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IQ.Pilot Release Commit @ 4b0cfbe

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IQ.Lvbs CI [bot]
2026-09-04 19:39:30 -05:00
parent fde770bf03
commit 82484294ca
18 changed files with 166 additions and 106 deletions
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4
iqpilot/common/params_keys.h
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@@ -361,6 +361,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
// iqpilot model params
{"CameraOffset", {PERSISTENT, FLOAT, "0.0"}},
// Dev gate for the Android nav stack. Off by default and only konn3kt dev-flagged devices
// (or a developer, by hand) set it. navassist stays fully dormant unless this AND IQAndroidNav
// are both set, so a non-dev forcing IQAndroidNav=1 does nothing — the container never starts.
{"IQNavAssistDev", {PERSISTENT, BOOL, "0"}},
{"IQAndroidNav", {PERSISTENT, BOOL, "0"}},
{"IQAndroidNavStatus", {PERSISTENT, STRING}},
// "waze" or "maps": exactly one runs, the other is disabled outright.

2
iqpilot/system/manager/process.py
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@@ -221,7 +221,6 @@ class BundleProcess(NativeProcess):
def __init__(self, name, bundle, entry, should_run, enabled=True, sigkill=False, restart_if_crash=False):
self.bundle = bundle
self.entry = entry
self.restart_if_crash = restart_if_crash
runner_path = preferred_runner_path()
runner_cmd = str(runner_path) if runner_path.is_absolute() else "./iqpilot_bundle_runner"
runner_cwd = ".iqpilot/runtime_root" if runner_path.is_absolute() else "system/proprietary_runtime"
@@ -238,6 +237,7 @@ class BundleProcess(NativeProcess):
should_run=should_run,
enabled=enabled,
sigkill=sigkill,
restart_if_crash=restart_if_crash,
)
def start(self) -> None:

2
iqpilot/system/manager/process_config.py
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@@ -68,7 +68,7 @@ def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
return True
def nav_assist(started: bool, params: Params, CP: car.CarParams) -> bool:
return params.get_bool("IQAndroidNav")
return params.get_bool("IQNavAssistDev") and params.get_bool("IQAndroidNav")
def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
return started

5
iqpilot/system/manager/test/test_manager.py
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@@ -67,6 +67,11 @@ class TestManager:
assert manager.update_modeld_watchdog(deadline, True, False, proc, 16.0) is None
proc.restart.assert_not_called()
def test_bundle_process_keeps_restart_if_crash(self):
proc = BundleProcess("test", "bundle", "entry", lambda *_: True, restart_if_crash=True)
assert proc.restart_if_crash is True
assert BundleProcess("test", "bundle", "entry", lambda *_: True).restart_if_crash is False
def test_bundle_process_stops_with_sigterm(self, mocker):
proc = BundleProcess("test", "bundle", "entry", lambda *_: True)
proc.proc = mocker.Mock(exitcode=None, pid=123)

