IQ.Pilot Release Commit @ ab07000

artifacts/iqpilot_hephaestusd_private/manifest.json

@@ -16,27 +16,27 @@
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@@ -46,12 +46,12 @@
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   "python/iqpilot_private/konn3kt/hephaestus/__init__.py": {
@@ -61,67 +61,67 @@
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   "python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so": {
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   "python/iqpilot_private/konn3kt/uploaderd/__init__.py": {
@@ -131,7 +131,7 @@
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   "runtime": {
@@ -171,25 +171,25 @@
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-    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "YleZT+ZmBpdryTlsH4k+yoLYhyIJ1DMPYnEC8L2ixxJejAjcUBmn2GjXFSS+7JzK6g8aokV6NswVSqbuIVOJDQ=="
+    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "sgYjdE7ZRvdKlehs1/h3z/n14fksR+Z+KhCzi0BvFPcbMcx0Pod/L42IQeEDfcQfoFBURPNoI1OTwWc31H/NAQ=="
   }
 }

iqpilot/iq_maps/orchestrator.py

@@ -121,19 +121,13 @@ def _install_signal_handlers() -> None:
   signal.signal(signal.SIGTERM, _handle_shutdown_signal)
 
 
-class _QuietSpinner:
-  def update(self, *args, **kwargs) -> None:
-    pass
-
-  def close(self, *args, **kwargs) -> None:
-    pass
-
-
 def ensure_vendor_runtime() -> None:
+  # verify-only: a hash-mismatched binary is quarantined, never replaced from
+  # the network — the updater restores the checked-in one
   try:
-    VendorMapdInstaller(_QuietSpinner()).check_and_download()
+    VendorMapdInstaller().verify()
   except Exception:
-    cloudlog.exception("iq_maps: vendor runtime install/download failed")
+    cloudlog.exception("iq_maps: vendor runtime verification failed")
 
 params = Params()
 mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params

iqpilot/iq_maps/update_vendor_version.py

@@ -2,8 +2,10 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 
-Maintainer utility: pin a new pfeiferj/mapd release tag and refresh the checked-in
+Maintainer utility: pin a new mapd release tag and refresh the checked-in binary
-binary hash. Not used at runtime.
+hash. Not used at runtime. Binaries come from the gitlvb teal/mapd CI (built
+against teal/gomsgq) — drop the artifact at third_party/mapd_pfeiferj/mapd, then
+run this so the hash pin moves in the same commit.
 """
 import argparse
 import os

iqpilot/iq_maps/vendor_mapd_installer.py

@@ -2,36 +2,30 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 
-Provisions the `mapd` routing binary authored by Jacob Pfeifer (github.com/pfeiferj/mapd).
+Verifies the vendored `mapd` routing binary authored by Jacob Pfeifer
-The binary itself is his work; this module only fetches, verifies and stages it on-device.
+(github.com/pfeiferj/mapd), built from the gitlvb teal/mapd fork against
+teal/gomsgq. The only accepted binary is the checked-in one matching the pinned
+hash; nothing is ever downloaded at runtime. Jacob's stock release build embeds
+a 15-reader msgq header layout — on this fork (NUM_READERS=32) its registration
+writes land inside other processes' reader slots, so a wrong binary is
+quarantined rather than left where manager could start it.
 """
 import hashlib
-import logging
 import os
-import stat
+import sys
-import time
-from pathlib import Path
 
-import requests
-
-from cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import is_prebuilt
+from openpilot.iqpilot.iq_maps import VENDOR_MAPD_PATH
-from openpilot.iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
 import openpilot.system.sentry as sentry
 
-VENDOR_RELEASE_TAG = "v2.0.6"
+VENDOR_RELEASE_TAG = "v2.0.6-iq1"
-VENDOR_RELEASE_URL = f"https://github.com/pfeiferj/mapd/releases/download/{VENDOR_RELEASE_TAG}/mapd"
 
