IQ.Pilot Release Commit @ 92b3bb6

iqpilot/selfdrive/iqmodeld/iqegpumodeld.py

@@ -300,6 +300,10 @@ def main(demo: bool = False) -> None:
         cloudlog.error(f"iqegpumodeld giving up after {attempt} setup failures; exiting for a clean restart")
         sys.exit(1)
       if not usbgpu_present():
+        from iqpilot.system.hardware.usb import ensure_host_role
+        if ensure_host_role():
+          cloudlog.warning("iqegpumodeld: Type-C controller was out of host mode; restored")
+          time.sleep(2.0)
         _wait_for_egpu(params)
       time.sleep(min(SETUP_RETRY_MAX_S, SETUP_RETRY_BASE_S * attempt))
 

iqpilot/selfdrive/pandad/panda.cc

@@ -12,6 +12,11 @@
 
 const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
 
+std::string panda_firmware_path() {
+  const char *runtime_path = getenv("IQPILOT_PANDA_FW_PATH");
+  return runtime_path != nullptr ? runtime_path : PANDA_FW_PATH;
+}
+
 Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   // try USB first, then SPI
   try {
@@ -138,7 +143,7 @@ std::optional<std::string> Panda::get_serial() {
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
     for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
-      auto content = util::read_file(std::string(PANDA_FW_PATH) + fn);
+      auto content = util::read_file(panda_firmware_path() + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
         return true;

iqpilot/selfdrive/pandad/panda.h

@@ -42,6 +42,7 @@ struct can_frame {
   long src;
 };
 
+std::string panda_firmware_path();
 
 class Panda {
 private:

iqpilot/selfdrive/pandad/pandad.py

@@ -77,6 +77,8 @@ def check_panda_support(panda) -> bool:
 
 
 def main() -> None:
+  os.environ["IQPILOT_PANDA_FW_PATH"] = FW_PATH
+
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
     cloudlog.info(f"Caught signal {signum}, exiting")

iqpilot/selfdrive/pandad/tests/test_pandad_usbprotocol.cc

@@ -133,3 +133,11 @@ TEST_CASE("send/recv CAN FD packets") {
     test.test_can_recv(0x40);
   }
 }
+
+TEST_CASE("firmware path runtime override") {
+  unsetenv("IQPILOT_PANDA_FW_PATH");
+  REQUIRE(panda_firmware_path() == PANDA_FW_PATH);
+  setenv("IQPILOT_PANDA_FW_PATH", "/runtime/panda/board/obj/", 1);
+  REQUIRE(panda_firmware_path() == "/runtime/panda/board/obj/");
+  unsetenv("IQPILOT_PANDA_FW_PATH");
+}

iqpilot/system/hardware/tests/test_usb_state.py

@@ -265,3 +265,15 @@ def test_rom_mode_dock_is_neither_present_nor_ready(tmp_path):
   _mkdev(root, "1-1", vid=vid, pid=pid, product="USB 3.2 PCIe TinyEnclosure")
   assert not egpu_dock_present(root / "bus")
   assert not egpu_dock_ready(root / "bus")
+
+
+class TestEnsureHostRole:
+  def test_already_host_needs_no_write(self, tmp_path):
+    from iqpilot.system.hardware.usb import ensure_host_role
+    mode = tmp_path / "mode"
+    mode.write_text("host\n")
+    assert ensure_host_role(mode)
+
+  def test_missing_controller_is_false(self, tmp_path):
+    from iqpilot.system.hardware.usb import ensure_host_role
+    assert not ensure_host_role(tmp_path / "absent" / "mode")

iqpilot/system/hardware/usb.py

@@ -13,6 +13,7 @@ The USB eGPU dock is identified by VID/PID only. comma's internal codename for
 it is deliberately not used here: IQ.Pilot runs these models on several
 backends (eGPU dock, eMac), so the naming stays about the role, not the vendor.
 """
+import subprocess
 from pathlib import Path
 
 # comma's USB eGPU dock, both shipped USB IDs. The ROM ids are the same board
@@ -124,6 +125,26 @@ def get_link_error_count(soc: Path = SOC_PLATFORM_PATH) -> int:
   return sum(link_errors(c) for c in usb_controllers(soc))
 
