IQ.Pilot Release Commit @ 98a2c61
This commit is contained in:
IQ.Lvbs CI [bot]
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|
||||
"python/iqpilot_private/konn3kt/backups/cbc_vault.cpython-312-aarch64-linux-gnu.so": "6Fdo8Du4ZUMt8241uRDjLVoy1a2flzQNeXMfaVuRaMU8aYZZixqvaYPeanZDPOTvpy6PxaFVZYYnBR/cqokNCw==",
|
||||
"python/iqpilot_private/konn3kt/backups/imahelper.cpython-312-aarch64-linux-gnu.so": "YTL4x/JaFnZCALPoyET84LvOcISGB5vrpTYn5b87kSDdcWPDwiTyEAXUuueOQGRQXVzZJj4UC+zal2DEA2QlAw==",
|
||||
"python/iqpilot_private/konn3kt/flockd/flockd.cpython-312-aarch64-linux-gnu.so": "KHqjlPIClO9hg2LxyOzRismA38ysUPxci0KCiHrydE8W7Nbd3LMMR1/9/rUvPUfRYY/szpkfvkZTlMwo26R5BQ==",
|
||||
"python/iqpilot_private/konn3kt/flockd/signatures.cpython-312-aarch64-linux-gnu.so": "Uas3ReVuTgjJxr1elZ/26R8/6StRaFrMPD16t7GWGj6PTG+CiUOPn4oiiJgfumevnrYw4xGGLRsfZQhFHaUHAA==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_auth.cpython-312-aarch64-linux-gnu.so": "39bSI5v9Mg9VQLo3PmfUBmfHE1hKjTD2Jfgak/W3m1FJ7eXROhUjts6bsY5pXsHDx6MTcEw35IUr7Q8v+3bQBg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_gatt.cpython-312-aarch64-linux-gnu.so": "hB1aGUsLCYcFSLxGxg1nuRzbrA1Uv/StOQv0V/0L8v73Z7xakXYFW8h/C5xD2/hNIGFMaNc7GLOyc2GwN7tVAg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_rpc_dispatch.cpython-312-aarch64-linux-gnu.so": "LlBVzMoPeK8ypvzgXXYkqmooV6V1lHtS6Ym5VPj/fNFn79hWfhbsjwY9A463hs3QzaxGh5OWwcc1pmFc6USODw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_transportd.cpython-312-aarch64-linux-gnu.so": "nq7AH2XYZuAxhGfHfgc3haBGbu5bDwOI15mI++Be3VYsVah0P+Fqd0F5G6dZjIFo5fbuO0FH7/LHOlEnxRQcBw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/bt_gamepad.cpython-312-aarch64-linux-gnu.so": "m2y/Lozqs16IZsrpL+OOQ0MQCWEB+EuyacYa/TFch4KxwPHVrEnh+zKtGdeIhcd7pVkUd1IRkFVnWGGvBx+pCg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so": "+njDWbhjEsFL1WzGlL0fN5ygbqGbfwInwaAquDeC5aYgbrwvJOdnwonJgxV0fd0ABzIwfuUFzSMZg6F3qI84BA==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so": "G8sfe52XB1m4Lc197oLD51bwbXOZXkpOtAsgiMHZHwbayEFsPeI2Ls/R4ZOcPYTjztXDKYt68Ig8QJblRanTCQ==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so": "jr8rsgKsxDYBuY58XqIqMkb9pW78Jb6rBGaEHLZRtWS6z58td37+PBesMzzg4J1GNov4RKcZfMbaANBui1OnAA==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so": "QbprGqwfKC9bo4xs8pNieYI/TOwLOUNv4YVHhXPS/2xVU5bS+aDr71aD/o4PF3UmkJrMW/94b8X22Dy19SYEDQ==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so": "Iv9RL4rXHell9BfRp6PoWxD3TnT+WLugypT3aG4Ukf/iMqPVPizGtqfJY/axQY8jItBGTXcIyfZA9O6juGpfBg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so": "KKD5TdLEDBtDy+YoUgglFkpHVJjvn9K4xlzUF7doWIAo1+n3ySTYQ4V7+iJ04H0Axs3Gsp0d0ytDui5qw09+Cw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so": "C4po9GxTKUlww19PaUJUi+kUTBTTVYyUMjAvAhNYAVcOS6mpVNMIBX7UCt3XcTtlLU+q+goE0Mw68LvoMza4AQ==",
|
||||
"python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "l1lWA8GLEToT4GDa96aEt6TFO8RDP/WSHgXV+9mge8cHQ82UVrVJKX98andFvKDaNGPjZgR+gK5gslEMt2dVCg=="
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1 +1 @@
|
||||
mxOyhKQjRuoHrbPQQSnMJaJzcXKHxcSlSDfdKtivSLLcyR4S/xnfQ+cT/LW9JnoF6qbUc1uKFn8BEKF+HUOADA==
|
||||
HlmJ/WkPaO0L0omQG7BWUtHYKzp2ZTFvaVu4BDpACrkluSoWeyX0suOZlU29fJvRI+nWhBEkRW7807toLyrNAQ==
|
||||
|
||||
@@ -6,6 +6,7 @@ import subprocess
|
||||
from iqpilot.common.params import Params
|
||||
|
||||
PARAM = "GitAuthBlob"
|
||||
PARAMS_DIR = os.environ.get("PARAMS_DIR", "/data/params/d")
|
||||
KEY_DIR = "/data/konn3kt"
|
||||
KEY_PATH = os.path.join(KEY_DIR, "git_auth.key")
|
||||
HELPER_PATH = os.path.join(KEY_DIR, "git_credential_helper.py")
|
||||
@@ -51,6 +52,48 @@ if __name__ == "__main__":
|
||||
'''
|
||||
|
||||
|
||||
def _params_get(name: str) -> bytes | None:
|
||||
# Params -> cereal -> iqdbc: that chain is unavailable mid-bootstrap (this module's
|
||||
# callers install those very packages), so fall back to the params file directly,
|
||||
# exactly like the embedded credential helper does.
|
||||
try:
|
||||
return Params().get(name)
|
||||
except Exception:
|
||||
try:
|
||||
with open(os.path.join(PARAMS_DIR, name), "rb") as f:
|
||||
return f.read()
|
||||
except OSError:
|
||||
return None
|
||||
|
||||
|
||||
def _params_put(name: str, value: bytes) -> None:
|
||||
try:
|
||||
Params().put(name, value)
|
||||
return
|
||||
except Exception:
|
||||
pass
|
||||
os.makedirs(PARAMS_DIR, exist_ok=True)
|
||||
tmp = os.path.join(PARAMS_DIR, f".tmp_{name}")
|
||||
fd = os.open(tmp, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o644)
|
||||
with os.fdopen(fd, "wb") as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
os.replace(tmp, os.path.join(PARAMS_DIR, name))
|
||||
|
||||
|
||||
def _params_remove(name: str) -> None:
|
||||
try:
|
||||
Params().remove(name)
|
||||
return
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
os.unlink(os.path.join(PARAMS_DIR, name))
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
|
||||
def _load_or_create_key() -> bytes:
|
||||
from cryptography.fernet import Fernet
|
||||
try:
|
||||
@@ -80,7 +123,7 @@ def set_credentials(username: str, token: str) -> None:
|
||||
blob = Fernet(_load_or_create_key()).encrypt(
|
||||
json.dumps({"u": username, "t": token}).encode()
|
||||
)
|
||||
Params().put(PARAM, blob)
|
||||
_params_put(PARAM, blob)
|
||||
try:
|
||||
install_credential_helper(DEFAULT_REPO_DIR)
|
||||
except Exception:
|
||||
@@ -89,7 +132,7 @@ def set_credentials(username: str, token: str) -> None:
|
||||
|
||||
def get_credentials() -> tuple[str, str] | None:
|
||||
"""Return (username, token), or None if unset / unreadable."""