 _VERSION_PARAM = "MapdVersion"
 _HASH_FILE = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
-_HTTP_TIMEOUT_S = 60
+QUARANTINE_PATH = VENDOR_MAPD_PATH + ".quarantined"
-_FETCH_ATTEMPTS = 5
-_NET_PROBE_ATTEMPTS = 10
-_NET_PROBE_INTERVAL_S = 2
 
 
 def sha256_of_file(path: str) -> str:
@@ -48,45 +42,58 @@ def stamp_vendor_version(version: str, params: Params | None = None) -> None:
 
 
 class VendorMapdInstaller:
-  def __init__(self, spinner_ref: Spinner):
+  def __init__(self, spinner_ref: Spinner | None = None, params: Params | None = None):
     self._spinner = spinner_ref
-    self._params = Params()
+    self._params = params if params is not None else Params()
 
-  # --- externally consumed surface -----------------------------------------
   def get_installed_version(self) -> str:
     return str(self._params.get(_VERSION_PARAM) or "")
 
-  @staticmethod
+  def verify(self) -> bool:
-  def ensure_directories_exist() -> None:
+    """True iff the on-disk binary matches the pinned hash; quarantines a wrong one."""
-    for directory in (Paths.mapd_root(), VENDOR_MAPD_BIN_DIR):
+    expected = self._expected_hash()
-      os.makedirs(directory, exist_ok=True)
+    if not expected:
+      cloudlog.error("iq_maps: pinned mapd hash missing, vendor binary cannot be verified")
+      return False
 
-  def check_and_download(self) -> None:
+    if not os.path.isfile(VENDOR_MAPD_PATH):
-    if not self._binary_up_to_date():
+      # the binary is a tracked file: the updater/bundle restores it
-      self._provision()
+      self._say("Offline maps engine missing; it will be restored by the next update.")
-
+      self._params.remove(_VERSION_PARAM)
-  def non_prebuilt_install(self) -> None:
+      return False
-    if self._on_metered_link():
-      self._say("Metered connection detected — offline maps engine will not download here.")
-      time.sleep(5)
-      return
 
     try:
-      self.ensure_directories_exist()
+      current = sha256_of_file(VENDOR_MAPD_PATH)
-      if self._binary_up_to_date():
+    except OSError:
-        self._say("Offline maps engine already present and current.")
+      cloudlog.exception("iq_maps: vendor mapd unreadable")
-        time.sleep(0.1)
+      return False
-        return
 
-      if self._block_until_online():
+    if current == expected:
-        self._say(f"Retrieving offline maps engine [{self.get_installed_version() or 'none'}] -> [{VENDOR_RELEASE_TAG}]")
+      stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
-        time.sleep(0.1)
+      try:
-        self._provision()
+        os.remove(QUARANTINE_PATH)
-      self._spinner.close()
+      except OSError:
-    except Exception as exc:  # noqa: BLE001
+        pass
-      self._announce_failure(exc)
+      self._say(f"Offline maps engine verified [{VENDOR_RELEASE_TAG}]")
+      return True
+
+    # a foreign binary — e.g. a stock release download from the retired fetch
+    # path — must never run: quarantine it where manager can't start it
+    cloudlog.error(f"iq_maps: vendor mapd hash {current[:12]} != pinned {expected[:12]}, quarantining")
+    self._say("Offline maps engine failed verification; quarantined until the next update.")
+    try:
+      os.replace(VENDOR_MAPD_PATH, QUARANTINE_PATH)
+    except OSError:
+      cloudlog.exception("iq_maps: vendor mapd quarantine failed")
+      return False
+    self._params.remove(_VERSION_PARAM)
+    try:
+      raise RuntimeError(f"vendor mapd hash mismatch quarantined: {current}")
+    except RuntimeError as exc:
+      sentry.init(sentry.SentryProject.SELFDRIVE)
+      sentry.capture_exception(exc)
+    return False
 
