IQ.Pilot Release Commit @ 3fe374f

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/common/realtime.py

@@ -41,6 +41,12 @@ def config_realtime_process(cores: int | list[int], priority: int) -> None:
   set_core_affinity(c)
 
 
+def config_background_thread() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+    set_core_affinity(list(range(os.cpu_count() or 1)))
+
+
 def lock_memory() -> None:
   """mlockall this process so memory reclaim/compaction can't stall it. RT control
   procs only (locking ui/modeld would worsen pressure). Best-effort."""
@@ -76,6 +82,13 @@ class Ratekeeper:
     self.avg_dt = MovingAverage(100)
     self.avg_dt.add_value(self._interval)
 
+  def reset(self) -> None:
+    self._remaining = 0.0
+    self._last_monitor_time = -1.
+    self._next_frame_time = -1.
+    self.avg_dt = MovingAverage(100)
+    self.avg_dt.add_value(self._interval)
+
   @property
   def frame(self) -> int:
     return self._frame
@@ -84,6 +97,10 @@ class Ratekeeper:
   def remaining(self) -> float:
     return self._remaining
 
+  @property
+  def lag(self) -> float:
+    return max(0., -self._remaining)
+
   @property
   def lagging(self) -> bool:
     expected_dt = self._interval * (1 / 0.9)

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/__init__.py

@@ -1,3 +1,3 @@
 """
-IQ model selection and runner support that is actively used by iqmodeld.
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
 """

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/fetcher.py

@@ -1,11 +1,8 @@
 #!/usr/bin/env python3
 """
-Copyright (c) IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-
-Public entry point for the model-manifest fetcher: prefers the compiled private
-bundle, falling back to the in-tree source. The default-runner fallback lives in
-ManifestDecoder now, so no post-import patching is needed.
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
 """
+
 from iqpilot._proprietary_loader import ProprietaryModuleMissing, load_private_module
 
 try:

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/helpers.py

@@ -29,6 +29,7 @@ _ACTIVE_BUNDLE_KEY = "ModelManager_ActiveBundle"
 _MODELS_CACHE_KEY = "ModelManager_ModelsCache"
 _RUNNER_CACHE_KEY = "ModelRunnerTypeCache"
 _DOWNLOAD_INDEX_KEY = "ModelManager_DownloadIndex"
+_PENDING_INDEX_KEY = "ModelManager_PendingIndex"
 _PENDING_MODEL_RESTORE_FILE = "/data/k3_pending_model_restore"
 _STOCK_RUNNER = int(Runner.stock)
 _TINYGRAD_RUNNER = int(Runner.tinygrad)
@@ -40,7 +41,6 @@ _DEFAULT_BUNDLE_REF = "default"
 
 
 def get_default_model_bundle(_bundles):
-  """Legacy compatibility hook: stock default is preinstalled, not a manifest bundle."""
   return None
 
 
@@ -227,6 +227,7 @@ def select_default_model(params: Params = None) -> None:
   bundle_dict = _load_default_bundle_dict()
   ensure_default_model_files(bundle_dict)
   params.remove(_DOWNLOAD_INDEX_KEY)
+  params.remove(_PENDING_INDEX_KEY)
   params.put(_ACTIVE_BUNDLE_KEY, bundle_dict)
   params.remove(_RUNNER_CACHE_KEY)
   params.put(_RUNNER_CACHE_KEY, _TINYGRAD_RUNNER)
@@ -239,10 +240,13 @@ def select_default_model(params: Params = None) -> None:
 
 def seed_default_bundle_if_unset(params: Params = None) -> None:
   params = Params() if params is None else params
-  if params.get(_ACTIVE_BUNDLE_KEY) or params.get(_DOWNLOAD_INDEX_KEY) is not None:
+  if params.get(_ACTIVE_BUNDLE_KEY):
     return
+  queued_download = params.get(_DOWNLOAD_INDEX_KEY)
   try:
     select_default_model(params)
+    if queued_download is not None:
+      params.put(_DOWNLOAD_INDEX_KEY, queued_download)
     cloudlog.warning("default_model: seeded Default (CD210) as active bundle")
   except Exception as e:
     cloudlog.exception(f"default_model: failed to seed default bundle: {e}")

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/system/hardware/hw.py

@@ -28,6 +28,12 @@ class Paths:
   def comma_home() -> str:
     return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
 
+  @staticmethod
+  def params() -> str:
+    if os.environ.get("PARAMS_ROOT"):
+      return os.environ["PARAMS_ROOT"]
+    return os.path.join(Paths.comma_home(), "params") if PC else "/data/params"
+
   @staticmethod
   def log_root() -> str:
     if os.environ.get('LOG_ROOT', False):

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/system/hardware/tici/hardware.py

@@ -515,7 +515,7 @@ class Tici(HardwareBase):
     try:
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
-      subprocess.call(["sudo", "taskset", "-pc", "3", pid])
+      subprocess.call(["sudo", "taskset", "-pc", "3", pid], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
     except subprocess.CalledProcessException as e:
       print(str(e))
 

artifacts/iqpilot_model_selector_private/python/_iqclosure/iqpilot/system/version.py

@@ -33,8 +33,13 @@ def get_version(path: str = BASEDIR) -> str:
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "docs", "CHANGELOG.md")) as f:
-    return f.read().split('\n\n', 1)[0]
+  for rel in (("iqpilot", "docs", "CHANGELOG.md"), ("docs", "CHANGELOG.md")):
+    try:
+      with open(os.path.join(path, *rel)) as f:
+        return f.read().split('\n\n', 1)[0]
+    except OSError:
+      continue
+  return ""
 
 
 @cache