IQ.Pilot Release Commit @ 98a2c61

2026-08-19 14:10:31 -05:00
parent dca8172e55
commit 7e3d70380a
55 changed files with 699 additions and 114 deletions
--- a/artifacts/iqpilot_hephaestusd_private/manifest.json
+++ b/artifacts/iqpilot_hephaestusd_private/manifest.json
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+    "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=="
  }
 }
--- a/artifacts/iqpilot_hephaestusd_private/manifest.json.sig
+++ b/artifacts/iqpilot_hephaestusd_private/manifest.json.sig
@@ -1 +1 @@
-mxOyhKQjRuoHrbPQQSnMJaJzcXKHxcSlSDfdKtivSLLcyR4S/xnfQ+cT/LW9JnoF6qbUc1uKFn8BEKF+HUOADA==
+HlmJ/WkPaO0L0omQG7BWUtHYKzp2ZTFvaVu4BDpACrkluSoWeyX0suOZlU29fJvRI+nWhBEkRW7807toLyrNAQ==
--- a/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/common/git_creds.py
+++ b/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/common/git_creds.py
@@ -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:
--- a/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/common/realtime.py
+++ b/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/common/realtime.py
@@ -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)
--- a/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process.py
+++ b/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process.py
@@ -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):
--- a/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process_config.py
+++ b/artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process_config.py
@@ -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),

--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/archive_codec.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/archive_codec.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_keys.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_keys.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_orchestrator.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_orchestrator.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/cbc_vault.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/cbc_vault.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/imahelper.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/imahelper.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/flockd/flockd.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/flockd/flockd.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/flockd/signatures.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/flockd/signatures.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/_vendor/localapi_runtime.zip
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/_vendor/localapi_runtime.zip
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_auth.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_auth.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_gatt.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_gatt.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_rpc_dispatch.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_rpc_dispatch.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_transportd.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_transportd.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/bt_gamepad.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/bt_gamepad.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py
@@ -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),
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/interface.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/interface.py
@@ -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
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/pqcan.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/pqcan.py
@@ -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,
  }
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_pq_accel_control.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_pq_accel_control.py
@@ -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
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/tests/test_volkswagen.py
@@ -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,
--- a/artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_volkswagen_pq.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/safety/tests/test_volkswagen_pq.py
@@ -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):
--- a/artifacts/package_sources/tinygrad/.iqpilot-revision
+++ b/artifacts/package_sources/tinygrad/.iqpilot-revision
@@ -0,0 +1 @@
+95bfc521351d3acba7338605686155a9ee8b0009
--- a/artifacts/runtime/env_sync.sh
+++ b/artifacts/runtime/env_sync.sh
@@ -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.