Thneed load/save #19700

geohot · 2021-01-08T19:54:37Z

Will be able to compile the dlc to thneed files.

This halves the size of the model in release. This also starts modeld faster.

geohot · 2021-01-09T02:04:57Z

Hmm, the model replay test is not expected to fail.

geohot · 2021-01-09T16:26:30Z

@adeebshihadeh Can you look into why tests are failing here? I expect the model to be exactly identical.

Could it be a race now that modeld starts up a lot faster?

adeebshihadeh · 2021-01-10T06:03:22Z

Test passes locally, but I can't reach jenkins remotely for some reason. Will check when in the office.

geohot · 2021-01-13T01:44:04Z

I'd been driving around with this, good to merge?

adeebshihadeh · 2021-01-13T06:27:30Z

selfdrive/modeld/SConscript

@@ -42,6 +48,14 @@ else:

 common = lenv.Object(common_src)

+# build thneed model
+if arch == "aarch64" or arch == "larch64":
+  compiler = lenv.Program('thneed/compile', ["thneed/compile.cc" ]+common, LIBS=libs)


this common shadows an imported common

adeebshihadeh · 2021-01-13T06:49:55Z

selfdrive/modeld/runners/thneedmodel.h

+
+#include "runmodel.h"
+
+#define USE_CPU_RUNTIME 0


these are also defined in snpemodel.h

adeebshihadeh · 2021-01-13T06:50:37Z

selfdrive/modeld/runners/thneedmodel.h

+#ifndef THNEEDMODEL_H
+#define THNEEDMODEL_H


we've been replacing this style header guard with #pragma once across the codebase

adeebshihadeh · 2021-01-13T07:51:52Z

Still not sure why the outputs are different. Faster startup shouldn't matter since we only send each frame once we've got a model packet back. I generated new refs and ran the test a few times, but the output isn't deterministic.

adeebshihadeh · 2021-01-13T08:08:42Z

selfdrive/modeld/thneed/compile.cc

+// TODO: This should probably use SNPE directly.
+int main(int argc, char* argv[]) {
+  #define OUTPUT_SIZE 0x10000
+  float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float));


do we need to add TEMPORAL_SIZE here?

oh, we're using a separate buffer here, but it's part of the output buffer in driving.cc

nah, this is a junk buffer, anything oversized is fine

geohot · 2021-01-15T04:29:26Z

Hmm, never mind, I think I found something. It seems like the SNPE kernels are accessing out of bounds memory!

geohot · 2021-01-20T01:21:19Z

@adeebshihadeh model replay test is passing, just "openpilot tests / longitudinal (push)" isn't

This reverts commit bb6fa52.

adeebshihadeh · 2021-01-20T01:25:41Z

If you rebase the push and pull request tests should match.

geohot · 2021-01-20T01:26:03Z

Done (oh I see, the push one was failing but the PR one passed)