|
||||
blob = Params().get(PARAM)
|
||||
blob = _params_get(PARAM)
|
||||
if not blob:
|
||||
return None
|
||||
try:
|
||||
@@ -101,7 +144,7 @@ def get_credentials() -> tuple[str, str] | None:
|
||||
|
||||
|
||||
def clear_credentials() -> None:
|
||||
Params().remove(PARAM)
|
||||
_params_remove(PARAM)
|
||||
|
||||
|
||||
def has_credentials() -> bool:
|
||||
|
||||
@@ -76,6 +76,13 @@ 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 +91,10 @@ 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)
|
||||
|
||||
@@ -104,7 +104,7 @@ class ManagerProcess(ABC):
|
||||
self.stop(sig=signal.SIGKILL)
|
||||
self.start()
|
||||
|
||||
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
|
||||
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None, timeout: float = 5) -> int | None:
|
||||
if self.proc is None:
|
||||
return None
|
||||
|
||||
@@ -119,7 +119,7 @@ class ManagerProcess(ABC):
|
||||
if not block:
|
||||
return None
|
||||
|
||||
join_process(self.proc, 5)
|
||||
join_process(self.proc, timeout)
|
||||
|
||||
# If process failed to die send SIGKILL
|
||||
if self.proc.exitcode is None and retry:
|
||||
@@ -245,8 +245,8 @@ class BundleProcess(NativeProcess):
|
||||
_normalize_bundle_modes(self.bundle)
|
||||
super().start()
|
||||
|
||||
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
|
||||
return super().stop(retry=retry, block=block, sig=signal.SIGTERM if sig is None else sig)
|
||||
def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None, timeout: float = 5) -> int | None:
|
||||
return super().stop(retry=retry, block=block, sig=signal.SIGTERM if sig is None else sig, timeout=timeout)
|
||||
|
||||
|
||||
class PythonProcess(ManagerProcess):
|
||||
|
||||
@@ -75,6 +75,11 @@ def navd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def navrenderd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
return started and params.get_bool("NavigationEnabled") and params.get_bool("OnScreenNavigation")
|
||||
|
||||
def navincidentd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
return started and params.get_bool("NavigationEnabled") and bool(params.get("WazePoliceApiKey")) and (
|
||||
params.get_int("WazePoliceAlertMode") > 0 or params.get_bool("WazePoliceShadow")
|
||||
)
|
||||
|
||||
def iqmapd_needed(params: Params) -> bool:
|
||||
return (
|
||||
params.get_bool("IQRoadNameOverlay")
|
||||
@@ -195,6 +200,7 @@ procs += [
|
||||
BundleProcess("backup_manager_k3", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.backups.backup_orchestrator",
|
||||
and_(only_offroad, hephaestus_ready_shim, not_low_power)),
|
||||
BundleProcess("navd", "iqpilot_navd_private", "iqpilot_private.navd.navd", navd_onroad, restart_if_crash=True),
|
||||
BundleProcess("navincidentd", "iqpilot_navd_private", "iqpilot_private.navd.navincidentd", navincidentd_onroad, restart_if_crash=True),
|
||||
BundleProcess("navrenderd", "iqpilot_navd_private", "iqpilot_private.navd.navrenderd", navrenderd_onroad, restart_if_crash=True),
|
||||
BundleProcess("iqmapd", "iqpilot_navd_private", "iqpilot_private.navd.iqmapd", iqmapd_onroad, restart_if_crash=True),
|
||||
|
||||
|
||||
Binary file not shown.
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Binary file not shown.
@@ -610,7 +610,8 @@ class CarController(CarControllerBase):
|
||||
leadDistance = hud_control.leadDistance if self.CCS is mlbcan else \
|
||||
(min(8, hud_control.leadDistance) if hud_control.leadDistance != 0 else 0)
|
||||
self.leadDistanceBars = min(3, hud_control.leadDistanceBars)
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive,
|
||||
CC.cruiseControl.override or CS.out.gasPressed)
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
|
||||
decel = dVisual(self.CCS, CS)
|
||||
hud_kwargs = {"hud_text": self._mlb_acc_hud_text(hud_control, set_speed),
|
||||
|
||||
@@ -347,4 +347,6 @@ class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
|
||||
ret.longitudinalStoppingSpeedOverride = get_longitudinal_stopping_speed_override(candidate, stock_cp.flags)
|
||||
override_excluded_platforms = VolkswagenFlags.MLB | VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO
|
||||
ret.longActiveWithGasOverride = alpha_long and not bool(stock_cp.flags & override_excluded_platforms)
|
||||
return ret
|
||||
|
||||
@@ -112,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
|
||||
"ACS_Sollbeschl": accel if acc_enabled else 3.01,
|
||||
"ACS_zul_Regelabw": comfortBand if acc_enabled else 1.27,
|
||||
"ACS_max_AendGrad": jerkLimit if acc_enabled else 5.08,
|
||||
"ACS_Schubabsch": 0,
|
||||
"ACS_Schubabsch": 1 if acc_enabled and accel > 0.05 else 0,
|
||||
"ACS_MomEingriff": 0,
|
||||
"ACS_ADR_Schub": 0,
|
||||
}
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
"""
|
||||
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
|
||||
"""
|
||||
|
||||
import pytest
|
||||
|
||||
from iqdbc.can import CANPacker
|
||||
from iqdbc.car.volkswagen import pqcan
|
||||
|
||||
|
||||
@pytest.mark.parametrize("accel, acc_control, expected", [
|
||||
(-1.0, 1, False),
|
||||
(0.0, 1, False),
|
||||
(0.05, 1, False),
|
||||
(0.051, 1, True),
|
||||
(1.0, 1, True),
|
||||
(1.0, 0, False),
|
||||
])
|
||||
def test_positive_acceleration_prevents_fuel_cutoff(accel, acc_control, expected):
|
||||
packer = CANPacker("vw_pq")
|
||||
messages = pqcan.create_acc_accel_control(
|
||||
packer, 0, 1, accel, acc_control, False, False, False, 0.2, 0.3, False,
|
||||
)
|
||||
assert len(messages) == 1
|
||||
_, data, _ = messages[0]
|
||||
assert bool(data[1] & 0x80) is expected
|
||||
@@ -100,6 +100,23 @@ class TestVolkswagenPlatformConfigs:
|
||||
assert bool(params.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB) is expected
|
||||
assert bool(params.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.PQ_ACC_FTS_EPB) is expected
|
||||
|
||||
@pytest.mark.parametrize("candidate, alpha_long, expected", (
|
||||
(CAR.VOLKSWAGEN_PASSAT_B7, False, False),
|
||||
(CAR.VOLKSWAGEN_PASSAT_B7, True, True),
|
||||
(CAR.VOLKSWAGEN_GOLF_MK7, False, False),
|
||||
(CAR.VOLKSWAGEN_GOLF_MK7, True, True),
|
||||
(CAR.AUDI_Q5_MK1, True, False),
|
||||
(CAR.VOLKSWAGEN_ID4_MK1, True, False),
|
||||
(CAR.VOLKSWAGEN_GOLF_MK8, True, False),
|
||||
))
|
||||
def test_supported_vw_longitudinal_stays_active_during_gas_override(self, candidate, alpha_long, expected):
|
||||
fingerprints = {bus: {} for bus in range(7)}
|
||||
params = CarInterface.get_params(candidate, fingerprints, [], alpha_long=alpha_long, is_release=False, docs=False)
|
||||
params_iq = CarInterface.get_params_iq(params, candidate, fingerprints, [], alpha_long=alpha_long, is_release_iq=False, docs=False)
|
||||
assert params_iq.longActiveWithGasOverride is expected
|
||||
if expected:
|
||||
assert bool(params.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED) is alpha_long
|
||||
|
||||
|
||||
@pytest.mark.parametrize("button_type", (
|
||||
structs.CarState.ButtonEvent.Type.setCruise,
|
||||
|
||||
@@ -250,6 +250,8 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.Longitudinal
|
||||
self._rx(self._user_gas_msg(1))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.assertTrue(self._tx(self._accel_msg(0.5)))
|
||||
self.assertTrue(self._tx(self._accel_msg(0.0)))
|
||||
self.assertTrue(self._tx(self._accel_msg(-0.5)))
|
||||
|
||||
|
||||
class TestVolkswagenPqLowlineSafety(TestVolkswagenPqSafetyBase):
