mirror of
https://github.com/sunnypilot/sunnypilot.git
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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 Replaced outdated `modeld` references with their `modeld_v2` counterparts for consistency and clarity across the codebase.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 Replaces outdated model detection logic with unified `stock` runner integration, simplifying the decision flow for model selection.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.
47 lines
1.8 KiB
Python
Executable File
47 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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from cereal import car, log, messaging
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from openpilot.common.params import Params
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from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
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from openpilot.system.hardware import HARDWARE
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if __name__ == "__main__":
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CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
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params = Params()
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params.put("CarParams", CP.to_bytes())
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if use_snpe_modeld := is_snpe_model(False, params, CP):
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print("Using SNPE modeld")
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if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
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print("Using TinyGrad modeld")
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if use_stock_modeld := is_stock_model(False, params, CP):
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print("Using stock modeld")
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HARDWARE.set_power_save(False)
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procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
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procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
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for p in procs:
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managed_processes[p].start()
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pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams'])
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msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
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msgs['deviceState'].deviceState.started = True
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msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type()
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msgs['carParams'].carParams.openpilotLongitudinalControl = True
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msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
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msgs['pandaStates'].pandaStates[0].ignitionLine = True
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msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno
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try:
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while True:
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time.sleep(1 / 100) # continually send, rate doesn't matter
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for s in msgs:
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pm.send(s, msgs[s])
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except KeyboardInterrupt:
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for p in procs:
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managed_processes[p].stop()
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