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Merge branch 'master' into hyundai-custom-button

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This commit is contained in:
royjr
2026-02-16 22:43:14 -05:00
parent cce4810904 f81e7245fe
commit 40dc4e1591
15 changed files with 102 additions and 86 deletions
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3
.github/workflows/build-all-tinygrad-models.yaml vendored
View File

@@ -140,7 +140,7 @@ jobs:
run: |
echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
built=(); while IFS= read -r line; do built+=("$line"); done < <(
ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
)
jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -168,6 +168,7 @@ jobs:
if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
runs-on: ubuntu-latest
strategy:
fail-fast: false
max-parallel: 1
matrix:
model: ${{ fromJson(needs.setup.outputs.model_matrix) }}

4
.github/workflows/repo-maintenance.yaml vendored
View File

@@ -43,7 +43,6 @@ jobs:
with:
submodules: true
- name: uv lock
if: github.repository == 'commaai/openpilot'
run: |
python3 -m ensurepip --upgrade
pip3 install uv
@@ -57,6 +56,9 @@ jobs:
- name: bump submodules
run: |
git config --global --add safe.directory '*'
git config submodule.msgq.update none
git config submodule.rednose_repo.update none
git config submodule.teleoprtc_repo.update none
git config submodule.tinygrad.update none
git submodule update --remote
git add .

2
.gitmodules vendored
View File

@@ -15,7 +15,7 @@
url = https://github.com/commaai/teleoprtc
[submodule "tinygrad"]
path = tinygrad_repo
url = https://github.com/commaai/tinygrad.git
url = https://github.com/sunnypilot/tinygrad.git
[submodule "sunnypilot/neural_network_data"]
path = sunnypilot/neural_network_data
url = https://github.com/sunnypilot/neural-network-data.git

4
Dockerfile.sunnypilot
View File

@@ -9,4 +9,6 @@ WORKDIR ${OPENPILOT_PATH}
COPY . ${OPENPILOT_PATH}/
RUN scons --cache-readonly -j$(nproc)
ENV UV_BIN="/home/batman/.local/bin/"
ENV PATH="$UV_BIN:$PATH"
RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

2
selfdrive/modeld/SConscript
View File

@@ -50,7 +50,7 @@ def tg_compile(flags, model_name):
# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
flags = {
'larch64': 'DEV=QCOM',
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
}.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
tg_compile(flags, model_name)

5
selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
View File

@@ -355,5 +355,10 @@ class SunnylinkLayout(Widget):
def show_event(self):
super().show_event()
ui_state.sunnylink_state.set_settings_open(True)
self._scroller.show_event()
self._sunnylink_description.set_visible(False)
def hide_event(self):
super().hide_event()
ui_state.sunnylink_state.set_settings_open(False)

2
sunnypilot/modeld_v2/SConscript
View File

@@ -60,7 +60,7 @@ def tg_compile(flags, model_name):
for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
if File(f"models/{model_name}.onnx").exists():
flags = {
'larch64': 'DEV=QCOM',
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
}.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
tg_compile(flags, model_name)

7
sunnypilot/modeld_v2/modeld.py
View File

@@ -1,4 +1,11 @@
#!/usr/bin/env python3
import os
from openpilot.system.hardware import TICI
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
USBGPU = "USBGPU" in os.environ
if USBGPU:
os.environ['DEV'] = 'AMD'
os.environ['AMD_IFACE'] = 'USB'
import time
import numpy as np
import cereal.messaging as messaging

2
sunnypilot/models/fetcher.py
View File

@@ -116,7 +116,7 @@ class ModelCache:
class ModelFetcher:
"""Handles fetching and caching of model data from remote source"""
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v11.json"
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v14.json"
def __init__(self, params: Params):
self.params = params

4
sunnypilot/models/helpers.py
View File

@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
from pathlib import Path
# see the README.md for more details on the model selector versioning
CURRENT_SELECTOR_VERSION = 13
REQUIRED_MIN_SELECTOR_VERSION = 12
CURRENT_SELECTOR_VERSION = 14
REQUIRED_MIN_SELECTOR_VERSION = 14
USE_ONNX = os.getenv('USE_ONNX', PC)

11
sunnypilot/models/runners/model_runner.py
View File

@@ -1,9 +1,7 @@
import os
from abc import abstractmethod, ABC
import numpy as np
from openpilot.sunnypilot.models.helpers import get_active_bundle
from openpilot.system.hardware import TICI
from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
from openpilot.system.hardware.hw import Paths
import pickle
@@ -11,15 +9,6 @@ import pickle
CUSTOM_MODEL_PATH = Paths.model_root()
# Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
USBGPU = "USBGPU" in os.environ
if USBGPU:
os.environ['DEV'] = 'AMD'
os.environ['AMD_IFACE'] = 'USB'
else:
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
class ModelData:
"""
Stores metadata and configuration for a specific machine learning model.

4
sunnypilot/models/runners/tinygrad/tinygrad_runner.py
View File

@@ -51,7 +51,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
self.input_to_dtype = {}
self.input_to_device = {}
for idx, name in enumerate(self.model_run.captured.expected_names):
info = self.model_run.captured.expected_st_vars_dtype_device[idx]
info = self.model_run.captured.expected_input_info[idx]
self.input_to_dtype[name] = info[2] # dtype
self.input_to_device[name] = info[3] # device
@@ -84,7 +84,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
def _run_model(self) -> NumpyDict:
"""Runs the Tinygrad model inference and parses the outputs."""
outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
outputs = self.model_run(**self.inputs).numpy().flatten()
return self._parse_outputs(outputs)
def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:

18
sunnypilot/sunnylink/sunnylink_state.py
View File

@@ -109,6 +109,8 @@ class SunnylinkState:
self.sunnylink_dongle_id = self._params.get("SunnylinkDongleId")
self._api = SunnylinkApi(self.sunnylink_dongle_id)
self._panel_open = False
self._load_initial_state()
def _load_initial_state(self) -> None:
@@ -166,10 +168,14 @@ class SunnylinkState:
def _worker_thread(self) -> None:
while self._running:
self._sm.update()
if self.is_connected():
self._fetch_roles()
self._fetch_users()
with self._lock:
panel_open = self._panel_open
if panel_open:
self._sm.update()
if self.is_connected():
self._fetch_roles()
self._fetch_users()
for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
if not self._running:
@@ -221,5 +227,9 @@ class SunnylinkState:
else:
return style.ITEM_TEXT_VALUE_COLOR
def set_settings_open(self, _open: bool) -> None:
with self._lock:
self._panel_open = _open
def __del__(self):
self.stop()

2
tinygrad_repo

Submodule tinygrad_repo updated: 7296c74cbd...3501a71478

118
uv.lock generated
View File

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