|
||||
|
||||
1
artifacts/package_sources/tinygrad/.iqpilot-revision
Normal file
1
artifacts/package_sources/tinygrad/.iqpilot-revision
Normal file
@@ -0,0 +1 @@
|
||||
95bfc521351d3acba7338605686155a9ee8b0009
|
||||
93
artifacts/runtime/env_sync.sh
Executable file
93
artifacts/runtime/env_sync.sh
Executable file
@@ -0,0 +1,93 @@
|
||||
#!/usr/bin/env bash
|
||||
# Python env + proprietary runtime sync for the openpilot tree.
|
||||
#
|
||||
# Two callers, same steps:
|
||||
# - launch_chffrplus.sh sources this at boot and calls sync_python_env. When an
|
||||
# update was already prepared this is a warm no-op; when there is real work
|
||||
# (local dev edits, failed prep) it runs under the boot spinner as before.
|
||||
# - updated.py executes this standalone right after an update is applied to
|
||||
# disk, so the heavy uv/package work happens offroad with the stack idle
|
||||
# instead of at boot alongside everything else starting at once.
|
||||
#
|
||||
# Variables assigned here (VENV_SITE_PACKAGES, BASE_SITE_PACKAGES, ...) are
|
||||
# intentionally global: the sourced caller composes PYTHONPATH from them.
|
||||
|
||||
sync_python_env() {
|
||||
local DIR
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/../.." >/dev/null && pwd )"
|
||||
|
||||
# Best-effort: install the verified runtime before anything starts the services that
|
||||
# need it. This only succeeds on a tree that has built _verified_import.so, so on a
|
||||
# prebuilt release install it is a no-op -- there the runtime arrives with the IQ.OS
|
||||
# flash, whose image bakes it in. What actually fixes the 20+ minute first-install hang
|
||||
# is --no-block on the service starts below: hephaestusd/ble-transportd/flockd each
|
||||
# ExecStartPre-wait up to 600s for /usr/libexec/iqpilot/iqpilot_bundle_runner.
|
||||
if [ -x "$DIR/iqpilot/system/proprietary_runtime/install_verified_runtime.sh" ]; then
|
||||
"$DIR/iqpilot/system/proprietary_runtime/install_verified_runtime.sh" || true
|
||||
fi
|
||||
|
||||
# Install/update proprietary runtime bundles.
|
||||
if [ -f "$DIR/artifacts/runtime/ensure_private_installed.sh" ]; then
|
||||
bash "$DIR/artifacts/runtime/ensure_private_installed.sh" || true
|
||||
elif [ -x "$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" ]; then
|
||||
# Backward-compat fallback for older trees.
|
||||
"$DIR/scripts/iqpilot/ensure_navd_private_installed.sh" || true
|
||||
fi
|
||||
|
||||
PYTHONPATH="$DIR" /usr/local/venv/bin/python3 -c "from iqpilot.common.git_creds import install_credential_helper; install_credential_helper('$DIR')" 2>/dev/null || true
|
||||
PACKAGE_LOCK_SHA="$(sha256sum "$DIR/uv.lock" | awk '{print $1}')"
|
||||
INSTALLED_PACKAGE_LOCK_SHA="$(cat "$DIR/.iqpilot-package-lock-sha256" 2>/dev/null || true)"
|
||||
BASE_SITE_PACKAGES="$(/usr/local/venv/bin/python3 -c 'import site; print(site.getsitepackages()[0])')"
|
||||
PROJECT_RAYLIB="$("$DIR/.venv/bin/python3" -c 'import importlib.metadata; print(importlib.metadata.distribution("raylib").locate_file(""))' 2>/dev/null || true)"
|
||||
if [[ "$PROJECT_RAYLIB" = "$DIR/.venv"/* ]]; then
|
||||
sudo rm -rf "$DIR/.venv"
|
||||
rm -f "$DIR/.iqpilot-package-lock-sha256"
|
||||
INSTALLED_PACKAGE_LOCK_SHA=""
|
||||
fi
|
||||
VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])' 2>/dev/null || true)"
|
||||
PACKAGES_READY=0
|
||||
if [ -d "$DIR/artifacts/package_runtime" ] && PYTHONPATH="$DIR/artifacts/package_runtime" /usr/local/venv/bin/python3 -c "import iqdbc, msgq, panda, rednose, teleoprtc, tinygrad" 2>/dev/null; then
|
||||
PACKAGES_READY=1
|
||||
elif [ "$PACKAGE_LOCK_SHA" = "$INSTALLED_PACKAGE_LOCK_SHA" ] && "$DIR/.venv/bin/python3" -c "import iqdbc, msgq, panda, rednose, teleoprtc, tinygrad" 2>/dev/null \
|
||||
&& "$DIR/.venv/bin/python3" "$DIR/iqpilot/system/runtime_packages_verify.py"; then
|
||||
# a top-level import passes on a partially extracted install (lazy backends),
|
||||
# so readiness also requires every wheel RECORD file to exist on disk
|
||||
PACKAGES_READY=1
|
||||
fi
|
||||
if [ "$PACKAGES_READY" != "1" ]; then
|
||||
UV_CACHE_DIR="$DIR/.uv-cache"
|
||||
if [ ! -x "$DIR/.venv/bin/python3" ]; then
|
||||
UV_CACHE_DIR="$UV_CACHE_DIR" uv venv --python /usr/local/venv/bin/python3 "$DIR/.venv" || return 1
|
||||
VENV_SITE_PACKAGES="$("$DIR/.venv/bin/python3" -c 'import site; print(site.getsitepackages()[0])')"
|
||||
fi
|
||||
sudo chown -R "$(id -u):$(id -g)" "$DIR/.venv" "$UV_CACHE_DIR" "$DIR/artifacts/package_sources" 2>/dev/null || true
|
||||
IQDBC_PACKAGE_SOURCE=""
|
||||
PACKAGE_SOURCES=()
|
||||
while IFS=$'\t' read -r package_name package_source; do
|
||||
PACKAGE_SOURCES+=("$package_source")
|
||||
if [ "$package_name" = "iqdbc" ]; then
|
||||
IQDBC_PACKAGE_SOURCE="$package_source"
|
||||
fi
|
||||
done < <(/usr/local/venv/bin/python3 "$DIR/iqpilot/system/runtime_package_sources.py" "$DIR")
|
||||
if [ "${#PACKAGE_SOURCES[@]}" = "0" ] || [ -z "$IQDBC_PACKAGE_SOURCE" ]; then
|
||||
return 1
|
||||
fi
|
||||
PACKAGE_BUILD_PYTHONPATH="$BASE_SITE_PACKAGES:$VENV_SITE_PACKAGES"
|
||||
UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
|
||||
uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "$IQDBC_PACKAGE_SOURCE" || return 1
|
||||
UV_CACHE_DIR="$UV_CACHE_DIR" PYTHONPATH="$PACKAGE_BUILD_PYTHONPATH" PATH="/usr/local/venv/bin:/usr/bin:$PATH" \
|
||||
uv pip install --python "$DIR/.venv/bin/python" --no-build-isolation --no-deps --reinstall "${PACKAGE_SOURCES[@]}" || return 1
|
||||
printf '%s\n' "$PACKAGE_LOCK_SHA" > "$DIR/.iqpilot-package-lock-sha256"
|
||||
fi
|
||||
if [ -n "$VENV_SITE_PACKAGES" ]; then
|
||||
printf 'import site; site.addsitedir("%s")\n' "$BASE_SITE_PACKAGES" | sudo tee "$VENV_SITE_PACKAGES/iqpilot-system-venv.pth" >/dev/null
|
||||
fi
|
||||
}
|
||||
|
||||
if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
|
||||
sync_python_env
|
||||
exit $?
