openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/modeld/runners/__init__.py

@@ -0,0 +1,27 @@
+import os
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime
+assert Runtime
+
+USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
+USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
+
+class ModelRunner(RunModel):
+  THNEED = 'THNEED'
+  SNPE = 'SNPE'
+  ONNX = 'ONNX'
+
+  def __new__(cls, paths, *args, **kwargs):
+    if ModelRunner.THNEED in paths and USE_THNEED:
+      from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
+      runner_type = ModelRunner.THNEED
+    elif ModelRunner.SNPE in paths and USE_SNPE:
+      from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
+      runner_type = ModelRunner.SNPE
+    elif ModelRunner.ONNX in paths:
+      from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
+      runner_type = ModelRunner.ONNX
+    else:
+      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
+
+    return Runner(str(paths[runner_type]), *args, **kwargs)