT, TEST_ROUTE
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-
-
-def get_replay_video_source(route_or_path=None, segment_index=SEGMENT, camera_type="fcamera.hevc"):
-  if route_or_path and os.path.exists(route_or_path):
-    return route_or_path
-  selected_route = route_or_path or TEST_ROUTE
-  return get_url(selected_route, segment_index, camera_type)
-
-
-def initialize_replay_queues(model_dictionary, device="CPU"):
-  metadata = model_dictionary.get("metadata", {})
-  model_meta = metadata.get("model", metadata)
-  input_shapes = model_meta.get("input_shapes", {})
-  cam_resolutions = list(model_dictionary.get("run_model", {}).keys())
-  cam_width, cam_height = cam_resolutions[0] if cam_resolutions else (1928, 1208)
-  nv12_info = get_nv12_info(cam_width, cam_height)
-  frame_copy_size = nv12_copy_size(nv12_info[0], nv12_info[1], nv12_info[2])
-  frame_skip = model_meta.get("frame_skip") or derive_frame_skip({}, input_shapes)
-  queues, npy_views, frame_views = make_input_queues(input_shapes, frame_skip, device, frame_copy_size)
-  if "tfm" in npy_views:
-    npy_views["tfm"][:] = np.eye(3, dtype=np.float32)
-  if "big_tfm" in npy_views:
-    npy_views["big_tfm"][:] = np.eye(3, dtype=np.float32)
-  if "traffic_convention" in npy_views:
-    npy_views["traffic_convention"][:] = np.array([1.0, 0.0], dtype=np.float32)
-  return queues, npy_views, frame_views, model_meta
-
-
-def replay_model_on_frames(model_path, frame_reader, number_of_frames=20):
-  with open_file_chunked(model_path) as file_handle:
-    model_data = load_oob(file_handle)
-  run_model_dict = model_data.get("run_model", {})
-  runner = next(iter(run_model_dict.values()), None)
-  if runner is None:
-    raise ValueError("Failed to resolve runner from model dictionary")
-
-  queues, npy_views, frame_views, model_meta = initialize_replay_queues(model_data)
-  output_slices = model_meta.get("output_slices", {})
-  hidden_state_slice = output_slices.get("hidden_state")
-  parser = Parser(ignore_missing=True)
-  recorded_outputs = []
-  max_frames = min(number_of_frames, getattr(frame_reader, "frame_count", number_of_frames))
-
-  for frame_index in range(max_frames):
-    frame_raw = frame_reader.get(frame_index)
-    if frame_raw is not None:
-      for view in frame_views.values():
-        copy_length = min(view.size, frame_raw.size)
-        view.flat[:copy_length] = frame_raw.flat[:copy_length]
-
-    execution_arguments = {key: queues[key] for key in MODELD_INPUTS if key in queues}
-    execution_start = time.perf_counter()
-    step_output = runner(**execution_arguments)
-    Device.default.synchronize()
-    step_duration = time.perf_counter() - execution_start
-
-    output_array = (step_output[0].numpy() if hasattr(step_output[0], "numpy") else np.array(step_output[0]))
-    flat_output = output_array.flatten()
-
-    if hidden_state_slice and "prev_feat" in npy_views:
-      features_flat = flat_output[hidden_state_slice]
-      target_slice = min(features_flat.size, npy_views["prev_feat"].size)
-      npy_views["prev_feat"].flat[:target_slice] = features_flat[:target_slice]
-
-    sliced_outputs = {slice_name: flat_output[np.newaxis, slice_range] for slice_name, slice_range in output_slices.items()}
-    parser.parse_outputs(sliced_outputs)
-
-    recorded_outputs.append({
-      "frame_index": frame_index,
-      "raw_output": output_array,
-      "parsed_outputs": sliced_outputs,
-      "execution_time": step_duration,
-    })
-  return recorded_outputs
-
-
-def plot_comparison(series_a, series_b, title, output_directory, label_a="modeld_v2 model", label_b="stock"):
-  os.makedirs(output_directory, exist_ok=True)
-  figure, axis = plt.subplots()
-  axis.plot(series_b, label=label_b)
-  axis.plot(series_a, label=label_a, linestyle="--")
-  axis.set_title(title)
-  axis.legend(loc="best")
-  plot_path = os.path.join(output_directory, f"{title}.png")
-  figure.savefig(plot_path)
-  plt.close(figure)
-  return plot_path
-
-
-def compare_models_on_route(new_model_path, old_model_path, route_or_path=None, segment_index=SEGMENT,
-                            number_of_frames=20, tolerance=1e-4, label_a="modeld_v2 model", label_b="stock",
-                            plot_directory=None, enforce_timings=False):
-  video_url_or_path = get_replay_video_source(route_or_path, segment_index)
-  frame_reader = FrameReader(video_url_or_path, pix_fmt="nv12")
-  old_results = replay_model_on_frames(old_model_path, frame_reader, number_of_frames)
