* stash
* fastest
* faster but not fastest
* clean up
* here too
* fix that
* revert
* already sorted
* rev
* clean up
* allow empty
* lower tm time for cache miss
* 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Replaced outdated `modeld` references with their `modeld_v2` counterparts for consistency and clarity across the codebase.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Replaces outdated model detection logic with unified `stock` runner integration, simplifying the decision flow for model selection.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.
* modeld: Retain pre-20hz drive model support
* Method not available anymore on OP
* some fixes
* Revert "Long planner get accel: new function args (#34288)"
* Revert "Fix low-speed allow_throttle behavior in long planner (#33894)"
* Revert "long planner: allow throttle reflects usage (#33792)"
* Revert "Gate acceleration on model gas press predictions (#33643)"
* Reapply "Gate acceleration on model gas press predictions (#33643)"
This reverts commit 76b08e37cb.
* Reapply "long planner: allow throttle reflects usage (#33792)"
This reverts commit c75244ca4e.
* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"
This reverts commit b2b7d21b7b.
* Reapply "Long planner get accel: new function args (#34288)"
This reverts commit 74dca2fccf.
* don't need
* retain snpe
* wrong
* they're symlinks
* remove
* put back into VCS
* add back
* don't include built
* Refactor model runner retrieval with caching support
Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.
* Update model runner determination logic with caching fix
Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.
* parse inputs via metadata
* load model and metadata dynamically
* cherry pick from devtekve as base
* lateral_control_params & prev_desired_curv: MLSIM V0 to Null Pointer
* old desired_curv data: MLSIM V1 to Postal Service
* Bringing what was on master back then
* Cleaning up
* Refactor model pipeline for modularity and dynamic input handling
Refactored the model pipeline by introducing helper functions to modularize model loading, metadata extraction, and input preparation. Improved flexibility in handling dynamic input keys and parsing outputs based on model configuration. Removed deprecated or unused code segments for cleaner and more maintainable structure.
* Push NDv2 because why not and fix modeld
* `Refactor model parsing and clean unused code dependencies`
Simplified `parse_outputs` by removing unnecessary `input_keys` parameter, ensuring cleaner logic. Updated `PROCESS_NAME` for standardization and eliminated deprecated `Pathlib` dependencies in model paths. Minor adjustments improve input handling for lateral control parameters.
* Refactor model and metadata loading functions.
Simplified and clarified `load_model` by renaming it to `get_model_path` and removing redundant variable assignments. Streamlined `load_metadata` by directly returning the loaded metadata without intermediate variables. These changes improve code readability and maintainability.
* Refactor modeld process selection based on SNPE support.
Introduce conditional logic to determine and start the appropriate modeld process (SNPE or default) based on hardware support. This improves flexibility and ensures correct process management.
* Walrus baby
* Update longitudinal_planner.py
* Improve model download progress handling and translations
Refactored model download status handling logic for better clarity and added mechanisms to track status changes efficiently. Updated UI text and translations across multiple languages to reflect consistent and accurate model download states.
* Revert "Update longitudinal_planner.py"
This reverts commit b44a687e4c.
* Fix variable naming for curvature size in modeld.py
Renamed the variable `len` to `length` to avoid conflict with the built-in `len()` function, improving code clarity and preventing potential errors. Also removed trailing spaces in commented-out sections for better formatting consistency.
* sync with upstream
* some are different
* should work
* sim_pose only exists in in ndv3 and prior
* dynamic meta constants
* fix
* uiview: disable power saving
* fix this
* ain't coasting for y'all
* Static analysis
* Refactor initialization of model inputs for clarity.
Removed redundant pre-initialization of `driving_style`, `nav_features`, and `nav_instructions` variables. Instead, directly initialize these within their respective conditional blocks for better readability and reduced memory usage.
* default to none
* enable in next PR
* more
* Revert "more"
This reverts commit f5a4220588.
* Revert "enable in next PR"
This reverts commit 621cc4f18e.
* no need to cast bool
* nuke
* fix desired curvature for pre LAv1 models
* mypy
* static
* fix
* new json
* Going to a test branch with a different model json list
* renamed model json
* Update model runner handling in custom.capnp and helpers
Refactored model runner logic by introducing a `runner` field in `custom.capnp` and simplifying `get_active_model_runner` logic. Removed deprecated function `get_model_runner_by_filename` and added a temporary filter in `fetcher.py` to enforce `snpe` until full tinygrad support is implemented.
* Revert "Update model runner handling in custom.capnp and helpers"
This reverts commit f34d872c13.
* Revert "renamed model json"
This reverts commit 15c6ed303b.
* Revert "Going to a test branch with a different model json list"
This reverts commit 4c1408fee5.
* Reapply "renamed model json"
This reverts commit c6fec6912a.
Reapply "Going to a test branch with a different model json list"
This reverts commit 83e253e9a3.
* Add 'runner' property to 'ModelBundle' and update relevant functions
The 'ModelBundle' class in 'custom.capnp' has been extended to include a 'runner' property. This required updating 'fetcher.py' to handle the 'runner' property when parsing model bundles. Additionally, the helper function 'get_model_runner_by_filename' has been removed from 'helpers.py' as it is no longer needed because the 'runner' property provides this information. The 'get_active_model_runner' function has also been updated in light of these changes.
* Refine bundle selection logic in SoftwarePanelSP
Improve logic for determining which model bundle to display by considering download status and failure state. Remove unnecessary function call to enhance clarity and maintainability.
* tmp
* Add retrieval of active model bundle in manager loop
Introduce a call to `get_active_bundle` to fetch the active model bundle and store it in `self.active_bundle`. This ensures the active bundle is always up-to-date during the model management process.