* loggerd: split bootlog to a separate program (commaai#19831) * bootlog * blank lines * move file_exists to util.h * src = ['loggerd.cc'] * log_init_data * Revert "src = ['loggerd.cc']" This reverts commit 18a5870. * add bootlog to .gitignore * use s->has_qlog instead of true * add blank lines & remove extern C * Add fingerprint for Kia Forte GT 2021. (commaai#19830) o New fingerprint is a superset of the existing one, just drop the previous. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * update VW and nissan test routes * fix loggerd after bootlog split (commaai#19840) * fix loggerd after bootlog split * logger handles that * unused Co-authored-by: Comma Device <device@comma.ai> * OmxEncoder: set s->of to nullptr after close (commaai#19814) * CameraBuf: private variables (commaai#19811) * camerad: remove duplicate set_realtime_priority * hyundai: add fpv2 for palisade with power steering fw mod (commaai#19789) * hyundai: add palisade power steering fw mod fingerprint * add comment for modified fw versions * params helpers (commaai#19788) * params helpers * add validation * camera frame stream cleanup (commaai#19741) * clean up * more clean up first * 2021 Pacifica Hybrid confirmed working * face icon reflects DM policy (commaai#19842) * send that * draw icon based on whether active * Update selfdrive/monitoring/dmonitoringd.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix order of Lexus ES Hybrids * update refs for new dMonitoringState field * remove sidebar gps text, we have alerts for this * Remove incorrect esp fw in engine (Rav4_TSS2) (commaai#19841) * remove old model packet (commaai#19769) * remove publisher * move to V2 * radard new model * fix plant * change packety * need hack here too * change to new * this has been wrong all along * no more model msg * subscribe to new model * not needed anymore * make work * need to ignore that too * should pass tests, needs car test * fix process replay * no more poly * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Thneed load/save (commaai#19700) * start thneed load/save * compiling * fix loading * build thneed model in scons * don't hardcode /data/openpilot * release files * those too * support for loading/saving binary kernels * save binaries out of json band * make binary a command line flag to the compiler * need include assert * fix shadowed common in SConscript * cleanup run.h * hmm, the recurrent buffer wasn't 0ed * ugh, unique ptr * remove power constraint, refactor record * Revert "remove power constraint, refactor record" This reverts commit bb6fa52. * print on thneed stop * fingers crossed for this one * recorded * just curious * okay okay, pass tests? * cleanups * refactor wait Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove docker prebuilt CI job * build openpilot prebuilt on schedule (commaai#19847) * build openpilot prebuilt on schedule * test * back to schedule * rename * Change qcom2 fserial and readout timing (commaai#19820) Co-authored-by: Comma Device <device@comma.ai> * fix /dev/shm permisisons, fixes offroad * 2021 Corolla Hybrid camera fw (commaai#19859) * 2021 Pacifica Hybrid fingerprint (commaai#19846) * Merge fingerprint of 2021 Pacifica Hybrid from b66bf349eecf2fda * add route information * remove comment Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: Maksym Sobolyev <sobomax@sippysoft.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Chris McCammon <chrismccammon123@gmail.com> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com> Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com> Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>

* loggerd: split bootlog to a separate program (commaai#19831) * bootlog * blank lines * move file_exists to util.h * src = ['loggerd.cc'] * log_init_data * Revert "src = ['loggerd.cc']" This reverts commit 18a5870. * add bootlog to .gitignore * use s->has_qlog instead of true * add blank lines & remove extern C * Add fingerprint for Kia Forte GT 2021. (commaai#19830) o New fingerprint is a superset of the existing one, just drop the previous. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * update VW and nissan test routes * fix loggerd after bootlog split (commaai#19840) * fix loggerd after bootlog split * logger handles that * unused Co-authored-by: Comma Device <device@comma.ai> * OmxEncoder: set s->of to nullptr after close (commaai#19814) * CameraBuf: private variables (commaai#19811) * camerad: remove duplicate set_realtime_priority * hyundai: add fpv2 for palisade with power steering fw mod (commaai#19789) * hyundai: add palisade power steering fw mod fingerprint * add comment for modified fw versions * params helpers (commaai#19788) * params helpers * add validation * camera frame stream cleanup (commaai#19741) * clean up * more clean up first * 2021 Pacifica Hybrid confirmed working * face icon reflects DM policy (commaai#19842) * send that * draw icon based on whether active * Update selfdrive/monitoring/dmonitoringd.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix order of Lexus ES Hybrids * update refs for new dMonitoringState field * remove sidebar gps text, we have alerts for this * Remove incorrect esp fw in engine (Rav4_TSS2) (commaai#19841) * remove old model packet (commaai#19769) * remove publisher * move to V2 * radard new model * fix plant * change packety * need hack here too * change to new * this has been wrong all along * no more model msg * subscribe to new model * not needed anymore * make work * need to ignore that too * should pass tests, needs car test * fix process replay * no more poly * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Thneed load/save (commaai#19700) * start thneed load/save * compiling * fix loading * build thneed model in scons * don't hardcode /data/openpilot * release files * those too * support for loading/saving binary kernels * save binaries out of json band * make binary a command line flag to the compiler * need include assert * fix shadowed common in SConscript * cleanup run.h * hmm, the recurrent buffer wasn't 0ed * ugh, unique ptr * remove power constraint, refactor record * Revert "remove power constraint, refactor record" This reverts commit bb6fa52. * print on thneed stop * fingers crossed for this one * recorded * just curious * okay okay, pass tests? * cleanups * refactor wait Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove docker prebuilt CI job * build openpilot prebuilt on schedule (commaai#19847) * build openpilot prebuilt on schedule * test * back to schedule * rename * Change qcom2 fserial and readout timing (commaai#19820) Co-authored-by: Comma Device <device@comma.ai> * fix /dev/shm permisisons, fixes offroad * 2021 Corolla Hybrid camera fw (commaai#19859) * 2021 Pacifica Hybrid fingerprint (commaai#19846) * Merge fingerprint of 2021 Pacifica Hybrid from b66bf349eecf2fda * add route information * remove comment * 2021 Lexus RX Hybrid fw (commaai#19861) * modeld: remove template from fill_meta (commaai#19862) Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: Maksym Sobolyev <sobomax@sippysoft.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Chris McCammon <chrismccammon123@gmail.com> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com> Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com> Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com>

