IQ.Pilot Release Commit @ 461be14

artifacts/iqpilot_emac_private/manifest.json

@@ -196,8 +196,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_helpers.py": {
     "mode": 420,
-    "sha256": "4df0ac0a3f720ee01a70f82908e582682e84848023592a72bd45f2ca74c9b161",
-    "size": 5535
+    "sha256": "0b8f118dc45ad0c3809855800960b47c893ee121ea75d94e8569dcce46d58ce5",
+    "size": 7312
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_model.py": {
     "mode": 420,
@@ -221,8 +221,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_bundle_downloader.py": {
     "mode": 420,
-    "sha256": "62c2c2830c7c8819bf42eb54a34db635128a31fbc2bbb71bc95415e5b873a3c0",
-    "size": 3189
+    "sha256": "27aade5852507baf84ed460b9446d0de4df58a4a535b82c301113040b7ba472a",
+    "size": 7305
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_channel.py": {
     "mode": 420,
@@ -391,7 +391,7 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/selfdrived/events.py": {
     "mode": 420,
-    "sha256": "e298175d13a99b55e183954d82346fa7adab6b6c161fc72b789f12601d1a9b43",
+    "sha256": "5e37693eeced1e3ba81f03234b7b0dad33b7564826d232d288998be5fae7efd6",
     "size": 37038
   },
   "python/_iqclosure/iqpilot/selfdrive/state_estimation/__init__.py": {
@@ -531,22 +531,22 @@
   },
   "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "3f55e4c621ea86c0a6ac9ecac091fa90491048df5fc5bf09cbb668f0c0b71051",
+    "sha256": "cc7a4087336116187655ea52bc48391e447b81529c2b923e60bf886bc3c7f58a",
     "size": 334016
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   "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "e748eba2eec567e5f0c9e1dce60ef71795d2a99f58238ad89495dcee7672c70c",
+    "sha256": "9d48157df0d78be709cf3722743b6137cbf73eb53c315d7307e6a214ae140664",
     "size": 267952
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   "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "46f79e0fe9d799003b49e5fe11969a1716974a9c6d20d52488d79ef8b7137a5a",
+    "sha256": "9b7dc1997e780198c2532045e41236dd342b4dc4d3cd31b06be27246121d6ab7",
     "size": 203544
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   "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "b7acc1edcf50dd2e9c2d88f2f4824d0a28b0def3a57b144a340ddca1bdd14254",
+    "sha256": "ec1f1f0ce541abf00021757fa25c4de54c0037d36eb0d194bdf4ad6c77c778e6",
     "size": 333336
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   "runtime": {
@@ -558,9 +558,9 @@
     }
   },
   "signatures": {
-    "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": "zdchbAhGhL0eeX6qgQUw0CwrPGIg896Sv/0AG0hHrJ/1Ek7KnB4llxmWUA/e4HB4hlCqTEMO416N3csIfDikBA==",
-    "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": "p0ukaERkDTTF6vVVn0TK1ImrPMArUWmqAY2kJnctlb38486SIeFZxC4gCP0cU9++j7i7ydmXNOcUqxG7qIPECQ==",
-    "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "5rLpvBoiOP+/N/zblRnXcltpOtULO3uZx2bQYeCM/A8x8m9HLhIBUMJzSVIYj5VcbvgHmzc911UE18RrwEmyCg==",
-    "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": "otKpewDX8CPqirHPXn+mTht7oi/AgkQiZ2VXPZM3/wryLSvzRKJzMyf5nXZ/lb0Z8J8vsFKUkdVhxKgYkeLIDw=="
+    "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": "hclRnmzBp4zVtU1CKeTqxG59yYTRHAGcwAbHgKgmw1/82SuqvyP4MbU0pFG9UpwtskIdpVsppHqriZjqGb5rAg==",
+    "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": "wQoF1yRiJxfo3NMOJ4PC2RDRRkfromNc2n1JpHyizsSK12Sf16Sjy1+yf2muujcs2n/gWjZbhozrCFgD++12Bg==",
+    "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "kQT6AOQlvYTbVu+B6FzjCdmNMbZj37WEvBdDKNCaHtJuyYmgkrFxmhCjm1KNaNlHQNXQjO8MyI8aYYNocAKGDQ==",
+    "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": "MJXrXlkDjgdUeNxck8kh4SeLCBRLUaalY3vJ8nOAOGFCwGFE1UXrw+wBl6HaBNu86v0MlBrT1cN89GkNtdZUDg=="
   }
 }

artifacts/iqpilot_emac_private/manifest.json.sig

@@ -1 +1 @@
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artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/egpu_helpers.py