-  # --- internal ------------------------------------------------------------
   def _expected_hash(self) -> str:
     try:
       with open(_HASH_FILE) as f:
@@ -94,88 +101,13 @@ class VendorMapdInstaller:
     except OSError:
       return ""
 
-  def _binary_up_to_date(self) -> bool:
-    if not os.path.exists(VENDOR_MAPD_PATH):
-      return False
-    if self.get_installed_version() != VENDOR_RELEASE_TAG:
-      return False
-    reference = self._expected_hash()
-    if not reference:
-      return True
-    try:
-      return sha256_of_file(VENDOR_MAPD_PATH) == reference
-    except OSError:
-      return False
-
-  def _provision(self) -> None:
-    self.ensure_directories_exist()
-    if self._retrieve_binary():
-      stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
-
-  def _retrieve_binary(self) -> bool:
-    staging = Path(f"{VENDOR_MAPD_PATH}.part")
-    last_error: Exception | None = None
-    for attempt in range(1, _FETCH_ATTEMPTS + 1):
-      try:
-        with requests.get(VENDOR_RELEASE_URL, stream=True, timeout=_HTTP_TIMEOUT_S) as resp:
-          resp.raise_for_status()
-          with open(staging, "wb") as out:
-            for chunk in resp.iter_content(chunk_size=1 << 16):
-              out.write(chunk)
-            out.flush()
-            os.fsync(out.fileno())
-        os.chmod(staging, os.lstat(staging).st_mode | stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH)
-        staging.replace(VENDOR_MAPD_PATH)
-        return True
-      except requests.exceptions.RequestException as exc:
-        last_error = exc
-        self._say(f"offline maps fetch attempt {attempt}/{_FETCH_ATTEMPTS} did not complete ({exc})")
-        time.sleep(0.5)
-    staging.unlink(missing_ok=True)
-    logging.error("offline maps engine could not be fetched after %d attempts: %s", _FETCH_ATTEMPTS, last_error)
-    return False
-
-  def _on_metered_link(self) -> bool:
-    sm = messaging.SubMaster(["deviceState"])
-    return bool(sm["deviceState"].networkMetered)
-
-  def _block_until_online(self) -> bool:
-    for i in range(1, _NET_PROBE_ATTEMPTS + 1):
-      self._say(f"Waiting for a usable network connection... [{i}/{_NET_PROBE_ATTEMPTS}]")
-      if self._link_reachable():
-        return True
-      time.sleep(_NET_PROBE_INTERVAL_S)
-    return False
-
-  @staticmethod
-  def _link_reachable() -> bool:
-    try:
-      requests.head(VENDOR_RELEASE_URL, timeout=10, allow_redirects=True)
-      return True
-    except requests.exceptions.RequestException as exc:
-      logging.debug("network probe failed: %s", exc)
-      return False
-
-  def _announce_failure(self, exc: Exception) -> None:
-    for remaining in range(5, 0, -1):
-      self._say(f"Offline maps engine unavailable; navigation stays online-only. Boot continues in {remaining}s...")
-      time.sleep(1)
-    logging.exception("vendor mapd install failed")
-    sentry.init(sentry.SentryProject.SELFDRIVE)
-    sentry.capture_exception(exc)
-
   def _say(self, text: str) -> None:
+    if self._spinner is not None:
       self._spinner.update(text)
 
 
 if __name__ == "__main__":
   spinner = Spinner()
-  installer = VendorMapdInstaller(spinner)
+  ok = VendorMapdInstaller(spinner).verify()
-  installer.ensure_directories_exist()
+  spinner.close()
-  if is_prebuilt():
+  sys.exit(0 if ok else 1)
-    spinner.update(f"[DEBUG] Prebuilt build; vendor mapd install skipped. "
-                   f"target [{VENDOR_RELEASE_TAG}], param [{installer.get_installed_version()}]")
-    stamp_vendor_version(VENDOR_RELEASE_TAG)
-  else:
-    spinner.update(f"Verifying vendor mapd install. prebuilt [{is_prebuilt()}]")
-    installer.non_prebuilt_install()

