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IQ.Pilot Release Commit @ f2a861c

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IQ.Lvbs CI [bot]
2026-09-02 15:07:09 -05:00
parent b42569dbca
commit e8748fd704
5497 changed files with 316070 additions and 179848 deletions
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64
iqpilot/selfdrive/iqmodeld/models/runners/model_runner.py
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@@ -7,20 +7,21 @@ from dataclasses import dataclass, field
from typing import TYPE_CHECKING, Any
import numpy as np
from cereal import custom
from openpilot.system.hardware import TICI
from openpilot.system.hardware.hw import Paths as _hw_paths
from openpilot.iqpilot.selfdrive.iqmodeld.models.helpers import get_active_bundle as _fetch_bundle
from openpilot.iqpilot.selfdrive.iqmodeld.models.combined_artifact import has_combined_split_artifact
from iqpilot.cereal import custom
from iqpilot.common.swaglog import cloudlog
from iqpilot.system.hardware import TICI
from iqpilot.system.hardware.hw import Paths as _hw_paths
from iqpilot.selfdrive.iqmodeld.models.helpers import get_active_bundle as _fetch_bundle
from iqpilot.selfdrive.iqmodeld.models.combined_artifact import has_combined_split_artifact
# ---- runtime type surface (native OpenCL/frame handles resolve to Any off-device) ----
if TYPE_CHECKING:
from openpilot.iqpilot.selfdrive.iqmodeld.native.iqmodel_pyx import GpuMemorySlot, RoadProjector
from iqpilot.selfdrive.iqmodeld.native.iqmodel_pyx import GpuMemorySlot, RoadProjector
else:
def _resolve_native_types() -> tuple[Any, Any]:
try:
from openpilot.iqpilot.selfdrive.iqmodeld.native.iqmodel_pyx import GpuMemorySlot as iq_clmem
from openpilot.iqpilot.selfdrive.iqmodeld.native.iqmodel_pyx import RoadProjector as iq_frame
from iqpilot.selfdrive.iqmodeld.native.iqmodel_pyx import GpuMemorySlot as iq_clmem
from iqpilot.selfdrive.iqmodeld.native.iqmodel_pyx import RoadProjector as iq_frame
return iq_clmem, iq_frame
except (ModuleNotFoundError, ImportError):
return Any, Any
@@ -59,11 +60,25 @@ def _configure_accelerator():
_configure_accelerator()
# real metadata pkls are a few KB; anything bigger is a model artifact wrongly
# referenced as metadata (pre-fix manifests self-referenced the artifact), and
# unpickling it here double-loads the model onto the GPU
_META_MAX_BYTES = 1 << 20
def load_artifact_metadata(metadata_filename):
"""Read one artifact's metadata pkl: (input shapes, output slices)."""
with open(os.path.join(CUSTOM_MODEL_PATH, metadata_filename), 'rb') as fh:
blob = _pk.load(fh)
return tuple(blob.get(field, {}) for field in _META_FIELDS)
try:
path = os.path.join(CUSTOM_MODEL_PATH, metadata_filename)
if os.path.getsize(path) > _META_MAX_BYTES:
cloudlog.error(f"metadata pkl {metadata_filename} is artifact-sized, refusing to unpickle it")
return tuple({} for _ in _META_FIELDS)
with open(path, 'rb') as fh:
blob = _pk.load(fh)
return tuple(blob.get(field, {}) for field in _META_FIELDS)
except Exception:
cloudlog.exception(f"unreadable metadata pkl {metadata_filename}, continuing without it")
return tuple({} for _ in _META_FIELDS)
@dataclass
@@ -114,7 +129,7 @@ class ModelRunner(RunnerRoot):
if not active:
raise ValueError("runner started without an active model bundle")
self.models = {spec.type.raw: ArtifactSpec(spec) for spec in active.models}
self.models = {spec.type.raw: ArtifactSpec(spec) for spec in _qcom_models(active)}
self.is_20hz_3d = False
self.is_20hz = active.is20hz
self.inputs = {}
@@ -165,8 +180,15 @@ class ModelRunner(RunnerRoot):
# ---- runner selection (which backend to build for the active bundle) ----------
def _qcom_models(bundle) -> list:
# usbeMac artifacts ride along in a bundle for the eGPU host; they are never
# loaded on QCOM and must not affect runner classification
return [m for m in bundle.models if m.type.raw != ModelType.usbeMac]
def _single_artifact_prefix(bundle, prefix: str) -> bool:
return len(bundle.models) == 1 and bundle.models[0].artifact.fileName.startswith(prefix)
models = _qcom_models(bundle)
return len(models) == 1 and models[0].artifact.fileName.startswith(prefix)
def _is_fused_bundle(bundle) -> bool:
@@ -178,7 +200,7 @@ def _is_supercombo_bundle(bundle) -> bool:
def _is_split_bundle(bundle) -> bool:
present = {m.type.raw for m in bundle.models}
present = {m.type.raw for m in _qcom_models(bundle)}
split_kinds = {ModelType.vision, ModelType.policy, ModelType.offPolicy, ModelType.onPolicy}
return not present.isdisjoint(split_kinds)
@@ -187,21 +209,23 @@ def get_model_runner() -> "ModelRunner":
"""Build the runner backend that fits the active bundle (supercombo / fused /
combined-split / split / single). Concrete runners are imported lazily so one
backend failing to load can't take down the others at import time."""
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner import (TinygradRunner,
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner import (TinygradRunner,
TinygradSplitRunner)
bundle = _fetch_bundle()
if not (bundle and bundle.models):
# an eMac-only bundle (no QCOM-loadable models) runs the stock default on
# device; the big host serves the bundle's precompiled artifact
if not (bundle and bundle.models and _qcom_models(bundle)):
return TinygradRunner(ModelType.supercombo)
if _is_supercombo_bundle(bundle):
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.supercombo_runner import TinygradSupercomboRunner
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.supercombo_runner import TinygradSupercomboRunner
return TinygradSupercomboRunner()
if _is_fused_bundle(bundle):
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.fused_runner import TinygradFusedRunner
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.fused_runner import TinygradFusedRunner
return TinygradFusedRunner()
if _is_split_bundle(bundle) and has_combined_split_artifact(bundle):
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.combined_split_runner import TinygradCombinedSplitRunner
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.combined_split_runner import TinygradCombinedSplitRunner
return TinygradCombinedSplitRunner()
if _is_split_bundle(bundle):
return TinygradSplitRunner()
return TinygradRunner(bundle.models[0].type.raw)
return TinygradRunner(_qcom_models(bundle)[0].type.raw)