|
||||
fi
|
||||
|
||||
# NOTE: keep this file in lockstep with the launch-time expectations above --
|
||||
# updated.py invokes it standalone and launch_chffrplus.sh sources it.
|
||||
@@ -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."""
|
||||
|
||||
@@ -6,7 +6,7 @@ from iqpilot.common.markdown import parse_markdown
|
||||
|
||||
class TestMarkdown:
|
||||
def test_all_release_notes(self):
|
||||
with open(os.path.join(BASEDIR, "docs", "CHANGELOG.md")) as f:
|
||||
with open(os.path.join(BASEDIR, "iqpilot", "docs", "CHANGELOG.md")) as f:
|
||||
release_notes = f.read().split("\n\n")
|
||||
assert len(release_notes) > 10
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import pytest
|
||||
|
||||
from iqpilot.common.realtime import Ratekeeper
|
||||
from iqpilot.common.realtime import config_background_thread, Ratekeeper
|
||||
|
||||
|
||||
class MonotonicClock:
|
||||
@@ -47,3 +47,18 @@ def test_ratekeeper_reset_preserves_frame_count(monkeypatch):
|
||||
|
||||
rk.reset()
|
||||
assert rk.frame == frame
|
||||
|
||||
|
||||
def test_config_background_thread_restores_normal_scheduling(monkeypatch):
|
||||
calls = []
|
||||
monkeypatch.setattr("iqpilot.common.realtime.sys.platform", "linux")
|
||||
monkeypatch.setattr("iqpilot.common.realtime.PC", False)
|
||||
monkeypatch.setattr("iqpilot.common.realtime.os.cpu_count", lambda: 8)
|
||||
monkeypatch.setattr("iqpilot.common.realtime.os.SCHED_OTHER", 0, raising=False)
|
||||
monkeypatch.setattr("iqpilot.common.realtime.os.sched_param", lambda priority: priority, raising=False)
|
||||
monkeypatch.setattr("iqpilot.common.realtime.os.sched_setscheduler", lambda pid, policy, param: calls.append((pid, policy, param)), raising=False)
|
||||
monkeypatch.setattr("iqpilot.common.realtime.os.sched_setaffinity", lambda pid, cores: calls.append((pid, set(cores))), raising=False)
|
||||
|
||||
config_background_thread()
|
||||
|
||||
assert calls == [(0, 0, 0), (0, set(range(8)))]
|
||||
|
||||
321
iqpilot/docs/CHANGELOG.md
Normal file
321
iqpilot/docs/CHANGELOG.md
Normal file
@@ -0,0 +1,321 @@
|
||||
# IQ.Pilot User Changelog
|
||||
|
||||
## IQ.Pilot 1.0c Changelog
|
||||
|
||||
### Features
|
||||
|
||||
#### Navigate on IQ.Pilot
|
||||
|
||||
- Added Navigate on IQ.Pilot as a complete on-device navigation experience.
|
||||
- Added destination search with Home, Work, and Recent shortcuts.
|
||||
- Added live turn-by-turn guidance with automatic rerouting after a missed turn or route deviation.
|
||||
- Added traffic-aware online routing with automatic traffic refresh, delay tracking, closure awareness, and fresh-route metadata.
|
||||
- Added AMap destination search and routing for configured mainland China devices.
|
||||
- Added an interactive off-road map with panning and current-location display.
|
||||
- Added a split on-road map view so the camera, model path, route, current position, and upcoming maneuver remain visible together.
|
||||
- Added route-aware longitudinal planning for turns, highway exits, and highway forks.
|
||||
- Added route-aware lane-change guidance for supported highway exits.
|
||||
- Added route-commanded automatic turn signals on supported vehicles.
|
||||
- Added optional exit-lane-change assistance with Blind Spot Monitoring awareness.
|
||||
- Improved low-speed maneuver guidance so the model keeps the requested turn path while waiting and carries it through the committed turn.
|
||||
- Added route cancellation and saved-destination management from the Navigate screen in the Konn3kt app.
|
||||
|
||||
#### IQ Speed Assist
|
||||
|
||||
- Added the new IQ Speed Assist architecture.
|
||||
- Added TomTom speed-limit data alongside dashboard, Mapbox, and offline OpenStreetMap sources.
|
||||
- Added percentage-based offset zones for low, medium, and higher speed ranges.
|
||||
- Added direct integration of upcoming speed limits into the longitudinal cruise envelope for earlier and smoother reactions.
|
||||
|
||||
#### Construction Zone Assist
|
||||
|
||||
- Added optional camera-based Construction Zone Assist.
|
||||
- Added road-camera detection of bright orange work-zone barrels and markers.
|
||||
- Added an adjustable work-zone target speed with a 60 mph default.
|
||||
- Added daylight, road-speed, and active-zone state checks to reduce detections from unrelated reflective objects.
|
||||
|
||||
#### Camera Alerts
|
||||
|
||||
- Added direct Flock/ALPR hardware detection from nearby Bluetooth and Wi-Fi radio signatures.
|
||||
- Added warnings for mapped speed cameras, red-light cameras, and ALPR/Flock Safety cameras.
|
||||
- Direct radio detection works without internet access or preexisting map data, and can warn about a nearby unit before appearing in the map database.
|
||||
- Added optional speed-camera slowdown using the detected camera limit and a configurable safety factor.
|
||||
- Added optional haptic feedback on supported Hyundai/Kia/Genesis vehicles when approaching a speed camera.
|
||||
|
||||
#### IQ.Dynamic
|
||||
|
||||
- Added configurable IQ.Dynamic activation for curves, low road speeds, slower or stopped lead vehicles, and model-predicted stops.
|
||||
- Added separate road-speed, lead-speed, and model-stop timing controls.
|
||||
- Added on-device IQ.Dynamic configuration by double-tapping IQ.Dynamic in the longitudinal mode selector.
|
||||
- Added on-road IQ longitudinal-mode cycling through the nucleus icon on BIG UI devices.
|
||||
- Added optional stock-radar blending on supported Volkswagen PQ vehicles for more stable highway following.
|
||||
- Added IQ Force Stops for model-predicted stop lights and stop signs when no lead vehicle is present.
|
||||
- Added adjustable minimum stop length and stopping distance.
|
||||
|
||||
#### General Longitudinal Updates
|
||||
|
||||
- Added end-to-end cruise convergence so the vehicle returns toward the selected cruise speed as the road opens in IQ.Pilot (E2E) mode.
|
||||
- Added Smooth Stops for gentler final braking at regular and model-predicted stops.
|
||||
- Added smoother pull-away behavior and departure chimes when a lead moves or the path opens.
|
||||
- Added an optional Experimental Lead MPC mode.
|
||||
- Added earlier reactions to upcoming curves.
|
||||
|
||||
#### IQ Steering Assistance Behavior (SAB)
|
||||
|
||||
- Added a distinct lateral-only engagement border separate from full lateral-and-longitudinal engagement.
|
||||
- Added Always-On Lateral support through compatible Hyundai LFA buttons.
|
||||
- Added an optional mode that pauses steering torque when the driver takes the wheel and resumes after release.
|
||||
|
||||
#### Lane Changes
|
||||
|
||||
- Added a model-based road-edge guard that blocks unsafe lane changes with an alert.
|
||||
|
||||
#### Lateral Tuning
|
||||
|
||||
- Added configurable steering smoothing, slew limiting, and curvature lookahead.
|
||||
- Improved curve entry and reduced abrupt steering changes while preserving quick avoidance responses.
|
||||
- Added angle-based steering and optional torque blending for Volkswagen vehicles with ALC.
|
||||
- Added Volkswagen PQ HCA7 steering support and live-learned curvature correction on supported MEB vehicles.
|
||||
|
||||
#### Driving Models
|
||||
|
||||
- Added automatic model refresh and redownload when an installed model needs an update.
|
||||
- Added a clear Driving Model Updating state, and engagement now waits until the selected model is ready.
|
||||
|
||||
#### IQ eMac
|
||||
|
||||
- Added IQ eMac for running supported big driving models on an Apple Silicon Mac over USB.
