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24 Commits

Author SHA1 Message Date
Adeeb Shihadeh
e47d105b97 revert extra GPU power draw to prep for release 2025-05-20 14:28:30 -07:00
Adeeb Shihadeh
2382f1cab0 Run DM model twice, prep for bigger models (#34894) 
* twice

* swap

* adjust
 2025-03-24 15:54:42 -07:00
Harald Schäfer
d41311ca20 Switch PC running to tinygrad with LLVM (#34660) 
* try llvm on cpu

* update lock

* Make sure test fails

* With BEAM=3 its fast

* small fixes

* more fixes

* Fix macos

* do dm too

* rm ort
 2025-02-24 14:51:10 -08:00
Adeeb Shihadeh
d98a554b17 tici: set core affinity for all realtime processes (#34574) 2025-02-11 21:20:31 -08:00
Shane Smiskol
02ec9e5bf8 dmonitoringmodeld: clean exit (#34454) 
* nice exit

* correct spacing

* sentry
 2025-01-22 20:39:52 -08:00
Harald Schäfer
17ca6389e1 Tinygrad runner (#34261) 
* squash

* dmonitoringmodeld: use cl transform (#34235)

* needs cleanup

* only if tici

* bump tinygrad

* check width

* base modelframe

* .

* need to be args

* more cleanup

* no _frame in base

* tici only

* its DrivingModelFrame

* .6 is fair

---------

Co-authored-by: Comma Device <device@comma.ai>

* Update tinygrad

* tg upstream

* bump tg

* bump tg

* debug

* attr

* misc cleanup

* whitespace

* remove

* Add TODOs to make python proc for modelrunners

* whitespace

---------

Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
 2024-12-18 11:58:59 -08:00
ZwX1616
7352e612a2 dmonitoringmodeld: use cl transform without tinygrad (#34266) 
* merge

* why

* self.buf_size

* 0.05 more than with tg due to copy

---------

Co-authored-by: Comma Device <device@comma.ai>
 2024-12-16 16:29:06 -08:00
Harald Schäfer
f6885dcbec Revert Tinygrad (#34243) 
* Revert "dmonitoringmodeld: use cl transform (#34235)"

This reverts commit 684b0b9d4d.

* Revert "load model before calling convert_fp16_to_fp32"

This reverts commit 31606a7d15.

* Revert "bump tinygrad"

This reverts commit 44f58ff758.

* Revert "Tinygrad runner (#34171)"

This reverts commit 7b5a4fbb03.

* Allow init buffer

* typo
 2024-12-14 12:15:36 -08:00
ZwX1616
684b0b9d4d dmonitoringmodeld: use cl transform (#34235) 
* needs cleanup

* only if tici

* bump tinygrad

* check width

* base modelframe

* .

* need to be args

* more cleanup

* no _frame in base

* tici only

* its DrivingModelFrame

* .6 is fair

---------

Co-authored-by: Comma Device <device@comma.ai>
 2024-12-14 00:44:15 -08:00
Harald Schäfer
7b5a4fbb03 Tinygrad runner (#34171) 
* squash

* bump tg

* bump tg

* debump tinygrad

* bump tinygrad

* bump tg

* Skip init iteration

* fixes

* cleanups

* skip first test sample

* typos

* linter unhappy

* update cpu usage

* OPENCL just zeros for now

* imports

* Try printing

* Runs again, but slower

* unused import

* Allow more buffer with tg and all on gpu

* bump tinygrad

* seems ok

* stricter timings for driving looser for dm

* try llvm

* check nvidia

* More timeout for now

* make test pass

* Revert "try llvm"

This reverts commit ef136e478320101fea262bae3579e558da991902.

* small fixes

* whitespace

* revert test timeout

* No model runners

* Always CPU always fast

* No onnx runtime GPU

* more cores

* cleanup

* Is this faster

* Is this faster

* at least runs

* FP32 is faster than 16

* fix deps

* whitespace

* comment

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2024-12-11 23:15:20 -08:00
Adeeb Shihadeh
1ec2c56b4e gc old DM init param 2024-12-03 14:59:28 -08:00
Adeeb Shihadeh
d9d57e5d6f Revert ISP image processing + tinygrad bump (#34020) 
* Revert "Replace ThneedModel with TinygradModel (#33532)"

This reverts commit da952e9b64.

* Revert "camerad: move E + D cams image pipelines to the IFE (#33959)"

This reverts commit f2a1cce42b.
 2024-11-13 19:27:11 -08:00
Mitchell Goff
da952e9b64 Replace ThneedModel with TinygradModel (#33532) 
* squash

* bump tg

* bump tg

* debump tinygrad

* bump tinygrad

* bump tg

* Skip init iteration

* fixes

* cleanups

* skip first test sample

* typos

* linter unhappy

* update cpu usage

* OPENCL just zeros for now

* imports

* Try printing

* Runs again, but slower

* unused import

* Allow more buffer with tg and all on gpu

* bump tinygrad

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
 2024-11-11 13:32:21 -08:00
ZwX1616
a4848ceee9 Add driverStateV2 plots to model replay (#33967) 2024-11-07 21:49:15 -08:00
ZwX1616
876f192112 exec DM model with gpu (#33609) 
* half

