IQ.Pilot Release Commit @ d2ce8a8

iqpilot/selfdrive/iqmodeld/daemon.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from __future__ import annotations
 
+import sys
 import time
 from dataclasses import dataclass
 from typing import Any
@@ -471,7 +472,7 @@ class FrameDropMeter:
 
 
 class InferenceDaemon:
-  def __init__(self, demo: bool = False):
+  def __init__(self, demo: bool = False, channel_path: str | None = None):
     cloudlog.warning("iqmodeld init")
     sentry.set_tag("daemon", PROCESS_NAME)
     cloudlog.bind(daemon=PROCESS_NAME)
@@ -485,8 +486,15 @@ class InferenceDaemon:
     self._meta_layout = select_meta_layout()
     cloudlog.warning("models loaded, iqmodeld starting")
 
+    self._channel = None
+    if channel_path is not None:
+      from iqpilot.selfdrive.iqmodeld.model_channel import ModelChannel
+      self._channel = ModelChannel(channel_path, create=True)
+
     self._cameras = CameraIngress(self._gpu)
-    self._pub = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "iqDriveModelData", "iqPerfTrace"])
+    pub_services = ["iqPerfTrace"] if self._channel is not None else [
+      "modelV2", "drivingModelData", "cameraOdometry", "iqDriveModelData", "iqPerfTrace"]
+    self._pub = PubMaster(pub_services)
     self._sub = SubMaster([
       "deviceState", "carState", "roadCameraState", "extrinsicsCalibration",
       "driverMonitoringState", "carControl", "lateralDelay", "iqNavState", "radarState",
@@ -513,6 +521,12 @@ class InferenceDaemon:
   def _refresh_tunables(self, tick: int) -> None:
     if tick % 60 != 0:
       return
+    from iqpilot.selfdrive.iqmodeld.egpu_helpers import egpu_selected
+    big_enabled = self._params.get_bool("IQEmacEnabled") or egpu_selected(self._params)
+    if big_enabled != (self._channel is not None):
+      # publish mode is fixed at startup: staying up would fight the selector for modelV2
+      cloudlog.warning("iqmodeld: big backend toggled, restarting to switch publish mode")
+      sys.exit(0)
     self._runtime.lat_delay = lateral_action_delay(self._params, self._car_params, self._sub["lateralDelay"].lateralDelay)
     self._runtime.PLANPLUS_CONTROL = self._params.get("PlanplusControl", return_default=True)
     self._runtime.model_smoothing_max_extra_sec = _model_lat_smooth_max_sec(self._params)
@@ -600,6 +614,22 @@ class InferenceDaemon:
       live_calib_seen,
     )
 
+    if self._channel is not None:
+      self._channel.write(main_stamp.frame_id, {
+        "source": "small",
+        "frame_id": main_stamp.frame_id,
+        "timestamp_sof": int(main_stamp.timestamp_sof),
+        "live_calib_seen": bool(live_calib_seen),
+        "model_execution_time": float(execution_time),
+        "msgs": {
+          "modelV2": model_msg.to_bytes(),
+          "drivingModelData": driving_msg.to_bytes(),
+          "cameraOdometry": pose_msg.to_bytes(),
+          "iqDriveModelData": iq_msg.to_bytes(),
+        },
+      })
+      return
+
     self._pub.send("modelV2", model_msg)
     self._pub.send("drivingModelData", driving_msg)
     self._pub.send("cameraOdometry", pose_msg)
@@ -695,8 +725,15 @@ class InferenceDaemon:
       tick += 1
 
 
-def main(demo: bool = False):
-  InferenceDaemon(demo=demo).serve()
+def main(demo: bool = False, channel_path: str | None = "auto"):
+  if channel_path == "auto":
+    channel_path = None
+    params = Params()
+    from iqpilot.selfdrive.iqmodeld.egpu_helpers import egpu_selected
+    if params.get_bool("IQEmacEnabled") or egpu_selected(params):
+      from iqpilot.selfdrive.iqmodeld.model_channel import SMALL_CHANNEL
+      channel_path = SMALL_CHANNEL
+  InferenceDaemon(demo=demo, channel_path=channel_path).serve()
 
 
 __all__ = [