|
||||
- Added a Big Model selector with Off, BRH, Lebowski, and RDF choices.
|
||||
- Added one-time model download and compilation on the Mac, with cached models for later drives.
|
||||
- Added automatic USB network setup with a one-time Mac administrator prompt when required.
|
||||
- Added USB AMD eGPU-dock support with automatic detection and recovery tools.
|
||||
|
||||
#### IQ eMac App
|
||||
|
||||
- Added a native Mac app for starting, monitoring, restarting, and stopping IQ eMac.
|
||||
- Added live connection, model, download, compilation, inference rate, latency, and session status.
|
||||
- Added persistent menu-bar operation with compact live statistics.
|
||||
|
||||
#### Home Screen and Off-Road UI
|
||||
|
||||
- Added a new IQ.Pilot home screen with dedicated Routes, Navigation, Video, and status views.
|
||||
- Added a selectable home-panel widget and an expanded status bar.
|
||||
- Added 60 fps BIG UI presentation and improved Comma 4 visuals.
|
||||
- Added connected Wi-Fi, vehicle state, temperature, Konn3kt status, and installed IQ.OS version displays.
|
||||
- Added automatic mph or km/h selection based on the device location.
|
||||
- Added smoother navigation, transitions, animations, and controls.
|
||||
- Added Polish and expanded translations throughout the Comma 4 UI and IQ.Pilot settings.
|
||||
|
||||
#### On-Road UI
|
||||
|
||||
- Added a glowing orb for the primary lead vehicle.
|
||||
- Added live Konn3kt accent colors across borders, lane lines, controls, and sliders.
|
||||
- Updated the acceleration bar with IQ.Pilot's teal and pink visual style.
|
||||
- Added on-road longitudinal personality selection.
|
||||
- Added a Silent Mode bell control.
|
||||
- Added Night Mode for automatic display sleep after sunset.
|
||||
- Added a gradual volume ramp for immediate warning alerts.
|
||||
- Added screen recording through Konn3kt.
|
||||
|
||||
#### Dashcam and Routes
|
||||
|
||||
- Increased dashcam (qcam) video resolution by 5x.
|
||||
- Added a master dashcam control for route logging, video, and audio.
|
||||
- Added crash-safe recording with recovery after power loss or an interrupted route.
|
||||
- Added an on-device Routes screen with drive details and upload status.
|
||||
- Added model path, steering angle, driver-monitoring state, speed, and cruise-speed overlays to the route viewer in the Konn3kt app.
|
||||
|
||||
#### Live View, Audio, and WebSSH
|
||||
|
||||
- Added live on-road video over cellular/Wi-Fi with the model path overlay.
|
||||
- Added full-resolution HDR driver-camera video on Comma 4.
|
||||
- Added microphone audio and two-way voice communication through Konn3kt.
|
||||
- Added an on-road indicator while Live View is active.
|
||||
- Added road, wide, and driver-camera snapshots.
|
||||
- Added faster camera switching, adaptive video quality, and dual-camera picture-in-picture.
|
||||
- Improved Konn3kt WebSSH connection reliability.
|
||||
|
||||
#### Konn3kt Services
|
||||
|
||||
- Konn3kt now remains available when IQ.Pilot is stopped or cannot open its main UI.
|
||||
- Added remote recovery access over Wi-Fi and cellular.
|
||||
- Added faster reconnection after network or IP-address changes.
|
||||
- Added dedicated route, log, and crash-log uploading.
|
||||
- Added Volkswagen and Tesla odometer display.
|
||||
- Added encrypted device backup and restore.
|
||||
- Added supported Volkswagen coding, diagnostic controls, and EPS flashing through Konn3kt.
|
||||
|
||||
#### Konn3kt Bluetooth Control
|
||||
|
||||
- Added direct Bluetooth control from the Konn3kt app across supported IQ.OS devices.
|
||||
- Added Bluetooth synchronization for vehicle, display, network, navigation, and driving settings.
|
||||
- Added automatic discovery and pairing without manual network configuration.
|
||||
- Added automatic Bluetooth fallback when Wi-Fi or cellular service is unavailable.
|
||||
- Added setup-stage Wi-Fi configuration, channel selection, and installation control.
|
||||
|
||||
#### Volkswagen PQ and MQB
|
||||
|
||||
- Expanded Volkswagen PQ and MQB vehicle support.
|
||||
- Added Volkswagen Passat B7/NMS and SEAT Alhambra Stop-and-Go support.
|
||||
- Added Stop-and-Go and automatic-resume improvements across supported PQ and MQB vehicles.
|
||||
- Added stock-radar blending with IQ.Dynamic on supported PQ vehicles.
|
||||
- Added automatic PQ steering-patch detection and minimum-steering-speed handling.
|
||||
- Added Volkswagen PQ firmware backup, patching, programming, and recovery tools.
|
||||
- Added PQ and MQB steering coding and compatibility checks through Konn3kt.
|
||||
- Added continued PQ and MQB lateral control during cruise faults.
|
||||
- Added an MQB Steering Lockout toggle that reduces low-speed steering torque to prevent LKAS faults on sensitive MQB vehicles.
|
||||
|
||||
#### Volkswagen MEB and MQBevo
|
||||
|
||||
- Added official Volkswagen MEB and MQBevo support.
|
||||
- Added supported Volkswagen ID.3, ID.4, ID.5, and Golf Mk8 configurations through model year 2025.
|
||||
- Added platform-specific steering, zero-speed steering, and ACC display support.
|
||||
- Added vehicle Drive/Park state handling and reliable device wake support.
|
||||
|
||||
#### Toyota and Lexus
|
||||
|
||||
- Added Toyota and Lexus Stop-and-Go support with an optional compatibility mode.
|
||||
- Added SDSU support.
|
||||
- Fixed ignition handling so the device returns off-road in Park.
|
||||
|
||||
#### Hyundai, Kia, and Genesis
|
||||
|
||||
- Added more supported Hyundai, Kia, and Genesis variants.
|
||||
- Added expanded CAN-FD, HDA2, Camera SCC, radar-track, and corner-radar support.
|
||||
- Added Auto Cruise Control and Auto Engage options on compatible vehicles.
|
||||
- Added custom steering maximum and steering-rate controls.
|
||||
- Added lane-change-specific steering-rate controls.
|
||||
- Added speed-camera haptics and Always-On Lateral support through compatible LFA buttons.
|
||||
|
||||
#### Honda, Subaru, and Tesla
|
||||
|
||||
- Added smoother final braking on supported Honda vehicles.
|
||||
- Added Subaru Creep from Standstill.
|
||||
- Added support for additional Tesla configurations and Model Y steering firmware.
|
||||
- Fixed Tesla stock-DAS cancellation so cruise speed remains available for IQ.Pilot longitudinal control.
|
||||
- Added an optional Tesla FSD/Autosteer visualization mode while IQ.Pilot steers.
|
||||
|
||||
#### IQ.OS
|
||||
|
||||
- Updated device firmware to IQ.OS 4.9.7.
|
||||
- Added support for Comma 3, Comma 3X, Comma 4, Konik A1/M, and Mr.One C3/C3 Lite.
|
||||
- Added per-unit Comma 4 display calibration and HDR camera color support.
|
||||
- Reduced Comma 3 cold-boot time from 39 seconds to 21 seconds.
|
||||
- Improved USB link recovery for IQ eMac and eGPU configurations.
|
||||
- Improved Konik A1 audio reliability.
|
||||
- Added assisted GPS acquisition through Konn3kt.
|
||||
|
||||
#### FastSleep and Power Management
|
||||
|
||||
- Added FastSleep deep standby after the vehicle is parked.
|
||||
- Added faster standby when vehicle battery voltage begins to drop.
|
||||
- Added staged low-voltage shutdown protection.
|
||||
- Kept Konn3kt recovery access available while high-power IQ.Pilot services sleep.
|
||||
- Added immediate wake when ignition or charging is detected.
|
||||
|
||||
#### Bluetooth Setup and Controller Support
|
||||
|
||||
- Added zero-touch Bluetooth onboarding with Konn3kt pairing and setup progress.
