IQ.Pilot Release Commit @ 98a2c61

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:

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)

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):

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),