old-commit-hash: 9f72eca003d4637ca7fe847ebaf925c694fc2e84

* optimed

old-commit-hash: 6e36e2a12e09275ec21d1590012a92b05ca52ff5

* thneed

old-commit-hash: 419a06c09c0c767d828bcd1e118bc575898c343a

* exec

old-commit-hash: 0059c27ec11b076a37f65d604ed135ea6541b1a6

* runner

old-commit-hash: 34232ada94450ce541eaef546197fa219810a891

* runs but

old-commit-hash: 3db37c00b6a64908293b4de8d8b56e80308cd8f2

* it is 01

old-commit-hash: a160d81eb1a7e77abbef959b44f602610f68f665

* np

old-commit-hash: c1caff6ba648cc2c0094c71b2ea074f01c3c2dc8

* module url

old-commit-hash: 6f4902c4d384263a53e2c1d14d93b5ff864b6a5f

* new

old-commit-hash: 779ae79b1bc3df6374fb6663ac8592e107a6e504

* ds fast

* is this work

* corcention

* real timing

* no reg

* interim gather

* 0e4a9c7b

* fa69be01, and halve

* list

* cleanup

* slighly faster

* setprotlt

* expected

* replay ref

* more powar

* reluctantly

* bump tg

* 8

* less

* less

* bump tg

* better than exp

* closer

* cc

* see diff

* commits

* was right

* to 32 cast

* remove dlc file

* support both

* dspExecutionTime -> gpuExecutionTime

* ignore

* time ref

* ref commit

* last

---------

Co-authored-by: Comma Device <device@comma.ai>
 2024-09-26 16:40:44 -07:00
Harald Schäfer
251e2e9400 Clip sigmoid overlfow (#33635) 
* No more C sigmoid

* Clipping

* Need to cast to float

* Update ref

* Clip

* Model refg
 2024-09-23 19:06:52 -07:00
ZwX1616
ffb6e11f96 Revert "exec DM model with gpu" (#33604) 
Revert "exec DM model with gpu (#33397)"

This reverts commit f79aca8e1e.
 2024-09-19 20:55:11 -07:00
ZwX1616
f79aca8e1e exec DM model with gpu (#33397) 
* half

old-commit-hash: 9f72eca003d4637ca7fe847ebaf925c694fc2e84

* optimed

old-commit-hash: 6e36e2a12e09275ec21d1590012a92b05ca52ff5

* thneed

old-commit-hash: 419a06c09c0c767d828bcd1e118bc575898c343a

* exec

old-commit-hash: 0059c27ec11b076a37f65d604ed135ea6541b1a6

* runner

old-commit-hash: 34232ada94450ce541eaef546197fa219810a891

* runs but

old-commit-hash: 3db37c00b6a64908293b4de8d8b56e80308cd8f2

* it is 01

old-commit-hash: a160d81eb1a7e77abbef959b44f602610f68f665

* np

old-commit-hash: c1caff6ba648cc2c0094c71b2ea074f01c3c2dc8

* module url

old-commit-hash: 6f4902c4d384263a53e2c1d14d93b5ff864b6a5f

* new

old-commit-hash: 779ae79b1bc3df6374fb6663ac8592e107a6e504

* ds fast

* is this work

* corcention

* real timing

* no reg

* interim gather

* 0e4a9c7b

* fa69be01, and halve

* list

* cleanup

* slighly faster

* setprotlt

* expected

* replay ref

* more powar

* reluctantly

* bump tg

* 8

* less

* less

* bump tg

* better than exp

* closer

* cc

* see diff

* commits

* was right

* to 32 cast

* remove dlc file

* support both

---------

Co-authored-by: Comma Device <device@comma.ai>
 2024-09-19 17:42:44 -07:00
Harald Schäfer
f870a968e9 Split cereal into cereal/msgq (#32631) 
* squash

* fix doc

* compile device

* compile device

* Update ref

* add msgq to precommit exclusions

* No service ports

* fix compile

* address comments

* More comments

* Delete logger

* Update opendbc

* Linting

* bump msgq
old-commit-hash: e71ec4e8d7
 2024-06-06 14:31:56 -07:00
Cameron Clough
9bd90112d0 use pyupgrade to update to new typing syntax (#31580) 
* add pyupgrade hook

* run pyupgrade (pre-commit run -a)

* ruff --fix

* Revert "add pyupgrade hook"

This reverts commit 56ec18bb6b8602a0b612f3803d96cdad14b52066.

* revert changes to third_party/

* manual type fixes

* explicit Optional wrapping capnp objects
old-commit-hash: 995250ae49
 2024-02-24 16:41:23 -08:00
Adeeb Shihadeh
59eb2988de swaglog.py goes in common/ (#30631) 
* swaglog.py goes in common/

* all of these go in release

* we'll even include the pyx
old-commit-hash: 35f819c823
 2023-12-06 17:27:51 -08:00
Adeeb Shihadeh
1cc4f1a634 new msgs default to invalid (#30587) 
* new msgs default to invalid

* fix lm

* set more valid

* update rest

* update refs

* fix logMessage

* more valids

* cleanup

* fix llk test

* pigeond is also valid

* more valids
old-commit-hash: a1d36961cf
 2023-12-03 10:50:17 -08:00
Mitchell Goff
65fc9f14b3 Update model input names to match onnx inputs (#29855) 
Updated model input names to match onnx inputs
old-commit-hash: 2d69f3d63e
 2023-09-08 16:06:16 -07:00
Mitchell Goff
5732002296 Rewrite dmonitoringmodeld in python (#29740) 
* Added dmonitoringmodeld.py

* Removed dmonitoringmodeld.cc

* Use ModelRunner helpers from runners/__init__.py

* Fixed DriverStateResult field ordering

* Some bug fixes

* Set calib input

* Look ma, no loop!

* Bump dmonitoringmodeld cpu usage in test_onroad

* Fixed memory leak caused by np.ctypes.data_as

* Formatting fixes

* chmod +x

* remove USE_ONNX_MODEL

* Realtime priority 1, formatting fixes
old-commit-hash: 503fa121ee
 2023-09-07 19:46:43 -07:00