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DevTekVE
1a8dd310ae
* Add support for TinyGrad model runner processing Introduced a new function `is_tinygrad_model` to detect TinyGrad as an active model runner. Updated the `is_stock_model` logic to account for TinyGrad models and added a new process entry for TinyGrad in the model manager. This enables handling TinyGrad models alongside existing configurations. adding modeld back Add support for `modeld_v2` and update paths for consistency Updated `SConscript` files to integrate `modeld_v2` alongside `modeld` and adjusted script paths for correct metadata handling. Adjusted various configurations and scripts, such as `labeler.yaml` and `build_release.sh`, to include `modeld_v2` and ensure cohesive project structure. Refactor imports to use updated `modeld_v2` paths. Replaced outdated `modeld` references with their `modeld_v2` counterparts for consistency and clarity across the codebase. Also updated `.gitignore` to accommodate new directory structure. This change ensures better maintainability and alignment with the new directory schema. Refactor and reorganize modeld to sunnypilot/modeld_v2 structure. Moved and renamed `modeld` components to the new `sunnypilot/modeld_v2` directory for better organization and modularity. Updated imports and file references to align with the new structure, ensuring compatibility and functionality. Streamlined project structure to improve maintainability and future development. * typo * Use `stock` model runner and refactor model checks. Replaces outdated model detection logic with unified `stock` runner integration, simplifying the decision flow for model selection. Includes `stock` as a new enum in the `Runner` type and updates affected references accordingly. * Handle missing 'sim_pose' in model outputs gracefully. Added conditional checks to ensure the code handles cases where 'sim_pose' is absent in the model outputs. Fallback behaviors use 'plan' data when 'sim_pose' is unavailable, preventing potential errors and enhancing robustness.
163 lines
8.1 KiB
Python
163 lines
8.1 KiB
Python
import os
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import operator
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from cereal import car, custom
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from openpilot.common.params import Params
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from openpilot.system.hardware import PC, TICI
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from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
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from sunnypilot.models.helpers import get_active_model_runner
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from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
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WEBCAM = os.getenv("USE_WEBCAM") is not None
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def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started or params.get_bool("IsDriverViewEnabled")
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def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and CP.notCar
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def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not CP.notCar
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def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
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run = (not CP.notCar) or not params.get_bool("DisableLogging")
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return started and run
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def ublox_available() -> bool:
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return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
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def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
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use_ublox = ublox_available()
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if use_ublox != params.get_bool("UbloxAvailable"):
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params.put_bool("UbloxAvailable", use_ublox)
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return started and use_ublox
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def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("JoystickDebugMode")
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def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("JoystickDebugMode")
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def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and params.get_bool("LongitudinalManeuverMode")
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def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not params.get_bool("LongitudinalManeuverMode")
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def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started and not ublox_available()
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def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
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return True
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def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return started
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def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
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return not started
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def use_github_runner(started, params, CP: car.CarParams) -> bool:
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return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
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def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for sunnylink_ready to match the process manager signature."""
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return sunnylink_ready(params)
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def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for sunnylink_need_register to match the process manager signature."""
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return sunnylink_need_register(params)
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def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
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"""Shim for use_sunnylink_uploader to match the process manager signature."""
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return use_sunnylink_uploader(params)
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def is_snpe_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is SNPE."""
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return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
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def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is SNPE."""
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return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
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def is_stock_model(started, params, CP: car.CarParams) -> bool:
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"""Check if the active model runner is stock."""
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return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
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def or_(*fns):
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return lambda *args: operator.or_(*(fn(*args) for fn in fns))
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def and_(*fns):
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return lambda *args: operator.and_(*(fn(*args) for fn in fns))
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procs = [
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DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
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NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
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PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
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NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
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NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
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PythonProcess("logmessaged", "system.logmessaged", always_run),
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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# TODO Make python process once TG allows opening QCOM from child proc
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NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
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NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
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NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
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# TODO Make python process once TG allows opening QCOM from child proc
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
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NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
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PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
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PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
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PythonProcess("card", "selfdrive.car.card", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
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PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
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PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
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PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("hardwared", "system.hardware.hardwared", always_run),
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PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
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PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
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PythonProcess("uploader", "system.loggerd.uploader", always_run),
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PythonProcess("statsd", "system.statsd", always_run),
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# debug procs
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NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
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PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
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PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
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PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
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# sunnylink <3
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DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
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PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
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]
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# sunnypilot
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procs += [
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PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
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NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
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NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
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]
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if os.path.exists("./github_runner.sh"):
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procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
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if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
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procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
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managed_processes = {p.name: p for p in procs}
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