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IQ.Pilot Release Commit @ d2ce8a8

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IQ.Lvbs CI [bot]
2026-08-28 08:35:52 -05:00
parent 9206164707
commit ee1dca77c7
210 changed files with 19726 additions and 455 deletions
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19
iqpilot/selfdrive/iqmodeld/models/runners/model_runner.py
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@@ -129,7 +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 = {}
@@ -180,8 +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:
@@ -193,7 +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)
@@ -205,7 +212,9 @@ def get_model_runner() -> "ModelRunner":
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):
@@ -219,4 +228,4 @@ def get_model_runner() -> "ModelRunner":
return TinygradCombinedSplitRunner()
if _is_split_bundle(bundle):
return TinygradSplitRunner()
return TinygradRunner(bundle.models[0].type.raw)
return TinygradRunner(_qcom_models(bundle)[0].type.raw)