IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/selfdrive/iqmodeld/egpu_prefetch.py

@@ -0,0 +1,102 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+from __future__ import annotations
+
+import glob
+import os
+os.environ.setdefault("XDG_CACHE_HOME", "/data/.cache")
+import time
+
+from iqpilot.common.params import Params
+from iqpilot.common.swaglog import cloudlog
+from iqpilot.selfdrive.iqmodeld.egpu_helpers import (download_precompiled, egpu_oob_pkl_path, egpu_policy_pkl_path, patch_tinygrad_fetch_fw,
+                                                     usbgpu_present)
+from iqpilot.selfdrive.iqmodeld.egpu_model import resolve_egpu_model
+
+POLL_S = 30.0
+RETRY_S = 120.0
+
+
+def _selected_meta(params: Params) -> dict | None:
+  key = params.get("IQEmacModel", encoding="utf8")
+  try:
+    return resolve_egpu_model(params, key)
+  except Exception as e:
+    cloudlog.warning(f"egpu_prefetch cannot resolve {key!r}: {e}")
+    return None
+
+
+def _drop_stale_partials(keep: str) -> None:
+  root = os.path.dirname(keep)
+  partial_globs = ("egpu_*_amd_policy.pkl.part", "egpu_*_amd_policy_oob.pkl.part", "big_driving_supercombo_*.onnx.part")
+  for path in [p for g in partial_globs for p in glob.glob(os.path.join(root, g))]:
+    if not path.startswith(keep):
+      try:
+        os.remove(path)
+      except OSError:
+        pass
+
+
+def prefetch_once(params: Params) -> bool:
+  if params.get_bool("IQEgpuDisabled"):
+    return False
+  meta = _selected_meta(params)
+  if meta is None:
+    return False
+  oob = bool(meta.get("egpu_oob_artifact"))
+  dst = egpu_oob_pkl_path(meta) if oob else egpu_policy_pkl_path(meta)
+  if os.path.isfile(dst):
+    return True
+  if not oob and not meta.get("egpu_policy_artifact"):
+    return False
+  _drop_stale_partials(dst)
+  params.put("UsbGpuSetupProgress", "0.0")
+  last = [-1.0]
+
+  def _prog(p: float) -> None:
+    if p - last[0] >= 0.02 or p >= 1.0:
+      last[0] = p
+      params.put("UsbGpuSetupProgress", f"{p:.3f}")
+
+  cloudlog.warning(f"egpu_prefetch downloading {meta['key']} {'streamable' if oob else 'policy'} artifact offroad")
+  out = download_precompiled(meta, progress_cb=_prog, policy=not oob, oob=oob)
+  cloudlog.warning(f"egpu_prefetch ready -> {out}")
+  return out is not None
+
+
+_firmware_warm = False
+
+
+def warm_firmware() -> None:
+  global _firmware_warm
+  if _firmware_warm or not usbgpu_present():
+    return
+  os.environ.setdefault("DEV", "USB+AMD:LLVM")
+  os.environ.setdefault("GMMU", "0")
+  patch_tinygrad_fetch_fw()
+  from tinygrad.device import Device
+  Device["AMD"]
+  _firmware_warm = True
+  cloudlog.warning("egpu_prefetch: dock opened offroad; firmware cached and mirrored")
+
+
+def main() -> None:
+  params = Params()
+  while True:
+    try:
+      warm_firmware()
+    except Exception as e:
+      cloudlog.warning(f"egpu_prefetch firmware warm failed: {e}")
+    try:
+      prefetch_once(params)
+    except Exception as e:
+      cloudlog.warning(f"egpu_prefetch failed: {e}")
+      params.put("UsbGpuLastError", str(e)[:512])
+      time.sleep(RETRY_S)
+      continue
+    time.sleep(POLL_S)
+
+
+if __name__ == "__main__":
+  main()