IQ.Pilot Release Commit @ 461be14

artifacts/iqpilot_emac_private/manifest.json

@@ -196,8 +196,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_helpers.py": {
     "mode": 420,
-    "sha256": "4df0ac0a3f720ee01a70f82908e582682e84848023592a72bd45f2ca74c9b161",
-    "size": 5535
+    "sha256": "0b8f118dc45ad0c3809855800960b47c893ee121ea75d94e8569dcce46d58ce5",
+    "size": 7312
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_model.py": {
     "mode": 420,
@@ -221,8 +221,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_bundle_downloader.py": {
     "mode": 420,
-    "sha256": "62c2c2830c7c8819bf42eb54a34db635128a31fbc2bbb71bc95415e5b873a3c0",
-    "size": 3189
+    "sha256": "27aade5852507baf84ed460b9446d0de4df58a4a535b82c301113040b7ba472a",
+    "size": 7305
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_channel.py": {
     "mode": 420,
@@ -391,7 +391,7 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/selfdrived/events.py": {
     "mode": 420,
-    "sha256": "e298175d13a99b55e183954d82346fa7adab6b6c161fc72b789f12601d1a9b43",
+    "sha256": "5e37693eeced1e3ba81f03234b7b0dad33b7564826d232d288998be5fae7efd6",
     "size": 37038
   },
   "python/_iqclosure/iqpilot/selfdrive/state_estimation/__init__.py": {
@@ -531,22 +531,22 @@
   },
   "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "3f55e4c621ea86c0a6ac9ecac091fa90491048df5fc5bf09cbb668f0c0b71051",
+    "sha256": "cc7a4087336116187655ea52bc48391e447b81529c2b923e60bf886bc3c7f58a",
     "size": 334016
   },
   "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "e748eba2eec567e5f0c9e1dce60ef71795d2a99f58238ad89495dcee7672c70c",
+    "sha256": "9d48157df0d78be709cf3722743b6137cbf73eb53c315d7307e6a214ae140664",
     "size": 267952
   },
   "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "46f79e0fe9d799003b49e5fe11969a1716974a9c6d20d52488d79ef8b7137a5a",
+    "sha256": "9b7dc1997e780198c2532045e41236dd342b4dc4d3cd31b06be27246121d6ab7",
     "size": 203544
   },
   "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "b7acc1edcf50dd2e9c2d88f2f4824d0a28b0def3a57b144a340ddca1bdd14254",
+    "sha256": "ec1f1f0ce541abf00021757fa25c4de54c0037d36eb0d194bdf4ad6c77c778e6",
     "size": 333336
   },
   "runtime": {
@@ -558,9 +558,9 @@
     }
   },
   "signatures": {
-    "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": "zdchbAhGhL0eeX6qgQUw0CwrPGIg896Sv/0AG0hHrJ/1Ek7KnB4llxmWUA/e4HB4hlCqTEMO416N3csIfDikBA==",
-    "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": "p0ukaERkDTTF6vVVn0TK1ImrPMArUWmqAY2kJnctlb38486SIeFZxC4gCP0cU9++j7i7ydmXNOcUqxG7qIPECQ==",
-    "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=="
+    "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": "hclRnmzBp4zVtU1CKeTqxG59yYTRHAGcwAbHgKgmw1/82SuqvyP4MbU0pFG9UpwtskIdpVsppHqriZjqGb5rAg==",
+    "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": "wQoF1yRiJxfo3NMOJ4PC2RDRRkfromNc2n1JpHyizsSK12Sf16Sjy1+yf2muujcs2n/gWjZbhozrCFgD++12Bg==",
+    "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "kQT6AOQlvYTbVu+B6FzjCdmNMbZj37WEvBdDKNCaHtJuyYmgkrFxmhCjm1KNaNlHQNXQjO8MyI8aYYNocAKGDQ==",
+    "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": "MJXrXlkDjgdUeNxck8kh4SeLCBRLUaalY3vJ8nOAOGFCwGFE1UXrw+wBl6HaBNu86v0MlBrT1cN89GkNtdZUDg=="
   }
 }

artifacts/iqpilot_emac_private/manifest.json.sig

@@ -1 +1 @@
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+ViYlJji0FjCcbz07ouwB45Lnj1xSE5DytMonAUAg0KskmG9gyid8fEGvrHNZxQDPRD4EpL0N9oIasaFTKFWcDA==

