  from typing import Dict, Optional
  from setproctitle import setproctitle
  from cereal.messaging import PubMaster, SubMaster
  from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
  from openpilot.system.hardware import TICI
  from openpilot.system.swaglog import cloudlog
  from openpilot.common.params import Params
  from openpilot.common.filter_simple import FirstOrderFilter
  from openpilot.common.realtime import config_realtime_process
  from openpilot.common.transformations.model import get_warp_matrix
 
</s> remove from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime
 </s> add from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime </s> remove import os
 </s> add  </s> remove USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
if USE_THNEED:
  from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
else:
  from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner

MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}")
 </s> add MODEL_PATHS = {
  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} </s> remove     self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context)
 </s> add     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
  from typing import Dict, Optional
  from setproctitle import setproctitle
  from cereal.messaging import PubMaster, SubMaster
  from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf

  from openpilot.system.swaglog import cloudlog
  from openpilot.common.params import Params
  from openpilot.common.filter_simple import FirstOrderFilter
  from openpilot.common.realtime import config_realtime_process
  from openpilot.common.transformations.model import get_warp_matrix
keep keep keep keep replace keep keep keep keep keep
 Added ModelRunner helpers in modeld/runners/__init__.py (#29737)

* Added ModelRunner helper class

* import Runtime in __init__.py 
selfdrive/modeld/modeld.py