-  new_results = replay_model_on_frames(new_model_path, frame_reader, number_of_frames)
-
-  for step_index, (new_step, old_step) in enumerate(zip(new_results, old_results, strict=True)):
-    new_array = new_step["raw_output"]
-    old_array = old_step["raw_output"]
-    if not np.allclose(new_array, old_array, atol=tolerance, rtol=tolerance):
-      max_absolute_error = np.max(np.abs(new_array - old_array))
-      sys.stderr.write(f"Replay mismatch at frame {step_index}: max absolute error {max_absolute_error:.6f} exceeds tolerance {tolerance}\n")
-      return False
-
-  if len(new_results) > 1 and len(old_results) > 1:
-    new_timings = [step["execution_time"] * 1000.0 for step in new_results[1:] if "execution_time" in step]
-    old_timings = [step["execution_time"] * 1000.0 for step in old_results[1:] if "execution_time" in step]
-    if new_timings and old_timings:
-      print("------------------------------------------------")
-      print("----------------- Model Timing -----------------")
-      print("------------------------------------------------")
-      print(f"{label_a}: avg {np.mean(new_timings):6.2f} ms | max {np.max(new_timings):6.2f} ms")
-      print(f"{label_b}: avg {np.mean(old_timings):6.2f} ms | max {np.max(old_timings):6.2f} ms")
-
-      if plot_directory:
-        first_step_outputs = new_results[0].get("parsed_outputs", {})
-        if "action" in first_step_outputs:
-          series_a_curv = [step["parsed_outputs"]["action"].flatten()[0] for step in new_results]
-          series_b_curv = [step["parsed_outputs"]["action"].flatten()[0] for step in old_results]
-          plot_comparison(series_a_curv, series_b_curv, "desiredCurvature", plot_directory, label_a, label_b)
-
-          series_a_accel = [step["parsed_outputs"]["action"].flatten()[1] for step in new_results]
-          series_b_accel = [step["parsed_outputs"]["action"].flatten()[1] for step in old_results]
-          plot_comparison(series_a_accel, series_b_accel, "desiredAcceleration", plot_directory, label_a, label_b)
-
-        if "plan" in first_step_outputs:
-          series_a_vel = [step["parsed_outputs"]["plan"].flatten()[0] for step in new_results]
-          series_b_vel = [step["parsed_outputs"]["plan"].flatten()[0] for step in old_results]
-          plot_comparison(series_a_vel, series_b_vel, "velocity.x", plot_directory, label_a, label_b)
-
-        if "lead" in first_step_outputs:
-          series_a_lead = [step["parsed_outputs"]["lead"].flatten()[0] for step in new_results]
-          series_b_lead = [step["parsed_outputs"]["lead"].flatten()[0] for step in old_results]
-          plot_comparison(series_a_lead, series_b_lead, "leadsV3.x", plot_directory, label_a, label_b)
-
-        plot_comparison(new_timings, old_timings, "execution_timings", plot_directory, label_a, label_b)
-
-        for slice_name in first_step_outputs:
-          series_a = [np.mean(step["parsed_outputs"][slice_name]) for step in new_results if slice_name in step["parsed_outputs"]]
-          series_b = [np.mean(step["parsed_outputs"][slice_name]) for step in old_results if slice_name in step["parsed_outputs"]]
-          if series_a and series_b:
-            plot_comparison(series_a, series_b, f"output_{slice_name}", plot_directory, label_a, label_b)
-  print(f"Replay comparison result on route ({label_a} vs {label_b}): True")
-  return True
-
-
-if __name__ == "__main__":
-  argument_parser = argparse.ArgumentParser(description="Model Replay on Real Driving Video")
-  argument_parser.add_argument("--sunnypilot-model", dest="model_a", default=None)
-  argument_parser.add_argument("--stock-model", dest="model_b", default=None)
-  argument_parser.add_argument("--route", default=TEST_ROUTE)
-  argument_parser.add_argument("--segment", type=int, default=SEGMENT)
-  argument_parser.add_argument("--frames", type=int, default=20)
-  argument_parser.add_argument("--plot-dir", default=None)
-  parsed_arguments = argument_parser.parse_args()
-
-  matches = compare_models_on_route(parsed_arguments.model_a, parsed_arguments.model_b, route_or_path=parsed_arguments.route,
-                                    segment_index=parsed_arguments.segment, number_of_frames=parsed_arguments.frames,
-                                    tolerance=1e-4, label_a="modeld_v2 model",
-                                    label_b="stock", plot_directory=parsed_arguments.plot_dir)
-  if not matches:
-    sys.exit(1)