IQ.Pilot Release Commit @ cd83f5a

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/common/realtime.py

@@ -41,6 +41,12 @@ def config_realtime_process(cores: int | list[int], priority: int) -> None:
   set_core_affinity(c)
 
 
+def config_background_thread() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+    set_core_affinity(list(range(os.cpu_count() or 1)))
+
+
 def lock_memory() -> None:
   """mlockall this process so memory reclaim/compaction can't stall it. RT control
   procs only (locking ui/modeld would worsen pressure). Best-effort."""

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/__init__.py

@@ -1,3 +1,3 @@
 """
-IQ model selection and runner support that is actively used by iqmodeld.
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
 """

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/fetcher.py

@@ -1,11 +1,8 @@
 #!/usr/bin/env python3
 """
-Copyright (c) IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-
-Public entry point for the model-manifest fetcher: prefers the compiled private
-bundle, falling back to the in-tree source. The default-runner fallback lives in
-ManifestDecoder now, so no post-import patching is needed.
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
 """
+
 from iqpilot._proprietary_loader import ProprietaryModuleMissing, load_private_module
 
 try:

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/models/helpers.py

@@ -40,7 +40,6 @@ _DEFAULT_BUNDLE_REF = "default"
 
 
 def get_default_model_bundle(_bundles):
-  """Legacy compatibility hook: stock default is preinstalled, not a manifest bundle."""
   return None
 
 
@@ -239,10 +238,13 @@ def select_default_model(params: Params = None) -> None:
 
 def seed_default_bundle_if_unset(params: Params = None) -> None:
   params = Params() if params is None else params
-  if params.get(_ACTIVE_BUNDLE_KEY) or params.get(_DOWNLOAD_INDEX_KEY) is not None:
+  if params.get(_ACTIVE_BUNDLE_KEY):
     return
+  queued_download = params.get(_DOWNLOAD_INDEX_KEY)
   try:
     select_default_model(params)
+    if queued_download is not None:
+      params.put(_DOWNLOAD_INDEX_KEY, queued_download)
     cloudlog.warning("default_model: seeded Default (CD210) as active bundle")
   except Exception as e:
     cloudlog.exception(f"default_model: failed to seed default bundle: {e}")

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/selfdrive/selfdrived/events.py

@@ -648,8 +648,16 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.wrongGear: {
-    ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"),
-    ET.NO_ENTRY: NoEntryAlert("Gear not D"),
+    ET.SOFT_DISABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
+    ET.NO_ENTRY: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
   },
 
   # This alert is thrown when the calibration angles are outside of the acceptable range.

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/manager/process_config.py

@@ -195,7 +195,7 @@ procs = [
 procs += [
   # Models
   BundleProcess("models_manager", "iqpilot_model_selector_private", "iqpilot_private.models.manager", and_(only_offroad, not_low_power)),
-  NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model)),
+  NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model), restart_if_crash=True),
 
   BundleProcess("backup_manager_k3", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.backups.backup_orchestrator",
                 and_(only_offroad, hephaestus_ready_shim, not_low_power)),

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/ui/lib/os_update.py

@@ -42,10 +42,17 @@ def required_agnos_version(install_path: str) -> str:
   return ""
 
 
+def _hardware_dir(install_path: str) -> str:
+  nested = os.path.join(install_path, "iqpilot", "system", "hardware", "tici")
+  if os.path.isdir(nested):
+    return nested
+  return os.path.join(install_path, "system", "hardware", "tici")
+
+
 def agnos_manifest_path(install_path: str, device_type: str) -> str:
   # comma 3 (tici) uses a different AGNOS manifest than comma 3x (tizi) / comma 4 (mici).
   fname = "agnos_tici_15_1.json" if device_type == "tici" else "agnos.json"
-  return os.path.join(install_path, "system", "hardware", "tici", fname)
+  return os.path.join(_hardware_dir(install_path), fname)
 
 
 def os_update_needed(install_path: str) -> tuple[bool, str, str]:
@@ -64,7 +71,7 @@ def run_agnos_update(install_path: str, device_type: str, progress_cb: ProgressC
   via progress_cb(percent, note). Returns True on success. The device must be
   rebooted by the caller afterward for the new slot to take effect."""
   manifest = agnos_manifest_path(install_path, device_type)
-  agnos_py = os.path.join(install_path, "system", "hardware", "tici", "agnos.py")
+  agnos_py = os.path.join(_hardware_dir(install_path), "agnos.py")
   if not os.path.isfile(manifest) or not os.path.isfile(agnos_py):
     progress_cb(0, "manifest_missing")
     return False

artifacts/iqpilot_hephaestusd_private/python/_iqclosure/iqpilot/system/version.py

@@ -33,8 +33,13 @@ def get_version(path: str = BASEDIR) -> str:
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "docs", "CHANGELOG.md")) as f:
-    return f.read().split('\n\n', 1)[0]
+  for rel in (("iqpilot", "docs", "CHANGELOG.md"), ("docs", "CHANGELOG.md")):
+    try:
+      with open(os.path.join(path, *rel)) as f:
+        return f.read().split('\n\n', 1)[0]
+    except OSError:
+      continue
+  return ""
 
 
 @cache