IQ.Pilot Release Commit @ 0012d8f

selfdrive/modeld/SConscript

@@ -72,7 +72,10 @@ for model_name in ['dmonitoring_model']:
   # inputs (onnx + tinygrad_repo + flags + metadata script) and output hashes; if it matches, skip
   # declaring the targets entirely. Any mismatch falls back to a normal on-device compile.
   if arch == "larch64":
-    from openpilot.selfdrive.modeld.prebuilt_models import verify_prebuilt, outputs_match
+    from openpilot.selfdrive.modeld.prebuilt_models import packaged_prebuilt_matches, verify_prebuilt, outputs_match
+    if packaged_prebuilt_matches(model_name):
+      print(lenv.PrettyNote('SKIP', f"{model_name} — packaged prebuilt pkl"))
+      continue
     if verify_prebuilt(model_name, flags):
       print(lenv.PrettyNote('SKIP', f"{model_name} — prebuilt pkl"))
       continue

selfdrive/modeld/prebuilt_models.py

@@ -77,7 +77,13 @@ def outputs_match(model_name: str) -> bool:
   return True
 
 
+def packaged_prebuilt_matches(model_name: str) -> bool:
+  return not (MODELS_DIR / f'{model_name}.onnx').is_file() and outputs_match(model_name)
+
+
 def verify_prebuilt(model_name: str, flags: str) -> bool:
+  if not (MODELS_DIR / f'{model_name}.onnx').is_file():
+    return False
   data = _load_checks().get(model_name, {})
   if data.get('signature') != compute_signature(model_name, flags):
     return False

selfdrive/modeld/test_prebuilt_models.py

@@ -0,0 +1,51 @@
+import hashlib
+import json
+
+from openpilot.selfdrive.modeld import prebuilt_models
+
+
+def write_outputs(models_dir, check_path):
+  outputs = {}
+  for name, contents in {
+    'dmonitoring_model_tinygrad.pkl': b'tinygrad',
+    'dmonitoring_model_metadata.pkl': b'metadata',
+  }.items():
+    (models_dir / name).write_bytes(contents)
+    outputs[name] = hashlib.sha256(contents).hexdigest()
+  check_path.write_text(json.dumps({'dmonitoring_model': {'outputs': outputs}}))
+
+
+def test_packaged_prebuilt_without_onnx(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
+  assert not prebuilt_models.verify_prebuilt('dmonitoring_model', 'flags')
+
+
+def test_packaged_prebuilt_rejects_corrupt_output(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  (models_dir / 'dmonitoring_model_tinygrad.pkl').write_bytes(b'corrupt')
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
+
+
+def test_source_checkout_is_not_packaged_prebuilt(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  (models_dir / 'dmonitoring_model.onnx').write_bytes(b'onnx')
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')