IQ.Pilot Release Commit @ 98a2c61

iqpilot/selfdrive/car/card.py

@@ -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

iqpilot/selfdrive/controls/lib/longcontrol.py

@@ -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

iqpilot/selfdrive/controls/lib/neural_network_feed_forward/tests/test_network.py

@@ -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

iqpilot/selfdrive/controls/lib/neural_network_feed_forward/tests/test_nnff_assembly.py

@@ -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)

iqpilot/selfdrive/controls/tests/test_longcontrol.py

@@ -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})]

iqpilot/selfdrive/dmonitoringmodeld/prebuilt_models.py

@@ -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'

iqpilot/selfdrive/dmonitoringmodeld/test_prebuilt_models.py

@@ -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()

iqpilot/selfdrive/selfdrived/selfdrived.py

@@ -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")

iqpilot/selfdrive/ui/layouts/home.py

@@ -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)

iqpilot/selfdrive/ui/soundd.py

@@ -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']