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IQ.Pilot Release Commit @ 7550fa9

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IQ.Lvbs CI [bot]
2026-09-02 13:32:42 -05:00
parent 4efaff4cb2
commit 43ee82d228
24 changed files with 882 additions and 93 deletions
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26
iqpilot/selfdrive/iqmodeld/egpu_pipeline.py
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@@ -5,7 +5,7 @@ from __future__ import annotations
import numpy as np
from iqpilot.selfdrive.iqmodeld.egpu_policy import PolicyRunner
from iqpilot.selfdrive.iqmodeld.egpu_policy import ModelRunner, PolicyRunner
from iqpilot.selfdrive.iqmodeld.temporal_state import MODEL_INPUT_SPEC, TemporalInputState, spec_from_meta
@@ -13,6 +13,10 @@ class EgpuPipelineError(RuntimeError):
pass
class EgpuOutputInvalid(EgpuPipelineError):
pass
class EgpuPipeline:
def __init__(self, meta: dict, infer_fn):
@@ -31,14 +35,26 @@ class EgpuPipeline:
else:
inputs = self.state.push_and_materialize(warped, desire_vec, traffic_convention, action_t)
out = np.asarray(self.infer_fn(inputs), dtype=np.float32).reshape(-1)
if out.shape[0] != self.output_len:
raise EgpuPipelineError(f"eGPU output length {out.shape[0]} != {self.output_len}")
if not np.isfinite(out).all():
raise EgpuPipelineError("eGPU output contains non-finite values")
self._check(out)
if not isinstance(self.infer_fn, PolicyRunner):
self.state.note_hidden_state(out, self.hidden_slice)
return out
def run_frames(self, main_frame, extra_frame, tfm: np.ndarray, big_tfm: np.ndarray, desire_vec: np.ndarray,
traffic_convention: np.ndarray, action_t: np.ndarray) -> np.ndarray:
if not isinstance(self.infer_fn, ModelRunner):
raise EgpuPipelineError("run_frames needs a format-3 (warp-on-dock) artifact")
out = np.asarray(self.infer_fn.run(main_frame, extra_frame, tfm, big_tfm, desire_vec, traffic_convention, action_t),
dtype=np.float32).reshape(-1)
self._check(out)
return out
def _check(self, out: np.ndarray) -> None:
if out.shape[0] != self.output_len:
raise EgpuPipelineError(f"eGPU output length {out.shape[0]} != {self.output_len}")
if not np.isfinite(out).all():
raise EgpuOutputInvalid("eGPU output contains non-finite values")
def make_big_channel_payload(frame_id: int, live_calib_seen: bool, execution_time: float,
egpu_exec_ms: float, msgs: dict[str, bytes]) -> dict: