IQ.Pilot Release Commit @ 8d3c939

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/hardware/usb.py

@@ -0,0 +1,184 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+
+USB bus snapshot for deviceState: every enumerated device with its negotiated
+speed and its controller's link-error count. Landing this in every rlog makes
+cable/hub/link regressions diagnosable from a recorded route instead of only
+live.
+
+Link errors come from `portli` on the ssusb controller (IQ.OS 4.9.1+); on older
+builds the file is absent and the counts read 0.
+
+The USB eGPU dock is identified by VID/PID only. comma's internal codename for
+it is deliberately not used here: IQ.Pilot runs these models on several
+backends (eGPU dock, eMac), so the naming stays about the role, not the vendor.
+"""
+from pathlib import Path
+
+# comma's USB eGPU dock, both shipped USB IDs. The ROM ids are the same board
+# sitting in its bootloader (ASMedia) before vendor firmware is flashed — it
+# enumerates but cannot serve a GPU in that state.
+EGPU_DOCK_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
+EGPU_DOCK_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
+# must equal image_product() of the bundled firmware; test_egpu_dock_flash pins them together
+EGPU_DOCK_FW_PRODUCT = "custom ed4e39b7-CLEAN"
+
+
+def is_egpu_usb_device(vendor_id: int, product_id: int, include_bootloader: bool = False) -> bool:
+  ids = EGPU_DOCK_USB_IDS + EGPU_DOCK_ROM_USB_IDS if include_bootloader else EGPU_DOCK_USB_IDS
+  return (vendor_id, product_id) in ids
+USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
+UDC_PATH = Path("/sys/class/udc")
+TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
+USB3_LANES = {1: "a", 2: "b"}  # 0 = unattached
+SOC_PLATFORM_PATH = Path("/sys/devices/platform/soc")
+CONTROLLER_SUFFIX = ".ssusb"
+LINK_ERRORS_FILE = "portli"
+
+
+def read(path: Path) -> str | None:
+  # a controller in peripheral mode fails portli's show(); that surfaces as TypeError, not OSError
+  try:
+    return path.read_text().strip()
+  except Exception:
+    return None
+
+
+def read_int(path: Path, base: int = 10) -> int:
+  try:
+    return int(path.read_text(), base)
+  except Exception:
+    return 0
+
+
+def read_hex_counter(path: Path) -> int:
+  """sysfs counter printed as '0x0000002a' (portli), tolerating a bare hex value."""
+  raw = read(path)
+  if raw is None:
+    return 0
+  try:
+    return int(raw, 0) if raw.lower().startswith("0x") else int(raw, 16)
+  except ValueError:
+    return 0
+
+
+def get_usb_topology(root: Path = USB_DEVICES_PATH) -> set[str]:
+  """Names of everything on the bus; a cheap way to detect hotplug without
+  re-reading every attribute."""
+  try:
+    return {p.name for p in root.iterdir()}
+  except Exception:
+    return set()
+
+
+def usb_devices(root: Path = USB_DEVICES_PATH) -> list[Path]:
+  try:
+    return sorted((d for d in root.glob("*") if (d / "idVendor").exists()), key=lambda p: p.name)
+  except Exception:
+    return []
+
+
+def controller(device: Path) -> Path | None:
+  """The SuperSpeed controller a device hangs off (…/a800000.ssusb)."""
+  try:
+    return next((p for p in device.resolve().parents if p.name.endswith(CONTROLLER_SUFFIX)), None)
+  except Exception:
+    return None
+
+
+def usb_controllers(soc: Path = SOC_PLATFORM_PATH) -> list[Path]:
+  try:
+    return sorted(soc.glob(f"*{CONTROLLER_SUFFIX}"))
+  except Exception:
+    return []
+
+
+def link_controller(udc_root: Path = UDC_PATH) -> str:
+  """Name of the Type-C port's controller, derived from the UDC rather than
+  hardcoded: the gadget exposes `<addr>.dwc3`, whose address prefix is the
+  `<addr>.ssusb` controller behind the same connector. comma pins the 3X value
+  directly, which would be wrong on any other board."""
+  try:
+    udc = next(iter(sorted(p.name for p in udc_root.iterdir())), "")
+  except Exception:
+    return ""
+  return f"{udc.split('.')[0]}{CONTROLLER_SUFFIX}" if udc else ""
+
+
+def usb3_lane(orientation: int | None = None) -> str:
+  """Which SuperSpeed lane the Type-C connector landed on. Unattached reads 0,
+  which is 'unknown' rather than a lane."""
+  if orientation is None:
+    orientation = read_int(TYPEC_CC_ORIENTATION_PATH)
+  return USB3_LANES.get(orientation, "unknown")
+
+
+def link_errors(ctrl: Path | None) -> int:
+  return read_hex_counter(ctrl / LINK_ERRORS_FILE) if ctrl is not None else 0
+
+
+def get_link_error_count(soc: Path = SOC_PLATFORM_PATH) -> int:
+  """Cumulative SS port link errors, read off the controller rather than a
+  device: in peripheral mode (eMac gadget link) the peer never enumerates on
+  our side, so there is no device row to carry the count."""
+  return sum(link_errors(c) for c in usb_controllers(soc))
+
+
+def egpu_dock_present(root: Path = USB_DEVICES_PATH) -> bool:
+  """A dock in ROM/bootloader state is deliberately NOT counted as present: it
+  enumerates but cannot serve a GPU until vendor firmware is flashed."""
+  return any((read_int(d / "idVendor", 16), read_int(d / "idProduct", 16)) in EGPU_DOCK_USB_IDS
+             for d in usb_devices(root))
+
+
+def egpu_dock_ready(root: Path = USB_DEVICES_PATH) -> bool:
+  """Present AND running the exact firmware we ship. A dock on any other
+  firmware enumerates fine but has not been validated with this stack, so the
+  runtime refuses it; the flasher still sees it via egpu_dock_present."""
+  return any((read_int(d / "idVendor", 16), read_int(d / "idProduct", 16)) in EGPU_DOCK_USB_IDS
+             and (read(d / "product") or "").strip() == EGPU_DOCK_FW_PRODUCT
+             for d in usb_devices(root))
+
+
+def get_usb_state(root: Path = USB_DEVICES_PATH, udc_root: Path = UDC_PATH) -> list[dict]:
+  devices = []
+  lane, link_ctrl = usb3_lane(), link_controller(udc_root)
+  for device in usb_devices(root):
+    ctrl = controller(device)
+    devices.append({
+      "usb3Lane": lane if ctrl is not None and ctrl.name == link_ctrl else "unknown",
+      "busnum": read_int(device / "busnum"),
+      "devnum": read_int(device / "devnum"),
+      "vendorId": read_int(device / "idVendor", 16),
+      "productId": read_int(device / "idProduct", 16),
+      "speedMbps": read_int(device / "speed"),
+      "manufacturer": read(device / "manufacturer") or "",
+      "product": read(device / "product") or "",
+      # 16-bit field upstream, so mask rather than let a wrapped counter overflow it
+      "linkErrorCount": link_errors(ctrl) & 0xFFFF,
+    })
+  return devices
+
+
+def set_usb_state(device_state, devices: list[dict], link_error_count: int = 0,
+                  lane: str | None = None) -> None:
+  entries = device_state.usbState.init('devices', len(devices))
+
+  dock_present = False
+  for entry, device in zip(entries, devices, strict=True):
+    entry.busnum = device["busnum"]
+    entry.devnum = device["devnum"]
+    entry.vendorId = device["vendorId"]
+    entry.productId = device["productId"]
+    entry.speedMbps = device["speedMbps"]
+    entry.manufacturer = device["manufacturer"]
+    entry.product = device["product"]
+    entry.linkErrorCount = device.get("linkErrorCount", 0) & 0xFFFF
+    entry.usb3Lane = device.get("usb3Lane", "unknown")
+
+    if (entry.vendorId, entry.productId) in EGPU_DOCK_USB_IDS:
+      dock_present = True
+
+  device_state.usbState.linkErrorCount = link_error_count
+  device_state.usbState.usb3Lane = lane if lane is not None else usb3_lane()
+  device_state.egpuDockPresent = dock_present

