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IQ.Pilot Release Commit @ d23c019

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IQ.Lvbs CI [bot]
2026-07-26 18:52:41 -05:00
parent e557c3d8ee
commit 152206f935
262 changed files with 12479 additions and 11377 deletions
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24
selfdrive/modeld/dmonitoringmodeld.py
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@@ -20,19 +20,25 @@ from openpilot.selfdrive.locationd.calibration_helpers import get_calibrated_rpy
from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
from openpilot.system.hardware import HARDWARE
PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
MODELS_PATH = Path(__file__).parent / 'models'
def get_model_paths(device_type: str) -> tuple[Path, Path]:
model_name = 'dmonitoring_model_mici' if device_type == 'mici' else 'dmonitoring_model'
return MODELS_PATH / f'{model_name}_tinygrad.pkl', MODELS_PATH / f'{model_name}_metadata.pkl'
class ModelState:
inputs: dict[str, np.ndarray]
output: np.ndarray
def __init__(self, cl_ctx):
with open(METADATA_PATH, 'rb') as f:
def __init__(self, cl_ctx, device_type=None):
model_path, metadata_path = get_model_paths(device_type or HARDWARE.get_device_type())
with open(metadata_path, 'rb') as f:
model_metadata = pickle.load(f)
self.input_shapes = model_metadata['input_shapes']
self.output_slices = model_metadata['output_slices']
@@ -43,7 +49,7 @@ class ModelState:
}
self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
with open(MODEL_PKL_PATH, "rb") as f:
with open(model_path, "rb") as f:
self.model_run = pickle.load(f)
def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
@@ -75,8 +81,10 @@ def parse_model_output(model_output):
face_descs = model_output[f'face_descs_{ds_suffix}']
parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']:
output_key = f'{key}_{ds_suffix}'
if output_key in model_output:
parsed[output_key] = sigmoid(model_output[output_key])
return parsed
def fill_driver_data(msg, model_output, ds_suffix):
@@ -91,6 +99,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
sleep_prob = model_output.get(f'sleep_prob_{ds_suffix}')
msg.sleepProb = sleep_prob[0, 0].item() if sleep_prob is not None else 0.
def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
msg = messaging.new_message('driverStateV2', valid=True)