* init
* more init
* keep it alive
* fixes
* more fixes
* more fix
* new submodule for nn data
* bump submodule
* update path to submodule
* spacing???
* update submodule path
* update submodule path
* bump
* dump
* bump
* introduce params
* Add Neural Network Lateral Control toggle to developer panel
This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.
* decouple even more
* static
* codespell
* remove debug
* in structs
* fix import
* convert to capnp
* fixes
* debug
* only initialize if NNLC is enabled or allow to enable
* oops
* fix initialization
* only allow engage if nnlc is off
* fix toggle param
* fix tests
* lint
* fix more test
* capnp test
* try this out
* validate if it's not None
* make it 33 to match
* align
* share the same friction input calculation
* return stock values if not enabled
* unused
* split base and child
* space
* rename
* NeuralNetworkFeedForwardModel
* less
* just use file name
* try this
* more explicit
* rename
* move it
* child class for additional controllers
* rename
* time to split out custom lateral acceleration
* move around
* space
* fix
* TODO-SP
* TODO-SP
* update regardless, it's an extension now
* update name and expose toggle
* ui: sunnypilot Panel -> Steering Panel
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
* merge
* move to steering panel
* no need for this
* live params in a thread
* no live for now
* new structs
* more ui
* more flexible
* more ui
* no longer needed
* another ui
* cereal changes
* bump opendbc
* simplify checks
* all in one place
* split Enhanced Lat Accel
* handle unrecognized platform
* test for fingerprinting
* fix fingerprint
* NNLC: Mock data for unrecognized cars
* fix fingerprints
* test to verify model loading
* bump neural_network_data
* use pytest
* use different one for now
* fix ui preview alignments
* typing
* more type
* show a platform
* show match
* init params for tests
* ok ruff
* make sure to loop through tests
* ok again ruff
* ok we need this lol
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* init
* more init
* keep it alive
* fixes
* more fixes
* more fix
* new submodule for nn data
* bump submodule
* update path to submodule
* spacing???
* update submodule path
* update submodule path
* bump
* dump
* bump
* introduce params
* Add Neural Network Lateral Control toggle to developer panel
This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles.
* decouple even more
* static
* codespell
* remove debug
* in structs
* fix import
* convert to capnp
* fixes
* debug
* only initialize if NNLC is enabled or allow to enable
* oops
* fix initialization
* only allow engage if nnlc is off
* fix toggle param
* fix tests
* lint
* fix more test
* capnp test
* try this out
* validate if it's not None
* make it 33 to match
* align
* share the same friction input calculation
* return stock values if not enabled
* unused
* split base and child
* space
* rename
* NeuralNetworkFeedForwardModel
* less
* just use file name
* try this
* more explicit
* rename
* move it
* child class for additional controllers
* rename
* time to split out custom lateral acceleration
* move around
* space
* fix
* TODO-SP
* TODO-SP
* update regardless, it's an extension now
* update name and expose toggle
* ui: sunnypilot Panel -> Steering Panel
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
* merge
* move to steering panel
* no need for this
* live params in a thread
* no live for now
* new structs
* more ui
* more flexible
* more ui
* no longer needed
* another ui
* cereal changes
* bump opendbc
* simplify checks
* all in one place
* split Enhanced Lat Accel
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* 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 76b08e37cb8eb94266ad9f6fed80db227e7c3428.
* Reapply "long planner: allow throttle reflects usage (#33792)"
This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693.
* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"
This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807.
* Reapply "Long planner get accel: new function args (#34288)"
This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b.
* 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.
* default to none
* enable in next PR
* more
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* 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 76b08e37cb8eb94266ad9f6fed80db227e7c3428.
* Reapply "long planner: allow throttle reflects usage (#33792)"
This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693.
* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"
This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807.
* Reapply "Long planner get accel: new function args (#34288)"
This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b.
* 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.
* default to none
* enable in next PR
* more
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* tinygrad with snpe
* force with snpe to validate
* fix path
* fix more paths
* Adjust modeld execution logic based on active model runner
Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner.
* Refactor modeld process function checks.
Introduce `is_stock_model` to clarify logic and replace direct uses of `is_snpe_model` where the stock model condition is needed. Additionally, rename the duplicate "modeld" process in sunnyPilot to "modeld_snpe" for clarity and consistency.
* ignore tg
* fix process name
* ruff
* fix thneed paths
* mypy
* remove our own
* use upstream compile3
* fix thneed
* try this
* Revert "remove our own"
This reverts commit 1cf4f57502565c274628e185c66f1eb04c4d9bbe.
* try using compile2.py again
* add back symlink
* fix path
* more fix
* wrong path again
* Revert "wrong path again"
This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e.
* update
* hardcode path to our submodule
* force path
* try this
* fix file name
* try this
* again
* Revert "again"
This reverts commit 17c8cd73768a2de5aaf2a34d202aa6f03d59d72d.
* Revert "try this"
This reverts commit 767f78bbcf17b08edbc20f283d10a1990bf4264f.
* Revert "fix file name"
This reverts commit 485eef68da981da571fe9a9ebf3aecdb95e5588c.
* Revert "try this"
This reverts commit 41fef87680cdda1ba8cbd7e5c59256e6c57010a0.
* Revert "force path"
This reverts commit 5c3b408937bff0f61b150971b328d127501c5bf0.
* Revert "hardcode path to our submodule"
This reverts commit 5ee1950b6f4fce73e7e73b6971b996a9989d0a93.
* Revert "update"
This reverts commit fb313bd7fbeb50111f3c4a11137b4cfd9cabc3fa.
* Reapply "wrong path again"
This reverts commit 309639aeb3575e20b215bbbcc27e48923ee95c87.
* Revert "wrong path again"
This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e.