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

@@ -6,12 +6,16 @@ from __future__ import annotations
 import hashlib
 import json
 import os
+
+from iqpilot.common.swaglog import cloudlog
 import urllib.request
 from pathlib import Path
 
 from iqpilot.system.hardware.usb import egpu_dock_ready
 
 USB_SYSFS_ROOT = "/sys/bus/usb/devices"
+FIRMWARE_MIRROR = os.getenv("IQ_EGPU_FIRMWARE_MIRROR", "/data/firmware/tinygrad")
+TINYGRAD_CACHE = "/data/.cache"
 
 COMMA_LFS_BATCH_URL = "https://gitlab.com/commaai/openpilot-lfs.git/info/lfs/objects/batch"
 
@@ -62,6 +66,11 @@ def egpu_policy_pkl_path(meta: dict) -> str:
   return os.path.join(Paths.model_root(), f"egpu_{meta['key']}_{meta['sha256'][:8]}_amd_policy.pkl")
 
 
+def egpu_oob_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_oob.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")
@@ -119,9 +128,14 @@ def download_onnx(meta: dict, progress_cb=None) -> str:
   if not download_url:
     raise RuntimeError(f"model {meta['key']} has no download source; stage the onnx at {onnx_cache_path(meta)}")
 
-  url = resolve_download_url(download_url, meta["sha256"], size)
   path = onnx_cache_path(meta)
   os.makedirs(os.path.dirname(path), exist_ok=True)
+  try:
+    from iqpilot.selfdrive.iqmodeld.model_bundle_downloader import download_hf_file
+    return download_hf_file(f"onnx/{meta['sha256']}.onnx", path, meta["sha256"], int(size or 0), progress_cb=progress_cb)
+  except Exception as e:
+    cloudlog.warning(f"onnx {meta['key']} unavailable from HF ({e}); falling back to {download_url.split(':', 1)[0]}")
+  url = resolve_download_url(download_url, meta["sha256"], size)
   tmp = path + ".part"
   digest = hashlib.sha256()
   got = 0
@@ -142,12 +156,20 @@ 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"):
+def download_precompiled(meta: dict, progress_cb=None, policy: bool = False, oob: bool = False) -> str | None:
+  field = "egpu_oob_artifact" if oob else "egpu_policy_artifact" if policy else "egpu_artifact"
+  art = meta.get(field)
+  if not art or not (art.get("objects") or art.get("hf_path")):
     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)
+  from iqpilot.selfdrive.iqmodeld.model_bundle_downloader import download_hf_file, download_lfs_bundle
+  dest = egpu_oob_pkl_path(meta) if oob else egpu_policy_pkl_path(meta) if policy else egpu_pkl_path(meta)
+  if art.get("hf_path"):
+    try:
+      return download_hf_file(art["hf_path"], dest, art["sha256"], int(art.get("size", 0)), progress_cb=progress_cb)
+    except Exception as e:
+      cloudlog.warning(f"precompiled {meta['key']} unavailable from HF ({e}); trying LFS")
+      if not art.get("objects"):
+        raise
   return download_lfs_bundle(art["objects"], dest, art["sha256"], int(art.get("size", 0)), progress_cb=progress_cb)
 