161
iqpilot/ui/onroad/hud_overlays.py
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@@ -28,105 +28,98 @@ def _speed_scale() -> float:
return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
_STRIP_WIDTH = 28
_STRIP_INSET = 14
_STRIP_CEILING = 0.85
_STRIP_EMA = 5.0
_STRIP_ARC_SEGMENTS = 24
_STRIP_ACCEL = (33, 112, 115)
_STRIP_ACCEL_NEON = (94, 232, 236)
_STRIP_DECEL = (255, 0, 247)
_STRIP_DECEL_NEON = (255, 145, 251)
_STRIP_TIP_ALPHA = 235
_STRIP_ROOT_ALPHA = 55
_STRIP_CORE_DEPTH = 7.0
_STRIP_CORE_LAYERS = 8
_STRIP_CORE_ALPHA = 0.15
_STRIP_CORE_FLOOR = 0.3
_STRIP_CORE_TAIL = 22.0
_STRIP_HALO_SPREAD = 11.0
_STRIP_HALO_LAYERS = 11
_STRIP_HALO_ALPHA = 0.095
_STRIP_HALO_TAIL = 34.0
_STRIP_NEON_FULL = 2.0
_ACCEL_METER_INSET = 18.0
_ACCEL_METER_WIDTH = 16.0
_ACCEL_METER_BACKDROP_WIDTH = 42.0
_ACCEL_METER_HEIGHT = 0.5
_ACCEL_METER_MAX_HEIGHT = 520.0
_ACCEL_METER_DEADBAND = 0.12
_ACCEL_METER_FULL_SCALE = 3.0
_ACCEL_METER_ATTACK_TAU = 0.08
_ACCEL_METER_RELEASE_TAU = 0.35
_ACCEL_METER_ACCEL_ROOT = (0, 178, 169)
_ACCEL_METER_ACCEL_TIP = (54, 255, 232)
_ACCEL_METER_BRAKE_ROOT = (196, 32, 139)
_ACCEL_METER_BRAKE_TIP = (255, 86, 202)
_ACCEL_METER_GLOW = ((8.0, 18), (5.0, 28), (2.5, 42))
class IQAccelBar:
def __init__(self):
self._eased = 0.0
def _reach(self) -> float:
mag = abs(self._eased)
return 0.0 if mag == 0.0 else max(0.0, _STRIP_CEILING - 0.1 / mag)
self._shown = 0.0
self._last_frame = time.monotonic()
@staticmethod
def _tint(fill, frac: float):
return canvas.shade(*fill, int(_STRIP_TIP_ALPHA + (_STRIP_ROOT_ALPHA - _STRIP_TIP_ALPHA) * frac))
def _normalized(acceleration: float) -> float:
magnitude = abs(acceleration)
if magnitude <= _ACCEL_METER_DEADBAND:
return 0.0
return float(np.clip(
(magnitude - _ACCEL_METER_DEADBAND) / (_ACCEL_METER_FULL_SCALE - _ACCEL_METER_DEADBAND),
0.0,
1.0,
))
@staticmethod
def _halo(center, cap: float, up: bool, neon, heat: float, tail: float) -> None:
step = int(255 * _STRIP_HALO_ALPHA * heat)
if step < 1:
return
start, end = (180.0, 360.0) if up else (0.0, 180.0)
tint = canvas.shade(*neon, step)
faded = canvas.shade(*neon, 0)
top, bottom = (tint, faded) if up else (faded, tint)
for i in range(_STRIP_HALO_LAYERS):
spread = _STRIP_HALO_SPREAD * (1.0 - i / _STRIP_HALO_LAYERS)
if spread <= 0.0:
continue
canvas.annulus(center, cap, cap + spread, start, end, _STRIP_ARC_SEGMENTS, tint)
if tail <= 0.0:
continue
run = min(tail, _STRIP_HALO_TAIL)
y = center.y if up else center.y - run
canvas.v_sweep(center.x - cap - spread, y, spread, run, top, bottom)
canvas.v_sweep(center.x + cap, y, spread, run, top, bottom)
def _next_value(shown: float, target: float, dt: float) -> float:
growing = abs(target) > abs(shown) or shown * target < 0.0
tau = _ACCEL_METER_ATTACK_TAU if growing else _ACCEL_METER_RELEASE_TAU
alpha = 1.0 - math.exp(-max(0.0, dt) / tau)
value = shown + (target - shown) * alpha
return 0.0 if abs(value) < 0.005 and abs(target) <= _ACCEL_METER_DEADBAND else value
@staticmethod
def _cap(center, cap: float, up: bool, fill, neon, heat: float, tail: float) -> None:
start, end = (180.0, 360.0) if up else (0.0, 180.0)
canvas.annulus(center, 0.0, cap, start, end, _STRIP_ARC_SEGMENTS, fill)
IQAccelBar._halo(center, cap, up, neon, heat, tail)
lit = _STRIP_CORE_FLOOR + (1.0 - _STRIP_CORE_FLOOR) * heat
core = canvas.shade(*neon, max(1, int(255 * _STRIP_CORE_ALPHA * lit)))
faded = canvas.shade(*neon, 0)
top, bottom = (core, faded) if up else (faded, core)
run = min(tail, _STRIP_CORE_TAIL)
for i in range(_STRIP_CORE_LAYERS):
depth = _STRIP_CORE_DEPTH * (1.0 - i / _STRIP_CORE_LAYERS)
if depth <= 0.0:
continue
canvas.annulus(center, max(0.0, cap - depth), cap, start, end, _STRIP_ARC_SEGMENTS, core)
if run <= 0.0:
continue
y = center.y if up else center.y - run
canvas.v_sweep(center.x - cap, y, depth, run, top, bottom)
canvas.v_sweep(center.x + cap - depth, y, depth, run, top, bottom)
def _gradient(y: float, height: float, width: float, x: float, accelerating: bool, root, tip, alpha: int) -> None:
root_color = canvas.shade(*root, max(1, int(alpha * 0.56)))
tip_color = canvas.shade(*tip, alpha)
top, bottom = (tip_color, root_color) if accelerating else (root_color, tip_color)
canvas.v_sweep(x, y, width, height, top, bottom)
@staticmethod