* Add "Use Default" option for model selection
Introduced a "Use Default" option in the model selection dropdown, allowing users to reset to the default model. Adjusted logic to handle default selection and ensure proper parameter updates. Fixed bundle status handling during the download process in the model manager.
* Refactor type hint in active_bundle assignment.
Removed an unnecessary type hint in the active_bundle assignment for cleaner and more maintainable code. This change does not affect functionality but improves code readability.
* no nested
* update json url
* split out
* format
* condense
* more
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
* Reapply "move car.capnp to opendbc" (#33725)
This reverts commit 9d52a5b485.
* why can't i repro?!
* Revert "why can't i repro?!"
This reverts commit 0435d218f790faf7b7aaed27d05ab9ee67b087e6.
* does this cause card to try and read it?
* better place
* wtf
* Reapply "why can't i repro?!"
This reverts commit d24fd5a0abf454f47d5591e3b39039fdc4d0251c.
* also here
* new OnroadEvent struct
* and migrate python
* more forgotten
* re-index new OnroadEvent struct
* fix!
* more missing
* migrate onroadEvents
migrate onroadEvents
* migrate dm events
* hacks to get proc replay to say succeeded
* Revert "hacks to get proc replay to say succeeded"
This reverts commit 0bb8803e5755d606ae9f09da5395d9f50678c7c7.
* update refs
* move most of /car
* move some car tests
move some car tests
* fix selfdrive/car/tests
* fix selfdrive/controls tests
* fix the rest of the selfdrive tests
* bump opendbc
* fix all tests
* few more non-test references
* remove opcar and move docs to car
fix these debugging scripts
fix docs
* bump opendbc and panda
forgot panda
old-commit-hash: e735a7f379
* ban cereal and msgq
* common too
* do toyota/values.py
* do all fingerprints
* example without builder
* this still works, but no type checking anymore
* stash
* wtf, how does this work
* okay actually not bad
* safe
* epic!
* stash data_structures.py
* some clean up
* hell yeah
* clean up old file
* add to delete
* delete
This reverts commit 90239b7797ace31ee647a2fdbd67e0c3faa98dcf.
* switch more CarParams stuff over
remove unused
* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(
* fix this too
* fix this too
* remove more cereal and add some good hyundai tests
* bunch more typing
* override default with 20hz radar
* temp capnp converter helper
* more lateralTuning
* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues
* can keep all this the same now!
* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)
* revert more
* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(
would have been `CarParams.NetworkLocation()`
* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("
This reverts commit bb28b228becba932052d2fc5a4389784027435b1.
* remove cereal from car_helpers (TODO: caching)
* remove a bunch of temp lines
* use dataclass_transform!
* remove some car.CarParams from the interfaces
* remove rest of car.CarParams from the interfaces
* same which() API
* sort
* from cereal/cache from fingerprinting!
* more typing
* dataclass to capnp helper for CarParams, cached it since it's kinda slow
* (partial) fix process replay fingerprintig for new API
* latcontrollers take capnp
* forgot this
* fix test_models
* fix unit tests
* not here
* VehicleModel and controller still takes capnp CP since they get it from Params()
* fix modeld test
* more fix
* need to namespace to structs, since CarState is both class and struct
* this was never in the base class?!
* clean that up again
* fix import error
fix import error
* cmts and more structs
* remove some more cereal from toyota + convert CarState to capnp
* bruh this was wrong
* replace more cereal
* EventName is one of the last things...
* replace a bunch more cereal.car
* missing imports
* more
* can fix this typing now
* proper toyota+others CS typing!
* mypy can detect return type of CS.update() now
* fix redeclaration of cruise_buttons type
* mypy is only complaining about events now
* temp fix
* add carControl struct
* replace CarControl
i hope there's no circular imports in hyundai's CC
* fine now
* lol this was wrong too
* fix crash
* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )
but attrs does, maybe will switch in the future
* clean up
* try out attr.s for its converter (doesn't work recursively yet, but interesting!)
* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"
This reverts commit ff2434f7bbd45a4d4bfb21f7d6712d1f1c3bcde9.
* test processes doesn't fail anymore (on toyota)!
* fix honda crash
* stash
* Revert "stash"
This reverts commit c1762af4e776790e4ad1322ad4ce0610157346e0.
* remove a bunch more cereal!
* LET'S GOOO
* fix these tests
* and these
* and that
* stash, something is wrong with hyundai enable
* Revert "stash, something is wrong with hyundai enable"
This reverts commit 39cf327def258e2959fe23cd7a550a858f6d8f03.
* forgot these
* remove cereal from fw_versions
* Revert "remove cereal from fw_versions"
This reverts commit 232b37cd409b55d04b1afc90d4a80c49e710eb56.
* remove rest of the cereal exceptions!
* fix that
* add typing to radard since I didn't realize RI.update() switched from cereal to structs
* and here too!
* add TODO for slots
* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )
* remove the struct converter
* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy
btw pickle.loads(pickle.dumps()) is faster by ~1% CPU
* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone
saves ~1% CPU
* add non-copying asdict function
* should save ~3% CPU (still 4% above baseline)
* fix that, no dict support
* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)
* give a better name
* fix
* dont support none, capitalize
* sheesh, this called type() on every field
* remove CS.events, clean up
* bump card %
* this was a bug on master!
* add a which enum
* default to pid
* revert
* update refs
* not needed, but consistent
* just Ecu
* don't need to do this in this pr
* clean up
* no cast
* consistent typing
* rm
* fix
* can do this if we're desperate for the last few %
* Revert "can do this if we're desperate for the last few %"
This reverts commit 18e11ac7883a0a56583750b1cc5a2b13011e7299.
* type this
* don't need to convert carControl
* i guess don't support set either
* fix CP type hint
* simplify that
old-commit-hash: 6a15c42143