|
||||
- Added IQ.OS update confirmation through Konn3kt.
|
||||
- Kept Bluetooth controls available independently from the main IQ.Pilot process.
|
||||
|
||||
#### Network, Cellular, and eSIM
|
||||
|
||||
- Added a new Network settings experience on Comma 3 and Comma 4.
|
||||
- Added a direct Wi-Fi Disconnect action.
|
||||
- Added automatic cellular reconnection after APN changes.
|
||||
- Added SIM recovery for Comma 3X devices with a worn tray-presence switch.
|
||||
- Added experimental eSIM setup and profile management through QR or manual activation codes.
|
||||
|
||||
#### Device and Recovery Controls
|
||||
|
||||
- Added Force On-Road for a temporary ten-minute diagnostic session while parked.
|
||||
- Added Update & Reboot on the crash and recovery screen.
|
||||
- Added USB Storage mode to access device storage over USB.
|
||||
|
||||
#### Updater and Installation
|
||||
|
||||
- Added a new IQ.Pilot and IQ.OS update workflow.
|
||||
- Added Predownload Only and Predownload + Preinstall modes.
|
||||
- Added interrupted-installation recovery.
|
||||
|
||||
#### Reliability and Camera Fault Recovery
|
||||
|
||||
- Added independent recovery for navigation and map services.
|
||||
- Added automatic wide-camera fault detection so the road and driver cameras can continue operating, with an on-road warning after fallback.
|
||||
- Improved calibration recovery and protected driving services from map-service communication stalls.
|
||||
|
||||
---
|
||||
|
||||
### Technical Changes
|
||||
|
||||
- Reduced the IQ.Pilot total installation size to just 139.48 MiB.
|
||||
- Removed the legacy openpilot source mirror, compatibility directories, and obsolete source aliases.
|
||||
- Removed every Git submodule from the IQ.Pilot repository.
|
||||
- Updated release builds to vendor the exact pinned component sources and required LFS assets into a self-contained installation without nested Git repositories or private source URLs.
|
||||
- Added navigation-memory handling so important fork and exit guidance remains available when a model output briefly omits it.
|
||||
- Added on-device map rendering and route-state services designed specifically for IQ.Pilot.
|
||||
- Reduced navigation CPU, GPU, and memory overhead so the map can remain open for long drives without competing with the driving model.
|
||||
- Added full offline routing through a packaged Valhalla runtime.
|
||||
- Added offline navigation that can operate without Mapbox or an active internet connection.
|
||||
- Added support for keeping multiple offline regions installed simultaneously.
|
||||
- Added offline raster map tiles for the on-screen map, not only route calculation and road metadata.
|
||||
- Added separate Online On-Screen Maps and Offline On-Screen Maps controls.
|
||||
- Added resumable regional map downloads for unstable cellular and hotspot connections.
|
||||
- Added combined download progress for routing databases and rendered map tiles.
|
||||
- Added automatic recognition of already installed map regions.
|
||||
- Added automatic restoration of missing offline-map data.
|
||||
- Added a pinned IQ.Pilot mapd v2 fork with binary verification and automatic quarantine of incompatible mapd builds.
|
||||
- Added a hosted regional tile-bundle service with a secondary fallback source.
|
||||
- Added background tile decoding and bounded texture caching to keep map work off the UI render path.
|
||||
- Added automatic stock-radar set-speed and following-gap synchronization on supported Volkswagen vehicles.
|
||||
- Hardened Experimental Lead MPC with model-horizon validation and automatic radar-trajectory fallback when model lead data is missing, malformed, or non-finite.
|
||||
- Added Bluetooth-controller commands for testing or controlling Always-On Lateral in Joystick Mode.
|
||||
- Added the unified IQModeld runtime.
|
||||
- Added a native IQModeld bridge for current combined models and legacy split models.
|
||||
- Added fused vision-and-policy execution for supported supercombo bundles.
|
||||
- Added zero-copy camera-frame handling through the current tinygrad runner.
|
||||
- Added combined-artifact, combined-split, fused, tinygrad, and ONNX runner support under one manager.
|
||||
- Added signed and notarized Mac packaging with improved USB transport diagnostics.
|
||||
- Added stable border-crossing detection and last-known-location fallback for IQ Auto Units.
|
||||
- Added tappable branch information in the BIG UI header.
|
||||
- Fixed live language updates and several previously untranslated or malformed translations.
|
||||
- Added qlog-only route visualization, allowing the model path and driving telemetry to be viewed even when only a qlog and qcam are uploaded, and no rlog is available.
|
||||
- Hardened Qualcomm encoder polling and H.264 filtering for more reliable route recording.
|
||||
- Fixed upload queues that could stall behind a missing build-version file.
|
||||
- Fixed route-upload cache invalidation when a file is replaced at the same path, preventing stale upload state from being reused.
|
||||
- Added automatic LocalAPI deployment and configuration.
|
||||
- Fixed periodic Konn3kt disconnects caused by numeric heartbeat parameters terminating the connection writer.
|
||||
- Added authenticated BLE requests, replay protection, and a dedicated settings RPC dispatcher.
|
||||
- Added live propagation of BLE setting changes to the device UI and active IQ.Pilot services.
|
||||
- Added TRW450 ACC handling for the Volkswagen Passat B7/NMS.
|
||||
- Added MQB standstill handling for supported non-EPB ACC vehicles.
|
||||
- Added dedicated PQ radar engagement, cancellation, set-speed, acceleration, and following-gap management.
|
||||
- Added model-year ECU fingerprint checks and expanded Passat identification.
|
||||
- Added explicit Volkswagen car-readiness state handling.
|
||||
- Added on-car MLB longitudinal refinements and HCA steering-status configuration for compatible Audi and Porsche platforms.
|
||||
- Corrected Porsche Macan vehicle selection and Volkswagen-group settings presentation.
|
||||
- Added MEB camera-harness support for lateral control with stock ACC and compatible gateway-harness support for IQ.Pilot longitudinal control.
|
||||
- Added broader Hyundai/Kia/Genesis vehicle parameter and fingerprint diagnostics.
|
||||
- Added guarded Tesla vehicle-bus parsing for supported harness configurations.
|
||||
- Added kernel-level USB 3 logging support.
|
||||
- Added updated USB 3 receive equalization and VGA calibration for improved link stability.
|
||||
- Added 2 GB compressed zram swap for additional memory headroom.
|
||||
- Fixed GPS clock synchronization to interpret and apply timestamps in UTC.
|
||||
- Forced the Qualcomm camera BPS pipeline to its maximum clock for more consistent frame processing.
|
||||
- Disabled unsupported EGL zero-copy paths on Comma 4 while retaining them on compatible Comma 3 and Comma 3X hardware.
|
||||
- Added in-process audio-stream retries so an unavailable Konik A1 audio DSP does not crash-loop the alert service.
|
||||
- Added cached Konn3kt-assisted GPS data with freshness checks for faster GNSS acquisition when no local AssistNow token is configured.
|
||||
- Added measured-voltage power decisions while FastSleep is active.
|
||||
- Added an authenticated Bluetooth GATT transport and RPC dispatcher.
|
||||
- Added live remote CAN streaming from a device into Cabana through Konn3kt.
|
||||
- Updated Cabana and Jotpluggler to current upstream tool foundations while retaining Konn3kt device, route, DBC, and direct remote-stream support.
|
||||
- Added replay support for IQ.Pilot's crash-safe H.264 fragmented-MP4 recordings, including correct container seeking, decoder-delay handling, and multi-frame packet output.
|
||||
- Added a precompiled release pipeline for comma 3, comma 3X, and comma 4.
|
||||
- Added automatic runtime-package bootstrap, revision pinning, and credential reuse for fresh devices and updates.
|
||||
- Added the iq command center for setup, environment checks, builds, quality checks, package synchronization, status, branch switching, updates, service control, fast restart, and optional reboot.
|
||||
- Added an IQ.Pilot process layout built around independent model, navigation, map, uploader, backup, and perception services.
|
||||
- Added clearer on-device build, process-state, and diagnostic output.
|
||||
- Improved Panda SPI NACK handling for more reliable device-to-vehicle communication.
|
||||
- Hardened calibration by clearing invalid saved calibration, preserving stable solutions during excessive spread on supported comma 3/3X hardware, and rejecting implausible camera-height data before model or path projection.
|
||||
- Added validation for every public vehicle platform and route plus expanded deterministic and ARM64 process-replay coverage.
|
||||
Binary file not shown.
