IQ.Pilot Release Commit @ d2ce8a8

iqpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -54,5 +54,33 @@
     "text": "<b>Unsupported branch!</b> - The current version of <b><u>%1</u></b> is not marked as compatible with the Comma Three (3|tici). Please go to <b>[Device > Software]</b> and install a supported branch such as <b><u>release</u></b> or <b><u>beta</u></b> for the comma three.",
     "severity": 1,
     "_comment": "Set extra field to the current branch name."
+  },
+  "Offroad_EgpuNotDetected": {
+    "text": "eGPU dock not detected. Check USB and 12V connections.",
+    "severity": 0
+  },
+  "Offroad_EgpuFansObstructed": {
+    "text": "eGPU dock fans obstructed. Check the fans.",
+    "severity": 0
+  },
+  "Offroad_EgpuOverheated": {
+    "text": "eGPU dock overheated. Allow it to cool.",
+    "severity": 0
+  },
+  "Offroad_EgpuPcieUnavailable": {
+    "text": "eGPU dock PCIe unavailable. %1",
+    "severity": 0
+  },
+  "Offroad_EgpuUncompiled": {
+    "text": "eGPU big model not compiled. Keep ignition on and reboot the device.",
+    "severity": 0
+  },
+  "Offroad_EgpuUpdateFailed": {
+    "text": "eGPU dock update failed. Check the USB cable.",
+    "severity": 0
+  },
+  "Offroad_EgpuUsbSlow": {
+    "text": "eGPU dock USB link is slow. Check the USB cable. The current speed is %1.",
+    "severity": 0
   }
 }

iqpilot/selfdrive/selfdrived/events.py

@@ -253,6 +253,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        "Ensure road ahead is clear"),
   },
 
+  EventName.bigModelLoading: {
+    ET.NO_ENTRY: NoEntryAlert("Big Model Loading"),
+  },
+
+  EventName.bigModelFailed: {
+    ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"),
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.),
+  },
+
   EventName.lateralManeuver: {
     ET.WARNING: longitudinal_maneuver_alert,
     ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),

iqpilot/selfdrive/selfdrived/selfdrived.py

@@ -143,6 +143,9 @@ class SelfdriveD(GapButtonActions):
     self.events = Events()
 
     self.initialized = False
+    self.big_model_loading = False
+    self.big_model_active = False
+    self.big_model_failed = False
     self.enabled = False
     self.active = False
     self.mismatch_counter = 0
@@ -270,6 +273,28 @@ class SelfdriveD(GapButtonActions):
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
+    if self.sm['deviceState'].egpuDockPresent or self.params.get_bool("IQEgpuEnabled") or self.big_model_active:
+      loading = self.params.get_bool("UsbGpuLoading")
+      self.big_model_loading = loading
+      if self.big_model_loading:
+        self.events.add(EventName.bigModelLoading)
+
+      big_active = self.params.get("UsbGpuActive")
+      dock_present = self.sm['deviceState'].egpuDockPresent
+      mac_active = self.params.get_bool("MacModelActive")
+      model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
+      big_failed = (big_active is False or model_unavailable
+                    or (self.big_model_active and not dock_present)) and not mac_active
+      if big_failed:
+        self.events.add(EventName.bigModelFailed)
+      self.big_model_failed = big_failed
+
+      # soft disable if the big model fails
+      if big_active:
+        self.big_model_active = True
+      if mac_active or (not self.enabled and not model_unavailable):
+        self.big_model_active = False
+
     if self.sm.recv_frame['lateralManeuverPlan'] > 0:
       self.events.add(EventName.lateralManeuver)
       self.startup_event = None