move models to selfdrive/modeld/ (#24539)

* move models to selfdrive/modeld/

* two more refs
old-commit-hash: 319f3d1475f2f212b63f32dbace476f63b3caf14

release/build_release.sh

@@ -76,7 +76,7 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm models/supercombo.dlc
+rm selfdrive/modeld/models/supercombo.dlc
 
 # Move back signed panda fw
 mkdir -p panda/board/obj

release/files_common

@@ -56,9 +56,6 @@ common/transformations/transformations.pyx
 
 common/api/__init__.py
 
-models/supercombo.dlc
-models/dmonitoring_model_q.dlc
-
 release/*
 
 tools/lib/*
@@ -340,6 +337,8 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/dmonitoring.cc
 selfdrive/modeld/models/dmonitoring.h
+selfdrive/modeld/models/supercombo.dlc
+selfdrive/modeld/models/dmonitoring_model_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
 selfdrive/modeld/transforms/loadyuv.h

selfdrive/modeld/SConscript

@@ -63,7 +63,7 @@ common_model = lenv.Object(common_src)
 
 # build thneed model
 if use_thneed and arch == "larch64":
-  fn = File("#models/supercombo").abspath
+  fn = File("models/supercombo").abspath
   compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
   cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} {fn}.dlc {fn}_badweights.thneed --binary"
 

selfdrive/modeld/models/dmonitoring.cc

@@ -39,9 +39,9 @@ void dmonitoring_init(DMonitoringModelState* s) {
   init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT);
 
 #ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("../../models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
 #else
-  s->m = new SNPEModel("../../models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
 #endif
 
   s->m->addCalib(s->calib, CALIB_LEN);

selfdrive/modeld/models/driving.cc

@@ -32,11 +32,11 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
   s->wide_frame = new ModelFrame(device_id, context);
 
 #ifdef USE_THNEED
-  s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed",
+  s->m = std::make_unique<ThneedModel>("models/supercombo.thneed",
 #elif USE_ONNX_MODEL
-  s->m = std::make_unique<ONNXModel>("../../models/supercombo.onnx",
+  s->m = std::make_unique<ONNXModel>("models/supercombo.onnx",
 #else
-  s->m = std::make_unique<SNPEModel>("../../models/supercombo.dlc",
+  s->m = std::make_unique<SNPEModel>("models/supercombo.dlc",
 #endif
    &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true);
 

selfdrive/modeld/thneed/weights_fixup.py

@@ -140,6 +140,7 @@ def weights_fixup(target, source_thneed, dlc):
   save_thneed(jdat, target)
 
 if __name__ == "__main__":
-  weights_fixup(os.path.join(BASEDIR, "models/supercombo_fixed.thneed"),
-                os.path.join(BASEDIR, "models/supercombo.thneed"),
-                os.path.join(BASEDIR, "models/supercombo.dlc"))
+  model_dir = os.path.join(BASEDIR, "selfdrive/modeld/models/")
+  weights_fixup(os.path.join(model_dir, "supercombo_fixed.thneed"),
+                os.path.join(model_dir, "supercombo.thneed"),
+                os.path.join(model_dir, "supercombo.dlc"))

tools/sim/Dockerfile.sim

@@ -50,7 +50,6 @@ COPY ./pyextra $HOME/openpilot/pyextra
 COPY ./site_scons $HOME/openpilot/site_scons
 COPY ./rednose $HOME/openpilot/rednose
 COPY ./common $HOME/openpilot/common
-COPY ./models $HOME/openpilot/models
 COPY ./opendbc $HOME/openpilot/opendbc
 COPY ./cereal $HOME/openpilot/cereal
 COPY ./panda $HOME/openpilot/panda