 
@@ -161,12 +183,27 @@ def patch_tinygrad_fetch_fw() -> None:
   _orig = helpers.fetch_fw
 
   def fetch_fw(path, name, sha256):
+    mirror = pathlib.Path(FIRMWARE_MIRROR) / path / name
+    if mirror.is_file():
+      blob = mirror.read_bytes()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
     p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
     if p.is_file():
       blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
       if hashlib.sha256(blob).hexdigest() == sha256:
         return blob
-    return _orig(path, name, sha256)
+    blob = _orig(path, name, sha256)
+    # The dock's GPU firmware otherwise lives only in tinygrad's per-user download cache, which is
+    # a network fetch the first time a new HOME sees it; onroad the car is usually offline.
+    try:
+      mirror.parent.mkdir(parents=True, exist_ok=True)
+      tmp = mirror.with_suffix(mirror.suffix + ".part")
+      tmp.write_bytes(blob)
+      os.replace(tmp, mirror)
+    except OSError:
+      pass
+    return blob
 
   fetch_fw._iq_patched = True
   helpers.fetch_fw = fetch_fw

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

@@ -27,6 +27,63 @@ def _requests_auth():
   return None
 
 
+def _hf():
+  import importlib
+  for mod in ("iqpilot_private.models.git_auth", "iqpilot.selfdrive.iqmodeld.models.git_auth"):
+    try:
+      m = importlib.import_module(mod)
+      return m.get_hf_headers(), m.hf_resolve_url
+    except Exception:
+      continue
+  return None, None
+
+
+def download_hf_file(hf_path: str, dst: str, sha256: str, size: int, progress_cb=None) -> str:
+  import requests
+  headers, resolve = _hf()
+  if resolve is None:
+    raise RuntimeError("no HF credentials available")
+  url = resolve(hf_path)
+  os.makedirs(os.path.dirname(dst), exist_ok=True)
+  tmp = dst + ".hfpart"
+  last_error: Exception | None = None
+  for _attempt in range(STREAM_RETRIES):
+    try:
+      have = os.path.getsize(tmp) if os.path.isfile(tmp) else 0
+      if size and have > size:
+        os.remove(tmp)
+        have = 0
+      if not size or have < size:
+        req_headers = dict(headers)
+        if have:
+          req_headers["Range"] = f"bytes={have}-"
+        with requests.get(url, headers=req_headers, stream=True, timeout=HTTP_TIMEOUT_S, allow_redirects=True) as r:
+          r.raise_for_status()
+          if have and r.status_code != 206:
+            have = 0
+          with open(tmp, "ab" if have else "wb") as f:
+            got = have
+            for chunk in r.iter_content(CHUNK):
+              f.write(chunk)
+              got += len(chunk)
+              if progress_cb is not None and size:
+                progress_cb(min(1.0, got / size))
+      digest = hashlib.sha256()
+      with open(tmp, "rb") as f:
+        for chunk in iter(lambda: f.read(CHUNK), b""):
+          digest.update(chunk)
+      if size and os.path.getsize(tmp) != size:
+        raise RuntimeError(f"size mismatch: {os.path.getsize(tmp)}/{size} bytes")
+      if sha256 and digest.hexdigest() != sha256:
+        os.remove(tmp)
+        raise RuntimeError("sha256 mismatch")
+      os.replace(tmp, dst)
+      return dst
+    except Exception as e:
+      last_error = e
+  raise RuntimeError(f"HF download failed: {last_error}")
+
+
 def _lfs_endpoint(base_url: str) -> str:
   return base_url.split("/raw/", 1)[0] + ".git/info/lfs"
 
@@ -47,41 +104,108 @@ def _resolve_oid(session, base_url: str, oid: str, size: int, auth):
   return action["href"], action.get("header", {})
 
