IQ.Pilot Release Commit @ 0798119

iqpilot/selfdrive/iqmodeld/models/combined_artifact.py

@@ -0,0 +1,100 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+
+from __future__ import annotations
+
+import os
+import re
+from pathlib import Path
+
+from openpilot.system.hardware.hw import Paths
+
+
+_MODEL_ROOT = Path(Paths.model_root())
+_OVERRIDE_KEYS = (
+  "combinedRuntimeArtifact",
+  "combinedSplitArtifact",
+  "iqCombinedArtifact",
+)
+_SPLIT_ROLE_PATTERN = re.compile(r"^driving_(vision|policy|off_policy|on_policy)_(.+)_tinygrad\.pkl$")
+
+
+def _bundle_models(bundle) -> list:
+  models = getattr(bundle, "models", None)
+  return list(models) if models is not None else []
+
+
+def _bundle_override_map(bundle) -> dict[str, str]:
+  result: dict[str, str] = {}
+  for override in getattr(bundle, "overrides", None) or []:
+    key = getattr(override, "key", None)
+    value = getattr(override, "value", None)
+    if key and value:
+      result[str(key)] = str(value)
+  return result
+
+
+def _artifact_name(model) -> str:
+  return getattr(getattr(model, "artifact", None), "fileName", "") or ""
+
+
+def _split_suffixes(bundle) -> list[str]:
+  suffixes: list[str] = []
+  for model in _bundle_models(bundle):
+    match = _SPLIT_ROLE_PATTERN.match(_artifact_name(model))
+    if match:
+      suffixes.append(match.group(2))
+  return suffixes
+
+
+def _derived_candidates(bundle) -> list[str]:
+  seen: set[str] = set()
+  candidates: list[str] = []
+
+  for suffix in _split_suffixes(bundle):
+    for candidate in (
+      f"driving_combined_{suffix}.pkl",
+      f"iqmodeld_combined_{suffix}.pkl",
+    ):
+      if candidate not in seen:
+        seen.add(candidate)
+        candidates.append(candidate)
+
+  ref = getattr(bundle, "ref", None)
+  if ref:
+    short_ref = str(ref)[:8]
+    for candidate in (
+      f"driving_combined_{short_ref}.pkl",
+      f"iqmodeld_combined_{short_ref}.pkl",
+    ):
+      if candidate not in seen:
+        seen.add(candidate)
+        candidates.append(candidate)
+
+  return candidates
+
+
+def combined_split_artifact_candidates(bundle) -> list[Path]:
+  explicit_env = os.getenv("IQMODEL_COMBINED_PKL")
+  if explicit_env:
+    explicit_path = Path(explicit_env)
+    return [explicit_path if explicit_path.is_absolute() else _MODEL_ROOT / explicit_path]
+
+  overrides = _bundle_override_map(bundle)
+  explicit_names = [overrides[key] for key in _OVERRIDE_KEYS if key in overrides]
+  if explicit_names:
+    return [_MODEL_ROOT / name for name in explicit_names]
+
+  return [_MODEL_ROOT / name for name in _derived_candidates(bundle)]
+
+
+def resolve_combined_split_artifact(bundle) -> Path | None:
+  for candidate in combined_split_artifact_candidates(bundle):
+    if candidate.is_file():
+      return candidate
+  return None
+
+
+def has_combined_split_artifact(bundle) -> bool:
+  return resolve_combined_split_artifact(bundle) is not None