* loggerd: split bootlog to a separate program (commaai#19831) * bootlog * blank lines * move file_exists to util.h * src = ['loggerd.cc'] * log_init_data * Revert "src = ['loggerd.cc']" This reverts commit 18a5870. * add bootlog to .gitignore * use s->has_qlog instead of true * add blank lines & remove extern C * Add fingerprint for Kia Forte GT 2021. (commaai#19830) o New fingerprint is a superset of the existing one, just drop the previous. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * update VW and nissan test routes * fix loggerd after bootlog split (commaai#19840) * fix loggerd after bootlog split * logger handles that * unused Co-authored-by: Comma Device <device@comma.ai> * OmxEncoder: set s->of to nullptr after close (commaai#19814) * CameraBuf: private variables (commaai#19811) * camerad: remove duplicate set_realtime_priority * hyundai: add fpv2 for palisade with power steering fw mod (commaai#19789) * hyundai: add palisade power steering fw mod fingerprint * add comment for modified fw versions * params helpers (commaai#19788) * params helpers * add validation * camera frame stream cleanup (commaai#19741) * clean up * more clean up first * 2021 Pacifica Hybrid confirmed working * face icon reflects DM policy (commaai#19842) * send that * draw icon based on whether active * Update selfdrive/monitoring/dmonitoringd.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix order of Lexus ES Hybrids * update refs for new dMonitoringState field * remove sidebar gps text, we have alerts for this * Remove incorrect esp fw in engine (Rav4_TSS2) (commaai#19841) * remove old model packet (commaai#19769) * remove publisher * move to V2 * radard new model * fix plant * change packety * need hack here too * change to new * this has been wrong all along * no more model msg * subscribe to new model * not needed anymore * make work * need to ignore that too * should pass tests, needs car test * fix process replay * no more poly * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Thneed load/save (commaai#19700) * start thneed load/save * compiling * fix loading * build thneed model in scons * don't hardcode /data/openpilot * release files * those too * support for loading/saving binary kernels * save binaries out of json band * make binary a command line flag to the compiler * need include assert * fix shadowed common in SConscript * cleanup run.h * hmm, the recurrent buffer wasn't 0ed * ugh, unique ptr * remove power constraint, refactor record * Revert "remove power constraint, refactor record" This reverts commit bb6fa52. * print on thneed stop * fingers crossed for this one * recorded * just curious * okay okay, pass tests? * cleanups * refactor wait Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove docker prebuilt CI job * build openpilot prebuilt on schedule (commaai#19847) * build openpilot prebuilt on schedule * test * back to schedule * rename * Change qcom2 fserial and readout timing (commaai#19820) Co-authored-by: Comma Device <device@comma.ai> * fix /dev/shm permisisons, fixes offroad * 2021 Corolla Hybrid camera fw (commaai#19859) * 2021 Pacifica Hybrid fingerprint (commaai#19846) * Merge fingerprint of 2021 Pacifica Hybrid from b66bf349eecf2fda * add route information * remove comment * 2021 Lexus RX Hybrid fw (commaai#19861) * modeld: remove template from fill_meta (commaai#19862) * fix LGTM issues (commaai#19868) Co-authored-by: Comma Device <device@comma.ai> * Hotspot password (commaai#19854) Now there is a possibility of changing a tethering password. The WiFi UI was also modified, so it should look nicer now. * INDI: Time constant is used based on breakpoints (commaai#19858) * Time constant is used based on break points * no need for alpha class variable * OMX encoder stability (commaai#19758) * cleanup test first * wait for other encoder threads * fixes initial crash * no print * unused * fix up tests * need that Co-authored-by: Comma Device <device@comma.ai> * move Qr code lib to phonelibs (commaai#19871) * Don't clean scons build on dirty branches * Qt parents3 (commaai#19870) Not just parents, we also made the UI look nicer. * qt ui: slow frame warning * qt ui: fix segfault if networkmanager is not running * qt ui: don't refresh wifi widget if it is not visible (commaai#19876) Co-authored-by: Comma Device <device@comma.ai> * qt ui: remove line between poweroff/reboot * ui: remove satelliteCount (commaai#19878) * UI: cleanup draw_alerts condition (commaai#19875) * fill sof * fix qt onboarding text color * 2019 Toyota CHR Engine fw (commaai#19881) * boardd: declare MessageBuilder close to usage (commaai#19883) * boardd: use std::atomic for ignition to ensure thread-safety (commaai#19882) * agnos 0.3 * add device type to clouglog ctx (commaai#19890) * add device type to clouglog ctx * remove is_eon * str * util.h: use const reference for std::string parameter (commaai#19885) * loggerd: remove vipc arg from encode frame Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: Maksym Sobolyev <sobomax@sippysoft.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Greg Hogan <gregjhogan@gmail.com> Co-authored-by: Chris McCammon <chrismccammon123@gmail.com> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com> Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com> Co-authored-by: robbederks <robbe.derks@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: grekiki <gregor1234567890@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com>