 
+def host_role_controller(soc: Path = SOC_PLATFORM_PATH, udc_root: Path = UDC_PATH) -> Path | None:
+  ctrl = link_controller(udc_root)
+  return (soc / ctrl / "mode") if ctrl else None
+
+
+def ensure_host_role(mode_path: Path | None = None) -> bool:
+  """A usbpd blip mid-drive can leave the Type-C controller in 'none'/'peripheral', and the
+  dock can never re-enumerate until something puts the port back into host mode."""
+  path = mode_path if mode_path is not None else host_role_controller()
+  if path is None:
+    return False
+  current = read(path)
+  if current == "host":
+    return True
+  if current is None:
+    return False
+  rc = subprocess.run(["sudo", "-n", "sh", "-c", f"echo host > {path}"], check=False, capture_output=True)
+  return rc.returncode == 0 and read(path) == "host"
+
+
 def egpu_dock_present(root: Path = USB_DEVICES_PATH) -> bool:
   """A dock in ROM/bootloader state is deliberately NOT counted as present: it
   enumerates but cannot serve a GPU until vendor firmware is flashed."""

iqpilot/tools/iq.sh

@@ -154,7 +154,11 @@ iq_pkg() {
   # the venv python has the component packages (iqdbc etc.); bare python3 does not
   local py=python3
   [[ -x "$IQ_ROOT/.venv/bin/python3" ]] && py="$IQ_ROOT/.venv/bin/python3"
+  if [[ -f "$IQ_ROOT/iqpilot/tools/scripts/setup_private_packages.py" ]]; then
     (cd "$IQ_ROOT" && iq_run "$py" iqpilot/tools/scripts/setup_private_packages.py "$@")
+  else
+    iq_note 'private package sources are not present in this checkout'
+  fi
   if [[ -f "$IQ_ROOT/artifacts/runtime/ensure_private_installed.sh" ]]; then
     (cd "$IQ_ROOT" && iq_run bash artifacts/runtime/ensure_private_installed.sh)
   fi

iqpilot/tools/tests/test_iq_command.py

@@ -0,0 +1,66 @@
+# Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+import os
+from pathlib import Path
+import subprocess
+
+
+IQ_COMMAND = Path(__file__).parents[1] / "iq.sh"
+
+
+def make_checkout(tmp_path: Path) -> Path:
+  checkout = tmp_path / "checkout"
+  (checkout / "iqpilot").mkdir(parents=True)
+  (checkout / "launch_iqpilot.sh").touch()
+  return checkout
+
+
+def run_pkg(checkout: Path, path: Path) -> subprocess.CompletedProcess[str]:
+  env = os.environ.copy()
+  env["PATH"] = f"{path}:{env['PATH']}"
+  return subprocess.run(
+    ["bash", str(IQ_COMMAND), "--dir", str(checkout), "pkg"],
+    check=False,
+    capture_output=True,
+    env=env,
+    text=True,
+  )
+
+
+def test_public_checkout_skips_private_package_source_setup(tmp_path: Path):
+  checkout = make_checkout(tmp_path)
+
+  result = run_pkg(checkout, tmp_path)
+
+  assert result.returncode == 0
+  assert "private package sources are not present" in result.stdout
+  assert "setup_private_packages.py" not in result.stderr
+
+
+def test_internal_checkout_runs_private_package_source_setup(tmp_path: Path):
+  checkout = make_checkout(tmp_path)
+  setup_script = checkout / "iqpilot/tools/scripts/setup_private_packages.py"
+  setup_script.parent.mkdir(parents=True)
+  setup_script.touch()
+  python_log = tmp_path / "python.log"
+  python = tmp_path / "python3"
+  python.write_text(f"#!/usr/bin/env bash\nprintf '%s\\n' \"$*\" > {python_log!s}\n")
+  python.chmod(0o755)
+
+  result = run_pkg(checkout, tmp_path)
+
+  assert result.returncode == 0
+  assert python_log.read_text().strip() == "iqpilot/tools/scripts/setup_private_packages.py"
+
+
+def test_public_checkout_runs_bundled_package_installer(tmp_path: Path):
+  checkout = make_checkout(tmp_path)
+  installer_log = tmp_path / "installer.log"
+  installer = checkout / "artifacts/runtime/ensure_private_installed.sh"
+  installer.parent.mkdir(parents=True)
+  installer.write_text(f"printf installed > {installer_log!s}\n")
+
+  result = run_pkg(checkout, tmp_path)
+
+  assert result.returncode == 0
+  assert installer_log.read_text() == "installed"