IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/dmonitoringmodeld/prebuilt_models.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+import functools
+import hashlib
+import json
+import re
+import sys
+from pathlib import Path
+
+MODELD_DIR = Path(__file__).resolve().parent
+MODELS_DIR = MODELD_DIR / 'models'
+BASEDIR = MODELD_DIR.parents[2]
+METADATA_SCRIPT = MODELD_DIR / 'get_model_metadata.py'
+PYPROJECT = BASEDIR / 'pyproject.toml'
+TINYGRAD_REVISION_FILE = BASEDIR / 'artifacts/package_sources/tinygrad/.iqpilot-revision'
+
+MODEL_NAMES = ['dmonitoring_model']
+
+
+def _hash_file(h, path: Path) -> None:
+  with open(path, 'rb') as f:
+    for chunk in iter(lambda: f.read(1024 * 1024), b''):
+      h.update(chunk)
+
+
+def _file_sha256(path: Path) -> str:
+  h = hashlib.sha256()
+  _hash_file(h, path)
+  return h.hexdigest()
+
+
+@functools.lru_cache(maxsize=1)
+def _tinygrad_revision() -> str:
+  match = re.search(r'"tinygrad @ git\+https://[^@]+@([0-9a-f]{40})"', PYPROJECT.read_text())
+  if match is not None:
+    return match.group(1)
+
+  try:
+    revision = TINYGRAD_REVISION_FILE.read_text().strip()
+  except OSError as e:
+    raise RuntimeError("missing pinned tinygrad revision") from e
+  if re.fullmatch(r'[0-9a-f]{40}', revision) is None:
+    raise RuntimeError("invalid pinned tinygrad revision")
+  return revision
+
+
+CHECK_PATH = MODELS_DIR / 'prebuilt_check.json'
+
+
+def _load_checks() -> dict:
+  try:
+    data = json.loads(CHECK_PATH.read_text())
+  except (json.JSONDecodeError, OSError):
+    return {}
+  return data if isinstance(data, dict) else {}
+
+
+def _output_names(model_name: str) -> list[str]:
+  return [f'{model_name}_tinygrad.pkl', f'{model_name}_metadata.pkl']
+
+
+def compute_signature(model_name: str, flags: str) -> str:
+  h = hashlib.sha256()
+  h.update(flags.encode())
+  h.update(_tinygrad_revision().encode())
+  _hash_file(h, METADATA_SCRIPT)
+  _hash_file(h, MODELS_DIR / f'{model_name}.onnx')
+  return h.hexdigest()
+
+
+def outputs_match(model_name: str) -> bool:
+  """The committed artifacts on disk are exactly the ones the check file pins."""
+  data = _load_checks().get(model_name, {})
+  outputs = data.get('outputs', {})
+  if set(outputs) != set(_output_names(model_name)):
+    return False
+  for fn, expected in outputs.items():
+    p = MODELS_DIR / fn
+    if not p.is_file() or _file_sha256(p) != expected:
+      return False
+  return True
+
+
+def packaged_prebuilt_matches(model_name: str) -> bool:
+  return not (MODELS_DIR / f'{model_name}.onnx').is_file() and outputs_match(model_name)
+
+
+def verify_prebuilt(model_name: str, flags: str) -> bool:
+  if not (MODELS_DIR / f'{model_name}.onnx').is_file():
+    return False
+  data = _load_checks().get(model_name, {})
+  if data.get('signature') != compute_signature(model_name, flags):
+    return False
+  return outputs_match(model_name)
+
+
+def verification_details(model_name: str, flags: str) -> list[str]:
+  data = _load_checks().get(model_name, {})
+  details = [
+    f'signature expected={data.get("signature", "missing")} actual={compute_signature(model_name, flags)}',
+    f'tinygrad={_tinygrad_revision()}',
+    f'onnx={_file_sha256(MODELS_DIR / f"{model_name}.onnx")}',
+    f'metadata_script={_file_sha256(METADATA_SCRIPT)}',
+  ]
+  outputs = data.get('outputs', {})
+  for fn in _output_names(model_name):
+    path = MODELS_DIR / fn
+    actual = _file_sha256(path) if path.is_file() else 'missing'
+    details.append(f'{fn} expected={outputs.get(fn, "missing")} actual={actual}')
+  return details
+
+
+def write_check(model_name: str, flags: str) -> None:
+  outputs = {}
+  for fn in _output_names(model_name):
+    p = MODELS_DIR / fn
+    if not p.is_file():
+      raise FileNotFoundError(f'missing build output: {p}')
+    outputs[fn] = _file_sha256(p)
+  checks = _load_checks()
+  checks[model_name] = {'signature': compute_signature(model_name, flags), 'outputs': outputs}
+  CHECK_PATH.write_text(json.dumps(checks, indent=2, sort_keys=True) + '\n')
+
+
+def _larch64_flags() -> str:
+  return "DEV=QCOM IMAGE=2 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+
+if __name__ == '__main__':
+  mode = sys.argv[1] if len(sys.argv) > 1 else 'verify'
+  flags = _larch64_flags()
+  for name in MODEL_NAMES:
+    if mode == 'write':
+      write_check(name, flags)
+      print(f'{name}: check written')
+    else:
+      valid = verify_prebuilt(name, flags)
+      print(f'{name}: {"OK" if valid else "STALE"}')
+      if not valid:
+        for detail in verification_details(name, flags):
+          print(f'  {detail}')