modeld: remove support for small model (#23803)

* modeld: remove support for small model

* use extra

models/big_supercombo.dlc

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
-size 72718099

models/big_supercombo.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
-size 73147489

models/supercombo.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:209e9544e456dbc2a7d60490da65154e129bc84830909d8d931f97b3df93949b
+oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
-size 56684955
+size 72718099

models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2365bae967cce21ce68707c30bf2981bb7081ee5c3e6a3dff793e660f23ff622
+oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
-size 57554657
+size 73147489

release/files_common

@@ -58,7 +58,6 @@ common/transformations/transformations.pyx
 common/api/__init__.py
 
 models/supercombo.dlc
-models/big_supercombo.dlc
 models/dmonitoring_model_q.dlc
 
 release/*

selfdrive/modeld/SConscript

@@ -31,9 +31,6 @@ thneed_src = [
 
 use_thneed = not GetOption('no_thneed')
 
-use_extra = True  # arch == "larch64"
-lenv['CXXFLAGS'].append('-DUSE_EXTRA=true' if use_extra else '-DUSE_EXTRA=false')
-
 if arch == "aarch64" or arch == "larch64":
   libs += ['gsl', 'CB']
   libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
@@ -68,7 +65,7 @@ common_model = lenv.Object(common_src)
 
 # build thneed model
 if use_thneed and arch in ("aarch64", "larch64"):
-  fn = "../../models/big_supercombo" if use_extra else "../../models/supercombo"
+  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}.thneed --binary"
 

selfdrive/modeld/modeld.cc

@@ -51,7 +51,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
   return matmul3(yuv_transform, transform);
 }
 
-void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra, bool use_extra_client) {
+void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
   SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration"});
@@ -134,9 +134,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
       }
 
       model_transform_main = update_calibration(extrinsic_matrix_eigen, main_wide_camera, false);
-      if (use_extra) {
+      model_transform_extra = update_calibration(extrinsic_matrix_eigen, Hardware::TICI(), true);
-        model_transform_extra = update_calibration(extrinsic_matrix_eigen, Hardware::TICI(), true);
-      }
       live_calib_seen = true;
     }
 
@@ -181,8 +179,7 @@ int main(int argc, char **argv) {
   }
 
   bool main_wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
-  bool use_extra = USE_EXTRA;
+  bool use_extra_client = Hardware::TICI() && !main_wide_camera;
-  bool use_extra_client = Hardware::TICI() && use_extra && !main_wide_camera;
 
   // cl init
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
@@ -190,7 +187,7 @@ int main(int argc, char **argv) {
 
   // init the models
   ModelState model;
-  model_init(&model, device_id, context, use_extra);
+  model_init(&model, device_id, context);
   LOGW("models loaded, modeld starting");
 
   VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context);
@@ -215,7 +212,7 @@ int main(int argc, char **argv) {
       LOGW("connected extra cam with buffer size: %d (%d x %d)", wb->len, wb->width, wb->height);
     }
 
-    run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra, use_extra_client);
+    run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra_client);
   }
 
   model_free(&model);

selfdrive/modeld/models/driving.cc

@@ -26,20 +26,18 @@ constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size>
   return kj::ArrayPtr(arr.data(), arr.size());
 }
 
-void model_init(ModelState* s, cl_device_id device_id, cl_context context, bool use_extra) {
+void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
   s->frame = new ModelFrame(device_id, context);
   s->wide_frame = new ModelFrame(device_id, context);
 
 #ifdef USE_THNEED
-  s->m = std::make_unique<ThneedModel>(use_extra ? "../../models/big_supercombo.thneed" : "../../models/supercombo.thneed",
+  s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed",
-   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, use_extra);
 #elif USE_ONNX_MODEL
-  s->m = std::make_unique<ONNXModel>(use_extra ? "../../models/big_supercombo.onnx" : "../../models/supercombo.onnx",
+  s->m = std::make_unique<ONNXModel>("../../models/supercombo.onnx",
-   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, use_extra);
 #else
-  s->m = std::make_unique<SNPEModel>(use_extra ? "../../models/big_supercombo.dlc" : "../../models/supercombo.dlc",
+  s->m = std::make_unique<SNPEModel>("../../models/supercombo.dlc",
-   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, use_extra);
 #endif
+   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true);
 
 #ifdef TEMPORAL
   s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE);

selfdrive/modeld/models/driving.h

@@ -266,7 +266,7 @@ struct ModelState {
 #endif
 };
 
-void model_init(ModelState* s, cl_device_id device_id, cl_context context, bool use_extra);
+void model_init(ModelState* s, cl_device_id device_id, cl_context context);
 ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
                               const mat3 &transform, const mat3 &transform_wide, float *desire_in);
 void model_free(ModelState* s);

selfdrive/modeld/thneed/compile.cc

@@ -13,7 +13,7 @@ int main(int argc, char* argv[]) {
   #define OUTPUT_SIZE 0x10000
 
   float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float));
-  SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME, USE_EXTRA);
+  SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME, true);
 
   float state[TEMPORAL_SIZE] = {0};
   float desire[DESIRE_LEN] = {0};
@@ -25,9 +25,7 @@ int main(int argc, char* argv[]) {
   mdl.addDesire(desire, DESIRE_LEN);
   mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN);
   mdl.addImage(input, 0);
-  if (USE_EXTRA) {
+  mdl.addExtra(extra, 0);
-    mdl.addExtra(extra, 0);
-  }
 
   // first run
   printf("************** execute 1 **************\n");