IQ.Pilot Release Commit @ 27f668a

iqpilot/selfdrive/iqmodeld/modeld_selector.py

@@ -63,6 +63,11 @@ def resolve_model_name(params, keys) -> str:
     from iqpilot.selfdrive.iqmodeld.egpu_model import DEFAULT_EGPU_MODEL, resolve_egpu_model
     resolved = resolve_egpu_model(params, allow_refresh=False)
     return resolved["key"] if resolved else DEFAULT_EGPU_MODEL
+  if params.get_bool("IQEmacSmallModel"):
+    from iqpilot.selfdrive.iqmodeld.models.helpers import get_active_bundle
+    bundle = get_active_bundle(params)
+    if bundle is not None and (bundle.internalName or bundle.displayName):
+      return bundle.internalName or bundle.displayName
   name = params.get("IQEmacModel") or b"lebrowski"
   return name.decode() if isinstance(name, bytes) else name
 
@@ -168,7 +173,7 @@ def _patch_and_send(pm: PubMaster, payload: dict, frame_drop_perc: float, select
   if mismatch is None:
     mismatch = source_lag > 0
 
-  big = payload.get("source") in BIG_SOURCES
+  big = bool(payload.get("big", payload.get("source") in BIG_SOURCES))
   model_msg = log_from_bytes(msgs["modelV2"]).as_builder()
   if mismatch:
     model_msg.modelV2.frameId = target

iqpilot/selfdrive/iqmodeld/tests/test_egpu_worker.py

@@ -272,6 +272,23 @@ class TestChannelContract:
     assert sent["modelV2"].modelV2.frameDropPerc == 0.0
     assert sent["cameraOdometry"].valid
 
+  def test_selector_big_flag_follows_payload_then_source(self):
+    from iqpilot.selfdrive.iqmodeld.modeld_selector import _patch_and_send
+
+    sent = {}
+
+    class PM:
+      def send(self, service, msg):
+        sent[service] = msg
+
+    payload = make_big_channel_payload(42, True, 0.03, 25.0, self._real_msgs())
+    _patch_and_send(PM(), payload, frame_drop_perc=0.0, selector_dropped=0, target=42, source_lag=0)
+    assert sent["modelV2"].modelV2.big and sent["drivingModelData"].drivingModelData.big
+
+    small_on_mac = {**make_big_channel_payload(43, True, 0.03, 25.0, self._real_msgs()), "source": "mac_big", "big": False}
+    _patch_and_send(PM(), small_on_mac, frame_drop_perc=0.0, selector_dropped=0, target=43, source_lag=0)
+    assert not sent["modelV2"].modelV2.big and not sent["drivingModelData"].drivingModelData.big
+
   def test_selector_lag_patches_frame_id(self):
     from iqpilot.selfdrive.iqmodeld.modeld_selector import _patch_and_send