selfdrive/modeld/models/prebuilt_check.json

@@ -4,6 +4,6 @@
       "dmonitoring_model_metadata.pkl": "31a86ab7a92dc0af088b15787a440dd3b210aa662e445a15145900e559a1b5c3",
       "dmonitoring_model_tinygrad.pkl": "806c0ea75df6bf6dfeb81b832314c68e31df5865a52d0359e6eeb76d93ad2b52"
     },
-    "signature": "e1eeb5ce45774a816c8da2394e6ee35ebf700b71dff345e0141dbab8ff592349"
+    "signature": "64740782bfd5b1720978aab24a2b1b37c99542f97db3c8637227c7412bb30bbf"
   }
 }

selfdrive/modeld/prebuilt_models.py

@@ -29,10 +29,12 @@ def _file_sha256(path: Path) -> str:
 @functools.lru_cache(maxsize=1)
 def _tinygrad_digest() -> str:
   h = hashlib.sha256()
-  # mirror the SConscript glob: no hidden files/dirs (also excludes .git, which differs per clone), no pycache
+  # mirror the SConscript glob: no hidden files/dirs (also excludes .git, which differs per clone), no pycache.
+  # 'weights' holds untracked/gitignored model weights (e.g. iqvd yolov8n .safetensors) present on dev machines
+  # but absent from a clean CI/device clone — hashing them makes the signature unreproducible (false STALE).
   def _included(p: Path) -> bool:
     rel = p.relative_to(TINYGRAD_DIR).parts
-    return p.is_file() and '__pycache__' not in rel and not any(part.startswith('.') for part in rel)
+    return p.is_file() and '__pycache__' not in rel and 'weights' not in rel and not any(part.startswith('.') for part in rel)
   files = sorted(p for p in TINYGRAD_DIR.rglob('*') if _included(p))
   for p in files:
     h.update(str(p.relative_to(BASEDIR)).encode())

system/hardware/fan_controller.py

@@ -6,7 +6,11 @@ class FanController:
   def __init__(self) -> None:
     self.last_ignition = False
 
-  def update(self, cur_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool, max_cool: bool = False) -> int:
+    if max_cool:
+      self.last_ignition = ignition
+      return 100
+
     if cur_temp < 70.0:
       fan_pwr_out = 0
     elif cur_temp > 85.0:

system/hardware/hardwared.py

@@ -432,8 +432,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
-    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
-
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
@@ -447,6 +445,10 @@ def hardware_thread(end_event, hw_queue) -> None:
       elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp:
         thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
 
+    # the car is running but temperature is blocking the start, so cool as fast as we can
+    max_cool = (started_ts is None) and onroad_conditions["ignition"] and thermal_status >= ThermalStatus.red
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], max_cool)
+
     # **** starting logic ****
 
     startup_conditions["up_to_date"] = True

system/hardware/tests/test_fan_controller.py

@@ -41,6 +41,13 @@ class TestFanController:
     self.wind_up(controller, True)
     assert controller.update(100, True) == 100
 
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_max_cool(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_down(controller)
+    assert controller.update(80, True, True) == 100
+    assert controller.update(80, False, True) == 100
+
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
   def test_windup_speed(self, mocker, controller_class):
     controller = patched_controller(mocker, controller_class)

system/hardware/tici/hardware.py

@@ -85,8 +85,13 @@ def affine_irq(val, action):
 @lru_cache
 def get_device_type():
   # lru_cache and cache can cause memory leaks when used in classes
+  try:
     with open("/sys/firmware/devicetree/base/model") as f:
       model = f.read().strip('\x00')
+  except FileNotFoundError:
+    # off-device (e.g. the prebuilt build container fakes /TICI but has no
+    # devicetree); import must not crash. Not a real device type.
+    return "unknown"
   return model.split('comma ')[-1]
 
 class Tici(HardwareBase):