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import os
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from openpilot.system.hardware import TICI
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from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
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assert Runtime
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USE_TINYGRAD = int(os.getenv('USE_TINYGRAD', str(int(TICI))))
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USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
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class ModelRunner(RunModel):
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TINYGRAD = 'TINYGRAD'
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SNPE = 'SNPE'
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ONNX = 'ONNX'
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def __new__(cls, paths, *args, **kwargs):
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if ModelRunner.TINYGRAD in paths and USE_TINYGRAD:
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from openpilot.selfdrive.modeld.runners.tinygradmodel import TinygradModel as Runner
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runner_type = ModelRunner.TINYGRAD
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elif ModelRunner.SNPE in paths and USE_SNPE:
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from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
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runner_type = ModelRunner.SNPE
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elif ModelRunner.ONNX in paths:
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from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
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runner_type = ModelRunner.ONNX
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else:
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raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
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return Runner(str(paths[runner_type]), *args, **kwargs)
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