* Revert "more fix"
This reverts commit 23dd423e78e60bd6a0bd73e921bfba9a5aad88bd.
* Revert "fix path"
This reverts commit 75d338f2bda2dfa77044e33f4c6553390621b13b.
* Revert "add back symlink"
This reverts commit 9f71ad0b8ae2068e431c455af9d4f954d024eec7.
* Revert "try using compile2.py again"
This reverts commit 914117d2e1c6c4270f7bef1a5305847a1d7bab17.
* Reapply "remove our own"
This reverts commit b1996377b346658f2094cba9032a66230784cb3e.
* don't even compile anymore
* need it for default snpe model
* add to lfs
* bring onnx back for sim
* must add this back
* need this
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* WebRTCClient and WebRTCServer abstractions
* webrtc client implementation
* Interactive test scripts
* Send localDescriptions as offer/asnwer, as they are different
* Tracks need to be added after setting remote description for multi-cam streaming to work
* Remove WebRTCStreamingMetadata
* Wait for tracks
* Move stuff to separate files, rename some things
* Refactor everything, create WebRTCStreamBuilder for both offer and answers
* ta flight done time to grind
* wait for incoming tracks and channels
* Dummy track and frame reader track. Fix timing.
* dt based on camera type
* first trial of the new api
* Fix audio track
* methods for checking for incoming tracks
* Web migration part 2
* Fixes for stream api
* use rtc description for web.py
* experimental cereal proxy
* remove old code from bodyav
* fix is_started
* serialize session description
* fix audio
* messaging channel wrapper
* fix audiotrack
* h264 codec preference
* Add codec preference to tracks
* override sdp codecs
* add logging
* Move cli stuff to separate file
* slight cleanup
* Fix audio track
* create codec_mime inside force_codec function
* fix incoming media estimation
* move builders to __init__
* stream updates following builders
* Update example script
* web.py support for new builder
* web speaker fixes
* StreamingMediaInfo API
* Move things around
* should_add_data_channel rename
* is_connected_and_ready
* fix linter errors
* make cli executable
* remove dumb comments
* logging support
* fix parse_info_from_offer
* improve type annotations
* satisfy linters
* Support for waiting for disconnection
* Split device tracks into video/audio files. Move audio speaker to audio.py
* default dt for dummy video track
* Fix cli
* new speaker fixes
* Remove almost all functionality from web.py
* webrtcd
* continue refactoring web.py
* after handling joystick reset in controlsd with #30409, controls are not necessary anymore
* ping endpoint
* Update js files to at least support what worked previously
* Fixes after some tests on the body
* Streaming fixes
* Remove the use of WebRTCStreamBuilder. Subclass use is now required
* Add todo
* delete all streams on shutdown
* Replace lastPing with lastChannelMessageTime
* Update ping text only if rtc is still on
* That should affect the chart too
* Fix paths in web
* use protocol in SSLContext
* remove warnings since aiortc is not used directly anymore
* check if task is done in stop
* remove channel handler wrapper, since theres only one channel
* Move things around
* Moved webrtc abstractions to separate repository
* Moved webrtcd to tools/webrtc
* Update imports
* Add bodyrtc as dependency
* Add webrtcd to process_config
* Remove usage of DummyVideoStreamTrack
* Add main to webrtcd
* Move webrtcd to system
* Fix imports
* Move cereal proxy logic outside of runner
* Incoming proxy abstractions
* Add some tests
* Make it executable
* Fix process config
* Fix imports
* Additional tests. Add tests to pyproject.toml
* Update poetry lock
* New line
* Bump aiortc to 1.6.0
* Added teleoprtc_repo as submodule, and linked its source dir
* Add init file to webrtc module
* Handle aiortc warnings
* Ignore deprecation warnings
* Ignore resource warning too
* Ignore the warnings
* find free port for test_webrtcd
* Start process inside the test case
* random sleep test
* test 2
* Test endpoint function instead
* Update comment
* Add system/webrtc to release
* default arguments for body fields
* Add teleoprtc to release
* Bump teleoprtc
* Exclude teleoprtc from static analysis
* Use separate event loop for stream session tests
old-commit-hash: f058b5d64eed31878533a85f25eb53386ff9e330
* Remove laika submodule
* Remove laika check for minimal builds
* Fix minimal build check
* Bring back exclude for opendbc in codespell
* Fix typo
* Copy GNSS indices from laika
* Delete laika dependencies
old-commit-hash: 2de13bea91d7c095491d9f3f21cb71d995c63bb4
* compiling, won't work yet
* running with inputs and outputs
* there's some magic chance this works
* no more dlc, include onnx
* yolo tests plz
* bump tinygrad
* files_common + delete dlc
* tinygrad_repo -> tinygrad
* pre commit config
* llops needed
* extra in files_common
* bump tinygrad
* fix indent
* tinygrad/nn/__init__
* tinygrad_repo
* bump tinygrad repo
* bump tinygrad
* bump with native_exp, match maybe
* native_explog is argument
* pyopencl no cache
* 5% chance this matches
* work in float32?
* bump tinygrad
* fix build
* no __init__
* fix recip
* dumb hack
* adding thneed PC support
* fix pc segfault
* pc thneed is working
* to_image
* prints stuff with debug=2
* it sort of works
* copy host ptr is simpler
* bug fix
* build on c3
* this correct?
* reenable float16
* fix private, fixup copy_inputs internal
* bump tinygrad and update ref commit
* fix OPTWG on PC
* maybe fix non determinism
* revert model replay ref commit
* comments, init zeroed out buffers
* upd ref commit
* bump tinygrad to fix initial image
* try this ref
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 40d6f4b65c3776ffd78b3c3285dc5532a802c423