Binary file not shown.
@@ -12,7 +12,7 @@ from iqpilot.cereal import car, log, custom
|
||||
|
||||
from iqpilot.common.iq_perf import PerfSample, PerfTraceEmitter, PerfTraceRing
|
||||
from iqpilot.common.params import Params, UnknownKeyName
|
||||
from iqpilot.common.realtime import config_realtime_process, lock_memory, Priority, Ratekeeper
|
||||
from iqpilot.common.realtime import config_background_thread, config_realtime_process, lock_memory, Priority, Ratekeeper
|
||||
from iqpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
|
||||
from iqdbc.car import DT_CTRL, structs
|
||||
@@ -497,6 +497,7 @@ class Car:
|
||||
pass
|
||||
|
||||
def params_thread(self, evt):
|
||||
config_background_thread()
|
||||
while not evt.is_set():
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
|
||||
|
||||
@@ -91,9 +91,5 @@ class LongControl:
|
||||
freeze_integrator=gas_override)
|
||||
self.smooth.reset()
|
||||
|
||||
if gas_override:
|
||||
# safety blocks braking while the gas is pressed, and a blocked tx drops the whole frame
|
||||
output_accel = max(output_accel, 0.0)
|
||||
|
||||
self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
|
||||
return self.last_output_accel
|
||||
|
||||
@@ -16,17 +16,17 @@ from iqpilot.selfdrive.controls.lib.latcontrol_torque import TORQUE_NN_MODEL_PAT
|
||||
# layers). Used as a fallback so the loader logic is still exercised when no trained
|
||||
# models are shipped (they are removed pending retraining and re-added over time).
|
||||
_SYNTHETIC_MODEL = {
|
||||
"input_size": 4,
|
||||
"input_size": 18,
|
||||
"output_size": 1,
|
||||
"input_mean": [[0.0], [0.0], [0.0], [0.0]],
|
||||
"input_std": [[1.0], [1.0], [1.0], [1.0]],
|
||||
"input_mean": [[0.0]] * 18,
|
||||
"input_std": [[1.0]] * 18,
|
||||
"layers": [
|
||||
{"dense_1_W": [[0.5, 0.5, 0.5, 0.5], [0.5, 0.5, 0.5, 0.5]], "dense_1_b": [[0.0], [0.0]], "activation": "sigmoid"},
|
||||
{"dense_1_W": [[0.5] * 18, [0.5] * 18], "dense_1_b": [[0.0], [0.0]], "activation": "sigmoid"},
|
||||
{"dense_2_W": [[2.0, 2.0]], "dense_2_b": [[-1.0]], "activation": "identity"},
|
||||
],
|
||||
}
|
||||
|
||||
MODEL_FILES = sorted(f for f in os.listdir(TORQUE_NN_MODEL_PATH) if f.endswith(".json"))
|
||||
MODEL_FILES = sorted(f for f in os.listdir(TORQUE_NN_MODEL_PATH) if f.endswith(".json")) if os.path.isdir(TORQUE_NN_MODEL_PATH) else []
|
||||
if MODEL_FILES:
|
||||
_MODEL_DIR = TORQUE_NN_MODEL_PATH
|
||||
_NAMES = MODEL_FILES
|
||||
|
||||
@@ -15,15 +15,9 @@ from iqpilot.common.params import Params
|
||||
from iqpilot.common.pid import PIDController
|
||||
from iqpilot.selfdrive.iqmodeld.config import ModelConstants
|
||||
from iqpilot.selfdrive.controls.lib.latcontrol_torque import NeuralNetworkFeedForward
|
||||
from iqpilot.selfdrive.controls.lib.latcontrol_torque import TORQUE_NN_MODEL_PATH
|
||||
from iqpilot.selfdrive.controls.lib.neural_network_feed_forward.tests.test_network import _MODEL_DIR, _NAMES
|
||||
|
||||
_REAL_MODEL = next((f for f in sorted(os.listdir(TORQUE_NN_MODEL_PATH))
|
||||
if f.endswith(".json") and f != "MOCK.json"), None)
|
||||
|
||||
# Models are shipped separately and re-added as retrained; with none present,
|
||||
# NNFF is a no-op (falls back to stock torque FF), so the assembly tests skip.
|
||||
pytestmark = pytest.mark.skipif(_REAL_MODEL is None,
|
||||
reason="no NNFF models present (nuked pending retraining)")
|
||||
_REAL_MODEL = next((f for f in _NAMES if f != "MOCK.json"), _NAMES[0])
|
||||
|
||||
|
||||
def _torque_fn():
|
||||
@@ -53,7 +47,7 @@ def _model_v2():
|
||||
|
||||
def _make_controller(model_file):
|
||||
Params().put_bool("NeuralNetworkFeedForward", True)
|
||||
path = os.path.join(TORQUE_NN_MODEL_PATH, model_file)
|
||||
path = os.path.join(_MODEL_DIR, model_file)
|
||||
cp = SimpleNamespace(steerActuatorDelay=0.15)
|
||||
cp_iq = SimpleNamespace(iqLateralNet=SimpleNamespace(
|
||||
model=SimpleNamespace(path=path, name=os.path.splitext(model_file)[0])))
|
||||
@@ -84,7 +78,10 @@ class TestControllerWiring:
|
||||
def test_mock_model_reports_absent(self):
|
||||
nnff = _make_controller("MOCK.json")
|
||||
assert nnff.has_nn_model is False
|
||||
assert nnff.model.input_size >= 2 # MOCK still loads as a valid net
|
||||
if "MOCK.json" in _NAMES:
|
||||
assert nnff.model.input_size >= 2
|
||||
else:
|
||||
assert nnff.model is None
|
||||
|
||||
def test_update_returns_finite_torque(self):
|
||||
nnff = _make_controller(_REAL_MODEL)
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
from types import SimpleNamespace
|
||||
|
||||
from iqpilot.cereal import custom
|
||||
from iqpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
|
||||
from iqpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
class TestLongControlStateTransition:
|
||||
@@ -41,3 +43,30 @@ def test_engage():
|
||||
next_state = long_control_state_trans(CP_IQ, active, current_state,
|
||||
should_stop=False, brake_pressed=False, cruise_standstill=False)
|
||||
assert next_state == LongCtrlState.pid
|
||||
|
||||
|
||||
def test_gas_override_preserves_negative_accel_command():
|
||||
pid_calls = []
|
||||
control = object.__new__(LongControl)
|
||||
control.CP = SimpleNamespace(stopAccel=-0.55)
|
||||
control.CP_IQ = SimpleNamespace(enableGasInterceptor=False)
|
||||
control.long_control_state = LongCtrlState.pid
|
||||
control.pid = SimpleNamespace(
|
||||
update=lambda error, **kwargs: pid_calls.append((error, kwargs)) or -0.5,
|
||||
reset=lambda: None,
|
||||
)
|
||||
control.last_output_accel = -0.4
|
||||
control.stopping_decel_rate = 1.0
|
||||
control.smooth = SimpleNamespace(enabled=False, update=lambda: None, reset=lambda: None)
|
||||
car_state = SimpleNamespace(
|
||||
vEgo=15.0,
|
||||
aEgo=0.0,
|
||||
brakePressed=False,
|
||||
standstill=False,
|
||||
cruiseState=SimpleNamespace(standstill=False),
|
||||
)
|
||||
|
||||
output = control.update(True, car_state, -0.5, False, (-3.5, 2.0), gas_override=True)
|
||||
|
||||
assert output == -0.5
|
||||
assert pid_calls == [(-0.5, {"speed": 15.0, "feedforward": -0.5, "freeze_integrator": True})]
|
||||
|
||||
@@ -11,6 +11,7 @@ MODELS_DIR = MODELD_DIR / 'models'
|
||||
BASEDIR = MODELD_DIR.parents[2]
|
||||
METADATA_SCRIPT = MODELD_DIR / 'get_model_metadata.py'
|
||||
PYPROJECT = BASEDIR / 'pyproject.toml'