 
+def _part_path(dst: str, oid: str) -> str:
+  return os.path.join(dst + ".parts", oid)
+
+
+def _part_complete(path: str, oid: str, size: int) -> bool:
+  if not os.path.isfile(path) or os.path.getsize(path) != size:
+    return False
+  digest = hashlib.sha256()
+  with open(path, "rb") as f:
+    for chunk in iter(lambda: f.read(CHUNK), b""):
+      digest.update(chunk)
+  return digest.hexdigest() == oid
+
+
+def _fetch_part(session, base_url: str, obj: dict, path: str, auth, progress) -> None:
+  size = int(obj["size"])
+  have = os.path.getsize(path) if os.path.isfile(path) else 0
+  if have > size:
+    os.remove(path)
+    have = 0
+  href, headers = _resolve_oid(session, base_url, obj["oid"], size, auth)
+  obj_auth = None if headers.get("Authorization") else auth
+  # LFS parts are content-addressed (oid == sha256), so a half-written part can be resumed with a
+  # Range request and verified afterwards instead of being thrown away on every restart.
+  if have:
+    headers = {**headers, "Range": f"bytes={have}-"}
+  with session.get(href, headers=headers, stream=True, timeout=HTTP_TIMEOUT_S, auth=obj_auth) as r:
+    r.raise_for_status()
+    if have and r.status_code != 206:
+      have = 0
+    with open(path, "ab" if have else "wb") as f:
+      for chunk in r.iter_content(CHUNK):
+        f.write(chunk)
+        progress(len(chunk))
+
+
 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"
+  os.makedirs(dst + ".parts", exist_ok=True)
   total = int(size) or sum(int(o["size"]) for o in objects)
+  done_bytes = sum(int(o["size"]) for o in objects if _part_complete(_part_path(dst, o["oid"]), o["oid"], int(o["size"])))
+  got = [done_bytes]
+
+  def progress(n: int) -> None:
+    got[0] += n
+    if progress_cb is not None and total:
+      progress_cb(min(1.0, got[0] / total))
+
   last_error: Exception | None = None
   for base_url in MODELS_BASE_URLS:
-    for attempt in range(STREAM_RETRIES):
+    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
+        for obj in objects:
+          path = _part_path(dst, obj["oid"])
+          if _part_complete(path, obj["oid"], int(obj["size"])):
+            continue
+          got[0] = done_bytes
+          _fetch_part(session, base_url, obj, path, auth, progress)
+          if not _part_complete(path, obj["oid"], int(obj["size"])):
+            if os.path.getsize(path) >= int(obj["size"]):
+              os.remove(path)
+            raise RuntimeError(f"part {obj['oid'][:12]} incomplete or failed verification")
+          done_bytes += int(obj["size"])
+          got[0] = done_bytes
+        break
       except Exception as e:
         last_error = e
-        try:
-          os.remove(tmp)
-        except OSError:
-          pass
-  raise RuntimeError(f"model bundle download failed: {last_error}")
+    else:
+      continue
+    break
+  else:
+    raise RuntimeError(f"model bundle download failed: {last_error}")
+
+  tmp = dst + ".part"
+  digest = hashlib.sha256()
+  with open(tmp, "wb") as out:
+    for obj in objects:
+      with open(_part_path(dst, obj["oid"]), "rb") as f:
+        for chunk in iter(lambda: f.read(CHUNK), b""):
+          out.write(chunk)
+          digest.update(chunk)
+  if total and os.path.getsize(tmp) != total:
+    os.remove(tmp)
+    raise RuntimeError(f"size mismatch: {os.path.getsize(tmp) if os.path.exists(tmp) else 0}/{total} bytes")
+  if sha256 and digest.hexdigest() != sha256:
+    os.remove(tmp)
+    for obj in objects:
+      try:
+        os.remove(_part_path(dst, obj["oid"]))
+      except OSError:
+        pass
+    raise RuntimeError("sha256 mismatch")
+  os.replace(tmp, dst)
+  for obj in objects:
+    try:
+      os.remove(_part_path(dst, obj["oid"]))
+    except OSError:
+      pass
+  try:
+    os.rmdir(dst + ".parts")
+  except OSError:
+    pass
+  return dst

artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/selfdrived/events.py

@@ -375,7 +375,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Pay Attention",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.promptDriverDistracted: {
@@ -901,7 +901,7 @@ if HARDWARE.get_device_type() == 'mici':
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
-        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+        Priority.MID, VisualAlert.none, AudibleAlert.none, 2),
     },
     EventName.promptDriverDistracted: {
       ET.PERMANENT: Alert(