IQ.Pilot Release Commit @ 763bad7

artifacts/iqpilot_emac_private/manifest.json

@@ -1,8 +1,8 @@
 {
   "python/_iqclosure/_vendored.json": {
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-    "sha256": "c5dde802e17116d9759e661e7d80a1a86d396fb3040734c1eadb2a50c5a3cf4c",
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   "python/_iqclosure/iqpilot/__init__.py": {
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@@ -196,8 +196,8 @@
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   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_helpers.py": {
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+    "size": 5535
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   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_model.py": {
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@@ -219,6 +219,11 @@
     "sha256": "dd1559099407687ee2dc81e180e05b9954e712c39e1a82e39c1b00b70c43374a",
     "size": 3016
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+  "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_bundle_downloader.py": {
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+    "sha256": "62c2c2830c7c8819bf42eb54a34db635128a31fbc2bbb71bc95415e5b873a3c0",
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+  },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_channel.py": {
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     "sha256": "2d706993df418501d93dc766ffe452131e565bfbc2e8412b527dc14915e92832",
@@ -526,22 +531,22 @@
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@@ -553,9 +558,9 @@
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+    "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "5rLpvBoiOP+/N/zblRnXcltpOtULO3uZx2bQYeCM/A8x8m9HLhIBUMJzSVIYj5VcbvgHmzc911UE18RrwEmyCg==",
+    "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": "otKpewDX8CPqirHPXn+mTht7oi/AgkQiZ2VXPZM3/wryLSvzRKJzMyf5nXZ/lb0Z8J8vsFKUkdVhxKgYkeLIDw=="
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 }

artifacts/iqpilot_emac_private/manifest.json.sig

@@ -1 +1 @@
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artifacts/iqpilot_emac_private/python/_iqclosure/_vendored.json

@@ -34,6 +34,7 @@
   "iqpilot.selfdrive.iqmodeld.emac_model_meta",
   "iqpilot.selfdrive.iqmodeld.messaging",
   "iqpilot.selfdrive.iqmodeld.metadata",
+  "iqpilot.selfdrive.iqmodeld.model_bundle_downloader",
   "iqpilot.selfdrive.iqmodeld.model_channel",
   "iqpilot.selfdrive.iqmodeld.model_warp",
   "iqpilot.selfdrive.iqmodeld.models",

artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_helpers.py

@@ -57,6 +57,11 @@ def egpu_pkl_path(meta: dict) -> str:
   return os.path.join(Paths.model_root(), f"egpu_{meta['key']}_{meta['sha256'][:8]}_amd_tinygrad.pkl")
 
 
+def egpu_policy_pkl_path(meta: dict) -> str:
+  from iqpilot.system.hardware.hw import Paths
+  return os.path.join(Paths.model_root(), f"egpu_{meta['key']}_{meta['sha256'][:8]}_amd_policy.pkl")
+
+
 def onnx_cache_path(meta: dict) -> str:
   from iqpilot.system.hardware.hw import Paths
   return os.path.join(Paths.model_root(), f"{meta['model_name']}_{meta['sha256'][:8]}.onnx")
@@ -137,6 +142,15 @@ def download_onnx(meta: dict, progress_cb=None) -> str:
   return path
 
 
+def download_precompiled(meta: dict, progress_cb=None, policy: bool = False) -> str | None:
+  art = meta.get("egpu_policy_artifact" if policy else "egpu_artifact")
+  if not art or not art.get("objects"):
+    return None
+  from iqpilot.selfdrive.iqmodeld.model_bundle_downloader import download_lfs_bundle
+  dest = egpu_policy_pkl_path(meta) if policy else egpu_pkl_path(meta)
+  return download_lfs_bundle(art["objects"], dest, art["sha256"], int(art.get("size", 0)), progress_cb=progress_cb)
+
+
 def patch_tinygrad_fetch_fw() -> None:
   import pathlib
 

artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_bundle_downloader.py

@@ -0,0 +1,87 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+from __future__ import annotations
+
+import hashlib
+import json
+import os
+
+MODELS_BASE_URLS = (
+  "https://git.konn3kt.com/teal/IQModels/raw/branch/main",
+  "https://gitlvb.teallvbs.xyz/teal/IQModels/raw/branch/main",
+)
+CHUNK = 4 * 1024 * 1024
+HTTP_TIMEOUT_S = 60.0
+STREAM_RETRIES = 6
+
+
+def _requests_auth():
+  import importlib
+  for mod in ("iqpilot_private.models.git_auth", "iqpilot.models_private_src.git_auth",
+              "iqpilot.selfdrive.iqmodeld.models.git_auth"):
+    try:
+      return importlib.import_module(mod).get_requests_auth()
+    except Exception:
+      continue
+  return None
+
+
+def _lfs_endpoint(base_url: str) -> str:
+  return base_url.split("/raw/", 1)[0] + ".git/info/lfs"
+
+
+def _resolve_oid(session, base_url: str, oid: str, size: int, auth):
+  import requests
+  batch = session.post(f"{_lfs_endpoint(base_url)}/objects/batch",
+                       data=json.dumps({"operation": "download", "transfers": ["basic"],
+                                        "objects": [{"oid": oid, "size": size}]}),
+                       headers={"Content-Type": "application/vnd.git-lfs+json",
+                                "Accept": "application/vnd.git-lfs+json"},
+                       auth=auth, timeout=HTTP_TIMEOUT_S)
+  batch.raise_for_status()
+  entry = batch.json()["objects"][0]
+  if "actions" not in entry:
+    raise requests.RequestException(f"LFS object unavailable: {entry.get('error', oid)}")
+  action = entry["actions"]["download"]
+  return action["href"], action.get("header", {})
+
+
+def download_lfs_bundle(objects: list, dst: str, sha256: str, size: int, progress_cb=None) -> str:
+  import requests
+  auth = _requests_auth()
+  session = requests.Session()
+  os.makedirs(os.path.dirname(dst), exist_ok=True)
+  tmp = dst + ".part"
+  total = int(size) or sum(int(o["size"]) for o in objects)
+  last_error: Exception | None = None
+  for base_url in MODELS_BASE_URLS:
+    for attempt in range(STREAM_RETRIES):
+      try:
+        digest = hashlib.sha256()
+        got = 0
+        with open(tmp, "wb") as f:
+          for obj in objects:
+            href, headers = _resolve_oid(session, base_url, obj["oid"], int(obj["size"]), auth)
+            obj_auth = None if headers.get("Authorization") else auth
+            with session.get(href, headers=headers, stream=True, timeout=120, auth=obj_auth) as r:
+              r.raise_for_status()
+              for chunk in r.iter_content(CHUNK):
+                f.write(chunk)
+                digest.update(chunk)
+                got += len(chunk)
+                if progress_cb is not None and total:
+                  progress_cb(min(1.0, got / total))
+        if total and got != total:
+          raise RuntimeError(f"size mismatch: {got}/{total} bytes")
+        if sha256 and digest.hexdigest() != sha256:
+          raise RuntimeError("sha256 mismatch")
+        os.replace(tmp, dst)
+        return dst
+      except Exception as e:
+        last_error = e
+        try:
+          os.remove(tmp)
+        except OSError:
+          pass
+  raise RuntimeError(f"model bundle download failed: {last_error}")

artifacts/iqpilot_model_selector_private/manifest.json

@@ -176,7 +176,7 @@
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   },
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@@ -186,37 +186,37 @@
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   }
 }

artifacts/iqpilot_model_selector_private/manifest.json.sig

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artifacts/iqpilot_navd_private/.source_sha

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