@@ -6,12 +6,16 @@ from __future__ import annotations
 import hashlib
 import json
 import os
+
+from iqpilot.common.swaglog import cloudlog
 import urllib.request
 from pathlib import Path
 
 from iqpilot.system.hardware.usb import egpu_dock_ready
 
 USB_SYSFS_ROOT = "/sys/bus/usb/devices"
+FIRMWARE_MIRROR = os.getenv("IQ_EGPU_FIRMWARE_MIRROR", "/data/firmware/tinygrad")
+TINYGRAD_CACHE = "/data/.cache"
 
 COMMA_LFS_BATCH_URL = "https://gitlab.com/commaai/openpilot-lfs.git/info/lfs/objects/batch"
 
@@ -62,6 +66,11 @@ def egpu_policy_pkl_path(meta: dict) -> str:
   return os.path.join(Paths.model_root(), f"egpu_{meta['key']}_{meta['sha256'][:8]}_amd_policy.pkl")
 
 
+def egpu_oob_pkl_path(meta: dict) -> str:
+  from iqpilot.system.hardware.hw import Paths
+  return os.path.join(Paths.model_root(), f"egpu_{meta['key']}_{meta['sha256'][:8]}_amd_policy_oob.pkl")
+
+
 def onnx_cache_path(meta: dict) -> str:
   from iqpilot.system.hardware.hw import Paths
   return os.path.join(Paths.model_root(), f"{meta['model_name']}_{meta['sha256'][:8]}.onnx")
@@ -119,9 +128,14 @@ def download_onnx(meta: dict, progress_cb=None) -> str:
   if not download_url:
     raise RuntimeError(f"model {meta['key']} has no download source; stage the onnx at {onnx_cache_path(meta)}")
 
-  url = resolve_download_url(download_url, meta["sha256"], size)
   path = onnx_cache_path(meta)
   os.makedirs(os.path.dirname(path), exist_ok=True)
+  try:
+    from iqpilot.selfdrive.iqmodeld.model_bundle_downloader import download_hf_file
+    return download_hf_file(f"onnx/{meta['sha256']}.onnx", path, meta["sha256"], int(size or 0), progress_cb=progress_cb)
+  except Exception as e:
+    cloudlog.warning(f"onnx {meta['key']} unavailable from HF ({e}); falling back to {download_url.split(':', 1)[0]}")
+  url = resolve_download_url(download_url, meta["sha256"], size)
   tmp = path + ".part"
   digest = hashlib.sha256()
   got = 0
@@ -142,12 +156,20 @@ def download_onnx(meta: dict, progress_cb=None) -> str:
   return path
 
 
-def download_precompiled(meta: dict, progress_cb=None, policy: bool = False) -> str | None:
-  art = meta.get("egpu_policy_artifact" if policy else "egpu_artifact")
-  if not art or not art.get("objects"):
+def download_precompiled(meta: dict, progress_cb=None, policy: bool = False, oob: bool = False) -> str | None:
+  field = "egpu_oob_artifact" if oob else "egpu_policy_artifact" if policy else "egpu_artifact"
+  art = meta.get(field)
+  if not art or not (art.get("objects") or art.get("hf_path")):
     return None
-  from iqpilot.selfdrive.iqmodeld.model_bundle_downloader import download_lfs_bundle
-  dest = egpu_policy_pkl_path(meta) if policy else egpu_pkl_path(meta)
+  from iqpilot.selfdrive.iqmodeld.model_bundle_downloader import download_hf_file, download_lfs_bundle
+  dest = egpu_oob_pkl_path(meta) if oob else egpu_policy_pkl_path(meta) if policy else egpu_pkl_path(meta)
+  if art.get("hf_path"):
+    try:
+      return download_hf_file(art["hf_path"], dest, art["sha256"], int(art.get("size", 0)), progress_cb=progress_cb)
+    except Exception as e:
+      cloudlog.warning(f"precompiled {meta['key']} unavailable from HF ({e}); trying LFS")
+      if not art.get("objects"):
+        raise
   return download_lfs_bundle(art["objects"], dest, art["sha256"], int(art.get("size", 0)), progress_cb=progress_cb)
 
 
@@ -161,12 +183,27 @@ def patch_tinygrad_fetch_fw() -> None:
   _orig = helpers.fetch_fw
 
   def fetch_fw(path, name, sha256):
+    mirror = pathlib.Path(FIRMWARE_MIRROR) / path / name
+    if mirror.is_file():
+      blob = mirror.read_bytes()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
     p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
     if p.is_file():
       blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
       if hashlib.sha256(blob).hexdigest() == sha256:
         return blob
-    return _orig(path, name, sha256)
+    blob = _orig(path, name, sha256)
+    # The dock's GPU firmware otherwise lives only in tinygrad's per-user download cache, which is
+    # a network fetch the first time a new HOME sees it; onroad the car is usually offline.
+    try:
+      mirror.parent.mkdir(parents=True, exist_ok=True)
+      tmp = mirror.with_suffix(mirror.suffix + ".part")
+      tmp.write_bytes(blob)
+      os.replace(tmp, mirror)
+    except OSError:
+      pass
+    return blob
 
