IQ.Pilot Release Commit @ 98a2c61
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -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]
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user