|
||||
TINYGRAD_REVISION_FILE = BASEDIR / 'artifacts/package_sources/tinygrad/.iqpilot-revision'
|
||||
|
||||
MODEL_NAMES = ['dmonitoring_model']
|
||||
|
||||
@@ -30,9 +31,16 @@ def _file_sha256(path: Path) -> str:
|
||||
@functools.lru_cache(maxsize=1)
|
||||
def _tinygrad_revision() -> str:
|
||||
match = re.search(r'"tinygrad @ git\+https://[^@]+@([0-9a-f]{40})"', PYPROJECT.read_text())
|
||||
if match is None:
|
||||
raise RuntimeError("missing pinned tinygrad revision")
|
||||
return match.group(1)
|
||||
if match is not None:
|
||||
return match.group(1)
|
||||
|
||||
try:
|
||||
revision = TINYGRAD_REVISION_FILE.read_text().strip()
|
||||
except OSError as e:
|
||||
raise RuntimeError("missing pinned tinygrad revision") from e
|
||||
if re.fullmatch(r'[0-9a-f]{40}', revision) is None:
|
||||
raise RuntimeError("invalid pinned tinygrad revision")
|
||||
return revision
|
||||
|
||||
|
||||
CHECK_PATH = MODELS_DIR / 'prebuilt_check.json'
|
||||
|
||||
@@ -49,3 +49,17 @@ def test_source_checkout_is_not_packaged_prebuilt(tmp_path, monkeypatch):
|
||||
monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
|
||||
|
||||
assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
|
||||
|
||||
|
||||
def test_vendored_tinygrad_revision(tmp_path, monkeypatch):
|
||||
revision = '0123456789abcdef0123456789abcdef01234567'
|
||||
pyproject = tmp_path / 'pyproject.toml'
|
||||
revision_file = tmp_path / '.iqpilot-revision'
|
||||
pyproject.write_text('dependencies = ["tinygrad"]\n')
|
||||
revision_file.write_text(f'{revision}\n')
|
||||
monkeypatch.setattr(prebuilt_models, 'PYPROJECT', pyproject)
|
||||
monkeypatch.setattr(prebuilt_models, 'TINYGRAD_REVISION_FILE', revision_file)
|
||||
prebuilt_models._tinygrad_revision.cache_clear()
|
||||
|
||||
assert prebuilt_models._tinygrad_revision() == revision
|
||||
prebuilt_models._tinygrad_revision.cache_clear()
|
||||
|
||||
@@ -12,7 +12,7 @@ from msgq.visionipc import VisionIpcClient
|
||||
|
||||
from iqpilot.common.params import Params
|
||||
from iqpilot.common.issue_debug import log_issue_limited
|
||||
from iqpilot.common.realtime import config_realtime_process, lock_memory, Priority, Ratekeeper, DT_CTRL
|
||||
from iqpilot.common.realtime import config_background_thread, config_realtime_process, lock_memory, Priority, Ratekeeper, DT_CTRL
|
||||
from iqpilot.common.swaglog import cloudlog
|
||||
from iqpilot.common.gps import get_gps_location_service
|
||||
|
||||
@@ -755,6 +755,7 @@ class SelfdriveD(GapButtonActions):
|
||||
)
|
||||
|
||||
def params_thread(self, evt):
|
||||
config_background_thread()
|
||||
while not evt.is_set():
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
|
||||
|
||||
@@ -98,7 +98,7 @@ class ChangelogWidget(Widget):
|
||||
return
|
||||
self._last_load = now
|
||||
|
||||
paths = [os.path.join(BASEDIR, "docs", "CHANGELOG.md")]
|
||||
paths = [os.path.join(BASEDIR, "iqpilot", "docs", "CHANGELOG.md")]
|
||||
content = ""
|
||||
for p in paths:
|
||||
try:
|
||||
@@ -110,7 +110,7 @@ class ChangelogWidget(Widget):
|
||||
pass
|
||||
|
||||
if not content:
|
||||
content = "No changelog found.\n\nAdd docs/CHANGELOG.md."
|
||||
content = "No changelog found.\n\nAdd iqpilot/docs/CHANGELOG.md."
|
||||
|
||||
ordered = self._reorder_sections_newest_first(content)
|
||||
self._latest_text = self._build_latest_text(ordered)
|
||||
|
||||
@@ -60,11 +60,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
|
||||
|
||||
**sound_list_iq,
|
||||
}
|
||||
if HARDWARE.get_device_type() in ("tizi", "tici"):
|
||||
sound_list.update({
|
||||
AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
|
||||
AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
|
||||
})
|
||||
|
||||
def check_selfdrive_timeout_alert(sm):
|
||||
ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
|
||||
|
||||
@@ -18,8 +18,8 @@ def run(args, **kwargs):
|
||||
|
||||
|
||||
def update_release(directory, name, version, agnos_version, release_notes):
|
||||
(directory / "docs").mkdir(parents=True, exist_ok=True)
|
||||
with open(directory / "docs" / "CHANGELOG.md", "w") as f:
|
||||
(directory / "iqpilot" / "docs").mkdir(parents=True, exist_ok=True)
|
||||
with open(directory / "iqpilot" / "docs" / "CHANGELOG.md", "w") as f:
|
||||
f.write(release_notes)
|
||||
|
||||
(directory / "iqpilot" / "common").mkdir(parents=True, exist_ok=True)
|
||||
|
||||
@@ -94,7 +94,7 @@ def cleanup_stale_overlay() -> None:
|
||||
|
||||
def parse_release_notes(basedir: str) -> bytes:
|
||||
try:
|
||||
with open(os.path.join(basedir, "docs", "CHANGELOG.md"), "rb") as f:
|
||||
with open(os.path.join(basedir, "iqpilot", "docs", "CHANGELOG.md"), "rb") as f:
|
||||
r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes
|
||||
try:
|
||||
return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
|
||||
@@ -462,7 +462,7 @@ def prepare_environment() -> bool:
|
||||
subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding="utf8", env=env)
|
||||
|
||||
try:
|
||||
env_sync = os.path.join(BASEDIR, "scripts", "iqpilot", "env_sync.sh")
|
||||
env_sync = os.path.join(BASEDIR, "artifacts", "runtime", "env_sync.sh")
|
||||
if os.path.exists(env_sync):
|
||||
cloudlog.info("update prep: syncing python env")
|
||||
_run(["bash", env_sync], BASEDIR)
|
||||
|
||||
@@ -33,7 +33,7 @@ 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:
|
||||
with open(os.path.join(path, "iqpilot", "docs", "CHANGELOG.md")) as f:
|
||||
return f.read().split('\n\n', 1)[0]
|
||||
|
||||
|
||||
|
||||
@@ -167,11 +167,11 @@ function launch {
|
||||
fi
|
||||
fi
|
||||
|
||||
# Python env + proprietary runtime sync. Lives in scripts/iqpilot/env_sync.sh so updated.py
|
||||
# Python env + proprietary runtime sync. Lives in artifacts/runtime/env_sync.sh so updated.py
|
||||
# can run the identical steps at update-apply time (offroad, stack idle); by the
|
||||
# time this runs at boot it is normally a warm no-op. Real work still lands here
|
||||
# for local dev edits or a failed apply-time prep, under the boot spinner as before.
|
||||
source "$DIR/scripts/iqpilot/env_sync.sh"
|
||||
source "$DIR/artifacts/runtime/env_sync.sh"
|
||||
sync_python_env || return 1
|
||||
export PATH="$DIR/.venv/bin:$PATH"
|
||||
|
||||
|
||||
Reference in New Issue
Block a user