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process_config.py

@@ -8,6 +8,7 @@ from iqpilot.system.hardware import HARDWARE, PC, TICI
 from iqpilot.system.hardware.hw import Paths
 from iqpilot.system.manager.process import PythonProcess, NativeProcess, BundleProcess
 
+from iqpilot.selfdrive.iqmodeld.egpu_helpers import egpu_selected, resolve_backend, usbgpu_present
 from iqpilot.selfdrive.iqmodeld.models.helpers import get_active_model_runner
 from iqpilot.konn3kt.service_health import hephaestus_ready
 
@@ -124,6 +125,22 @@ def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is tinygrad."""
   return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.tinygrad)
 
+def _egpu_present(params) -> bool:
+  if params.get_bool("IQEgpuDisabled"):
+    return False
+  return usbgpu_present()
+
+
+def emac_enabled(started, params, CP: car.CarParams) -> bool:
+  return resolve_backend(params.get_bool("IQEmacEnabled"), egpu_selected(params), _egpu_present(params)) == "emac"
+
+def egpu_enabled(started, params, CP: car.CarParams) -> bool:
+  return (resolve_backend(params.get_bool("IQEmacEnabled"), egpu_selected(params), _egpu_present(params)) == "egpu"
+          and _egpu_present(params))
+
+def big_model_enabled(started, params, CP: car.CarParams) -> bool:
+  return params.get_bool("IQEmacEnabled") or egpu_selected(params)
+
 def hephaestus_ready_shim(started, params, CP: car.CarParams) -> bool:
   return hephaestus_ready(params)
 
@@ -196,6 +213,17 @@ procs += [
   # Models
   BundleProcess("models_manager", "iqpilot_model_selector_private", "iqpilot_private.models.manager", and_(only_offroad, not_low_power)),
   NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model), restart_if_crash=True),
+  # big-model backends: iqmodeld self-demotes to the small channel worker when
+  # either backend is enabled; the selector publishes, and exactly one big
+  # worker (Mac or eGPU, eMac wins) feeds the BIG channel
+  PythonProcess("modeld_selector", "iqpilot.selfdrive.iqmodeld.modeld_selector",
+                and_(only_onroad, and_(is_tinygrad_model, big_model_enabled)), restart_if_crash=True),
+  BundleProcess("maciqmodeld", "iqpilot_emac_private", "iqpilot_private.emac.maciqmodeld",
+                and_(only_onroad, and_(is_tinygrad_model, emac_enabled)), restart_if_crash=True),
+  PythonProcess("iqegpumodeld", "iqpilot.selfdrive.iqmodeld.iqegpumodeld",
+                and_(only_onroad, and_(is_tinygrad_model, egpu_enabled)), restart_if_crash=True),
+  PythonProcess("egpu_prefetch", "iqpilot.selfdrive.iqmodeld.egpu_prefetch",
+                and_(only_offroad, and_(is_tinygrad_model, egpu_enabled)), restart_if_crash=True),
 
   BundleProcess("backup_manager_k3", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.backups.backup_orchestrator",
                 and_(only_offroad, hephaestus_ready_shim, not_low_power)),