mirror of
https://github.com/sunnypilot/sunnypilot.git
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royjr
77 lines
2.4 KiB
Markdown
77 lines
2.4 KiB
Markdown
# Wireless modeld proof of concept
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This runs driving `modeld` on a laptop and returns its cereal outputs to a comma
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device over the existing Wi-Fi network. It reuses the existing HEVC camera
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stream, VisionIPC decoder, and cereal ZMQ bridge.
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This is for offroad/bench testing only. Wi-Fi has no deterministic latency or
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availability guarantee. The device restores local `modeld` when the device-side
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helper exits, but that is not a seamless onroad failover.
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## Build
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Use the same commit on the laptop and comma device. Build the cereal bridge on
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the device:
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```sh
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scons -u openpilot/cereal/messaging/bridge
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```
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Build and test the normal model on the laptop first:
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```sh
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PATH="$PWD/.venv/bin:$PATH" scons -u
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```
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To compile the big external-GPU model for the laptop's local tinygrad backend:
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```sh
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PATH="$PWD/.venv/bin:$PATH" WGPU=1 scons -u \
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openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest
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```
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On macOS, the build selects tinygrad's Metal backend when it is available.
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On an 8-GPU-core M5 MacBook Air, the small model's compiled policy pass measured
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about 6–11 ms, while the big model measured about 79–81 ms. The latter already
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misses the 50 ms model cadence before network and codec latency, so start with
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the small model on that class of laptop.
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## Run
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Find the laptop's LAN IP address that the comma device can reach. While the
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device is offroad, run:
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```sh
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cd /data/openpilot
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python3 -m openpilot.tools.wgpu.device LAPTOP_IP
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```
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Keep that terminal open. On the laptop, run:
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```sh
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cd /path/to/openpilot
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python3 -m openpilot.tools.wgpu.host COMMA_IP
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```
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Add `--big-model` after `COMMA_IP` to use the locally compiled big model.
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The first remote `carParams` packet can take up to 50 seconds. Stop either side
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with Ctrl+C. Stop the device helper before changing branches or rebooting.
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For stationary bench testing only, model lag can be changed from a blocking
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event to a live warning showing model age and dropped frames. After ignition is
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on and manager is running, enable the temporary override on the device:
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```sh
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cd /data/openpilot
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python3 -c 'from openpilot.common.params import Params; Params().put_bool("WgpuBenchMode", True)'
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```
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The override requires `WgpuEnabled` and clears on manager restart or the next
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ignition-on transition. Disable it immediately with:
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```sh
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cd /data/openpilot
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python3 -c 'from openpilot.common.params import Params; Params().remove("WgpuBenchMode")'
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```
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