geohot marked this pull request as draft January 8, 2021 19:54

geohot marked this pull request as ready for review January 8, 2021 22:44

adeebshihadeh reviewed Jan 13, 2021

View reviewed changes

geohot force-pushed the thneed_loadsave branch 2 times, most recently from e8a03f9 to a66e7ff Compare January 15, 2021 02:59

Comma Device and others added 15 commits January 20, 2021 01:25

start thneed load/save

65ad3b3

compiling

2c419eb

fix loading

2d91193

build thneed model in scons

80a6a0b

don't hardcode /data/openpilot

0f17363

release files

9ea5ce7

those too

768d11d

support for loading/saving binary kernels

638c9f9

save binaries out of json band

011daed

make binary a command line flag to the compiler

eb9c617

need include assert

f5c2aaf

fix shadowed common in SConscript

411625d

cleanup run.h

d0fe777

hmm, the recurrent buffer wasn't 0ed

f2de355

ugh, unique ptr

dc35ccf

Comma Device added 9 commits January 20, 2021 01:25

remove power constraint, refactor record

f9c61fb

Revert "remove power constraint, refactor record"

dd33939

This reverts commit bb6fa52.

print on thneed stop

d1be337

fingers crossed for this one

b034126

recorded

c16a000

just curious

70f88f9

okay okay, pass tests?

4031e4c

cleanups

d91276f

refactor wait

2e90188

geohot force-pushed the thneed_loadsave branch from ff1b6f8 to 2e90188 Compare January 20, 2021 01:26

geohot merged commit 59fac9f into master Jan 20, 2021

geohot deleted the thneed_loadsave branch January 20, 2021 02:08

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Thneed load/save #19700

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Thneed load/save #19700

Thneed load/save #19700

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