IQ.Pilot Release Commit @ d2ce8a8

iqpilot/cereal/custom.capnp

@@ -131,6 +131,7 @@ struct IQModelManager @0xe91d6987759290bb {
       policy @3;
       offPolicy @4;
       onPolicy @5;
+      usbeMac @6;
     }
   }
 
@@ -440,6 +441,9 @@ struct IQCarState @0xb1c39318bb6bc2b3 {
   # VW PQ stock ACC radar feedback for the IQ.Dynamics radar_manager (Blend feature)
   accRadarStaAdr @4 :UInt8;   # ACC_System.ACS_Sta_ADR (0 not-active, 1 active, 2 passive, 3 irrev_Fehler)
   accRadarFehler @5 :Bool;    # ACC_System.ACS_Fehler (stored fault -> radar dead for the drive)
+  slcSetSpeedRequestId @6 :UInt32;
+  slcSetSpeedGestureId @7 :UInt32;
+  slcSetSpeedRequestKph @8 :Float32;
 }
 
 struct IQLiveData @0xf2e2b608e51f4b0e {

iqpilot/cereal/log.capnp

@@ -135,6 +135,8 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     userBookmark @95;
     excessiveActuation @96;
     audioFeedback @97;
+    bigModelLoading @101;
+    bigModelFailed @102;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -491,6 +493,13 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   started @11 :Bool;
   startedMonoTime @13 :UInt64;
 
+  # ordinals track commaai/openpilot exactly (@50 bottomSocTempC, @51 dock
+  # presence, @52 usbState) so upstream tooling stays able to read our logs;
+  # only the field NAME differs, we do not use comma's internal dock codename.
+  bottomSocTempC @50 :Float32;
+  egpuDockPresent @51 :Bool;
+  usbState @52 :UsbState;
+
   # system utilization
   freeSpacePercent @7 :Float32;
   memoryUsagePercent @19 :Int8;
@@ -586,6 +595,37 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   nvmeTempCDEPRECATED @35 :List(Float32);
 }
 
+struct UsbState {
+  devices @0 :List(Device);
+  # IQ extension (no upstream equivalent): controller-level link errors, needed
+  # because portli is a CONTROLLER counter and in peripheral mode (eMac gadget
+  # link) the peer never enumerates, so no Device row can carry it.
+  linkErrorCount @1 :UInt32;
+  # IQ extension, same reason: CC orientation describes the PORT, so it is
+  # readable while the link is in peripheral mode. The per-device field below
+  # matches upstream but only populates when something enumerates on that
+  # controller (host mode, e.g. the eGPU dock) — never during an eMac session.
+  usb3Lane @2 :Device.Usb3Lane;
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
+  }
+}
+
 struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
   rxBufferOverflow @7 :UInt32;
@@ -745,6 +785,20 @@ struct PeripheralState {
   }
 }
 
+struct EgpuDockState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+  supplyFault @10 :Bool;
+}
+
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
@@ -1078,6 +1132,7 @@ struct ModelDataV2 {
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
   rawPredictions @16 :Data;
+  big @27 :Bool;
 
   # predicted future position, orientation, etc..
   position @4 :XYZTData;
@@ -2668,6 +2723,7 @@ struct Event {
     iqState @153 :Custom.IQState;
     iqModelManager @154 :Custom.IQModelManager;
     iqPlan @155 :Custom.IQPlan;
+    egpuDockState @166 :EgpuDockState;
     iqOnroadEvents @156 :Custom.IQOnroadEvent;
     iqCarParams @157 :Custom.IQCarParams;
     iqCarControl @158 :Custom.IQCarControl;

iqpilot/cereal/services.py

@@ -108,6 +108,7 @@ _services: dict[str, tuple] = {
   "iqRoadIncidentFeed": (True, 0.2, 1),
   "iqNavRenderState": (True, 5., 10, QueueSize.MEDIUM),
   "iqState": (True, 100., 10),
+  "egpuDockState": (True, 10., 10),
   "iqPlan": (True, 20., 10),
   "iqOnroadEvents": (True, 1., 1),
   "iqDriveModelData": (True, 20., None, QueueSize.MEDIUM),