   fetch_fw._iq_patched = True
   helpers.fetch_fw = fetch_fw

artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_bundle_downloader.py

@@ -27,6 +27,63 @@ def _requests_auth():
   return None
 
 
+def _hf():
+  import importlib
+  for mod in ("iqpilot_private.models.git_auth", "iqpilot.selfdrive.iqmodeld.models.git_auth"):
+    try:
+      m = importlib.import_module(mod)
+      return m.get_hf_headers(), m.hf_resolve_url
+    except Exception:
+      continue
+  return None, None
+
+
+def download_hf_file(hf_path: str, dst: str, sha256: str, size: int, progress_cb=None) -> str:
+  import requests
+  headers, resolve = _hf()
+  if resolve is None:
+    raise RuntimeError("no HF credentials available")
+  url = resolve(hf_path)
+  os.makedirs(os.path.dirname(dst), exist_ok=True)
+  tmp = dst + ".hfpart"
+  last_error: Exception | None = None
+  for _attempt in range(STREAM_RETRIES):
+    try:
+      have = os.path.getsize(tmp) if os.path.isfile(tmp) else 0
+      if size and have > size:
+        os.remove(tmp)
+        have = 0
+      if not size or have < size:
+        req_headers = dict(headers)
+        if have:
+          req_headers["Range"] = f"bytes={have}-"
+        with requests.get(url, headers=req_headers, stream=True, timeout=HTTP_TIMEOUT_S, allow_redirects=True) as r:
+          r.raise_for_status()
+          if have and r.status_code != 206:
+            have = 0
+          with open(tmp, "ab" if have else "wb") as f:
+            got = have
+            for chunk in r.iter_content(CHUNK):
+              f.write(chunk)
+              got += len(chunk)
+              if progress_cb is not None and size:
+                progress_cb(min(1.0, got / size))
+      digest = hashlib.sha256()
+      with open(tmp, "rb") as f:
+        for chunk in iter(lambda: f.read(CHUNK), b""):
+          digest.update(chunk)
+      if size and os.path.getsize(tmp) != size:
+        raise RuntimeError(f"size mismatch: {os.path.getsize(tmp)}/{size} bytes")
+      if sha256 and digest.hexdigest() != sha256:
+        os.remove(tmp)
+        raise RuntimeError("sha256 mismatch")
+      os.replace(tmp, dst)
+      return dst
+    except Exception as e:
+      last_error = e
+  raise RuntimeError(f"HF download failed: {last_error}")
+
+
 def _lfs_endpoint(base_url: str) -> str:
   return base_url.split("/raw/", 1)[0] + ".git/info/lfs"
 
@@ -47,41 +104,108 @@ def _resolve_oid(session, base_url: str, oid: str, size: int, auth):
   return action["href"], action.get("header", {})
 