def _fill(x: float, y: float, width: float, height: float, accelerating: bool, root, tip) -> None:
for spread, alpha in _ACCEL_METER_GLOW:
IQAccelBar._gradient(y, height, width + spread * 2.0, x - spread, accelerating, root, tip, alpha)
IQAccelBar._gradient(y, height, width, x, accelerating, root, tip, 235)
center_x = x + width / 2.0
tip_y = y if accelerating else y + height
canvas.disc(center_x, tip_y, width / 2.0 + 1.0, canvas.shade(*tip, 242))
canvas.v_sweep(x + width * 0.38, y, width * 0.24, height,
canvas.shade(255, 255, 255, 92 if accelerating else 24),
canvas.shade(255, 255, 255, 24 if accelerating else 92))
def render(self, rect, sm) -> None:
if not ui_state.rocket_fuel:
return
self._eased += (sm['carState'].aEgo - self._eased) / _STRIP_EMA
reach = self._reach() * rect.height / 2.0
if reach <= 0.0:
return
accelerating = self._eased > 0.0
mid = rect.y + rect.height / 2.0
top = mid - reach if accelerating else mid
x = rect.x + _STRIP_INSET
cap = min(_STRIP_WIDTH / 2.0, reach / 2.0)
fill, neon = (_STRIP_ACCEL, _STRIP_ACCEL_NEON) if accelerating else (_STRIP_DECEL, _STRIP_DECEL_NEON)
near = cap / reach
frac_top, frac_bottom = (near, 1.0 - near) if accelerating else (1.0 - near, near)
heat = min(abs(self._eased) / _STRIP_NEON_FULL, 1.0)
now = time.monotonic()
dt = min(max(now - self._last_frame, 1.0 / 120.0), 0.1)
self._last_frame = now
target = float(np.clip(sm['carState'].aEgo, -_ACCEL_METER_FULL_SCALE, _ACCEL_METER_FULL_SCALE))
self._shown = self._next_value(self._shown, target, dt)
canvas.v_sweep(x, top + cap, cap * 2.0, reach - cap * 2.0,
self._tint(fill, frac_top), self._tint(fill, frac_bottom))
tail = max(0.0, reach / 2.0 - cap)
self._cap(canvas.Pt(x + cap, top + cap), cap, True, self._tint(fill, frac_top), neon, heat, tail)
self._cap(canvas.Pt(x + cap, top + reach - cap), cap, False, self._tint(fill, frac_bottom), neon, heat, tail)
track_height = min(rect.height * _ACCEL_METER_HEIGHT, _ACCEL_METER_MAX_HEIGHT)
mid = rect.y + rect.height / 2.0
track_y = mid - track_height / 2.0
backdrop_x = rect.x + _ACCEL_METER_INSET
track_x = backdrop_x + (_ACCEL_METER_BACKDROP_WIDTH - _ACCEL_METER_WIDTH) / 2.0
canvas.panel(rl.Rectangle(backdrop_x, track_y - 10.0, _ACCEL_METER_BACKDROP_WIDTH, track_height + 20.0),
0.48, 18, canvas.shade(0, 8, 13, 108))
canvas.panel_outline(rl.Rectangle(backdrop_x, track_y - 10.0, _ACCEL_METER_BACKDROP_WIDTH, track_height + 20.0),
0.48, 18, 1.0, canvas.shade(126, 245, 238, 34))
canvas.panel(rl.Rectangle(track_x, track_y, _ACCEL_METER_WIDTH, track_height),
0.5, 14, canvas.shade(210, 245, 242, 25))
normalized = self._normalized(self._shown)
if normalized > 0.0:
accelerating = self._shown > 0.0
reach = normalized * (track_height / 2.0 - _ACCEL_METER_WIDTH / 2.0)
fill_y = mid - reach if accelerating else mid
root, tip = ((_ACCEL_METER_ACCEL_ROOT, _ACCEL_METER_ACCEL_TIP) if accelerating else
(_ACCEL_METER_BRAKE_ROOT, _ACCEL_METER_BRAKE_TIP))
self._fill(track_x, fill_y, _ACCEL_METER_WIDTH, reach, accelerating, root, tip)
canvas.slab(backdrop_x + 6.0, mid - 1.0, _ACCEL_METER_BACKDROP_WIDTH - 12.0, 2.0,
canvas.shade(236, 255, 253, 205))
canvas.disc(track_x + _ACCEL_METER_WIDTH / 2.0, mid, 3.0, canvas.shade(255, 255, 255, 238))
_BS_INSET = 20
_BS_DROP = 100

31
iqpilot/ui/tests/test_accel_meter.py Normal file
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@@ -0,0 +1,31 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
import pytest
from iqpilot.ui.onroad.hud_overlays import IQAccelBar
@pytest.mark.parametrize("acceleration", [-0.12, 0.0, 0.12])
def test_acceleration_meter_deadband(acceleration):
assert IQAccelBar._normalized(acceleration) == 0.0
@pytest.mark.parametrize("acceleration", [-4.0, -3.0, 3.0, 4.0])
def test_acceleration_meter_clamps_full_scale(acceleration):
assert IQAccelBar._normalized(acceleration) == 1.0
def test_acceleration_meter_is_symmetric():
assert IQAccelBar._normalized(-1.5) == IQAccelBar._normalized(1.5)
def test_acceleration_meter_attack_is_faster_than_release():
attack = IQAccelBar._next_value(0.0, 1.0, 0.05)
release = IQAccelBar._next_value(1.0, 0.0, 0.05)
assert attack > 1.0 - release
def test_acceleration_meter_crosses_direction_smoothly():
shown = IQAccelBar._next_value(0.8, -0.8, 0.05)
assert -0.8 < shown < 0.8