 
+def _part_path(dst: str, oid: str) -> str:
+  return os.path.join(dst + ".parts", oid)
+
+
+def _part_complete(path: str, oid: str, size: int) -> bool:
+  if not os.path.isfile(path) or os.path.getsize(path) != size:
+    return False
+  digest = hashlib.sha256()
+  with open(path, "rb") as f:
+    for chunk in iter(lambda: f.read(CHUNK), b""):
+      digest.update(chunk)
+  return digest.hexdigest() == oid
+
+
+def _fetch_part(session, base_url: str, obj: dict, path: str, auth, progress) -> None:
+  size = int(obj["size"])
+  have = os.path.getsize(path) if os.path.isfile(path) else 0
+  if have > size:
+    os.remove(path)
+    have = 0
+  href, headers = _resolve_oid(session, base_url, obj["oid"], size, auth)
+  obj_auth = None if headers.get("Authorization") else auth
+  # LFS parts are content-addressed (oid == sha256), so a half-written part can be resumed with a
+  # Range request and verified afterwards instead of being thrown away on every restart.
+  if have:
+    headers = {**headers, "Range": f"bytes={have}-"}
+  with session.get(href, headers=headers, stream=True, timeout=HTTP_TIMEOUT_S, auth=obj_auth) as r:
+    r.raise_for_status()
+    if have and r.status_code != 206:
+      have = 0
+    with open(path, "ab" if have else "wb") as f:
+      for chunk in r.iter_content(CHUNK):
+        f.write(chunk)
+        progress(len(chunk))
+
+
 def download_lfs_bundle(objects: list, dst: str, sha256: str, size: int, progress_cb=None) -> str:
   import requests
   auth = _requests_auth()
   session = requests.Session()
-  os.makedirs(os.path.dirname(dst), exist_ok=True)
-  tmp = dst + ".part"
+  os.makedirs(dst + ".parts", exist_ok=True)
   total = int(size) or sum(int(o["size"]) for o in objects)
+  done_bytes = sum(int(o["size"]) for o in objects if _part_complete(_part_path(dst, o["oid"]), o["oid"], int(o["size"])))
+  got = [done_bytes]
+
+  def progress(n: int) -> None:
+    got[0] += n
+    if progress_cb is not None and total:
+      progress_cb(min(1.0, got[0] / total))
+
   last_error: Exception | None = None
   for base_url in MODELS_BASE_URLS:
-    for attempt in range(STREAM_RETRIES):
+    for _attempt in range(STREAM_RETRIES):
       try:
-        digest = hashlib.sha256()
-        got = 0
-        with open(tmp, "wb") as f:
-          for obj in objects:
-            href, headers = _resolve_oid(session, base_url, obj["oid"], int(obj["size"]), auth)
-            obj_auth = None if headers.get("Authorization") else auth
-            with session.get(href, headers=headers, stream=True, timeout=120, auth=obj_auth) as r:
-              r.raise_for_status()
-              for chunk in r.iter_content(CHUNK):
-                f.write(chunk)
-                digest.update(chunk)
-                got += len(chunk)
-                if progress_cb is not None and total:
-                  progress_cb(min(1.0, got / total))
-        if total and got != total:
-          raise RuntimeError(f"size mismatch: {got}/{total} bytes")
-        if sha256 and digest.hexdigest() != sha256:
-          raise RuntimeError("sha256 mismatch")
-        os.replace(tmp, dst)
-        return dst
+        for obj in objects:
+          path = _part_path(dst, obj["oid"])
+          if _part_complete(path, obj["oid"], int(obj["size"])):
+            continue
+          got[0] = done_bytes
+          _fetch_part(session, base_url, obj, path, auth, progress)
+          if not _part_complete(path, obj["oid"], int(obj["size"])):
+            if os.path.getsize(path) >= int(obj["size"]):
+              os.remove(path)
+            raise RuntimeError(f"part {obj['oid'][:12]} incomplete or failed verification")
+          done_bytes += int(obj["size"])
+          got[0] = done_bytes
+        break
       except Exception as e:
         last_error = e
-        try:
-          os.remove(tmp)
-        except OSError:
-          pass
-  raise RuntimeError(f"model bundle download failed: {last_error}")
+    else:
+      continue
+    break
+  else:
+    raise RuntimeError(f"model bundle download failed: {last_error}")
+
+  tmp = dst + ".part"
+  digest = hashlib.sha256()
+  with open(tmp, "wb") as out:
+    for obj in objects:
+      with open(_part_path(dst, obj["oid"]), "rb") as f:
+        for chunk in iter(lambda: f.read(CHUNK), b""):
+          out.write(chunk)
+          digest.update(chunk)
+  if total and os.path.getsize(tmp) != total:
+    os.remove(tmp)
+    raise RuntimeError(f"size mismatch: {os.path.getsize(tmp) if os.path.exists(tmp) else 0}/{total} bytes")
+  if sha256 and digest.hexdigest() != sha256:
+    os.remove(tmp)
+    for obj in objects:
+      try:
+        os.remove(_part_path(dst, obj["oid"]))
+      except OSError:
+        pass
+    raise RuntimeError("sha256 mismatch")
+  os.replace(tmp, dst)
+  for obj in objects:
+    try:
+      os.remove(_part_path(dst, obj["oid"]))
+    except OSError:
+      pass
+  try:
+    os.rmdir(dst + ".parts")
+  except OSError:
+    pass
+  return dst

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

@@ -375,7 +375,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "Pay Attention",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .1),
   },
 
   EventName.promptDriverDistracted: {
@@ -901,7 +901,7 @@ if HARDWARE.get_device_type() == 'mici':
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
-        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+        Priority.MID, VisualAlert.none, AudibleAlert.none, 2),
     },
     EventName.promptDriverDistracted: {
       ET.PERMANENT: Alert(

artifacts/iqpilot_model_selector_private/manifest.json

@@ -176,7 +176,7 @@
   },
   "python/iqpilot_private/models/__init__.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "c6ff7efa8f20decbd9ee75a2b11d6be6b2b0888b45d90dce65ac3a1615e3afc5",
+    "sha256": "aec72c78d58c37afb1b57bea4a29d322032fffdfa59deabdc85b4322b5ca3787",
     "size": 67616
   },
   "python/iqpilot_private/models/__init__.py": {
@@ -186,37 +186,37 @@
   },
   "python/iqpilot_private/models/big_catalog.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "60bb1b539739e75249c3034ff505aeb9bf38d6fcf8d7f713d61395104bee0002",
+    "sha256": "30a25ebd3b37e2307c3a80ae0fea70b314ab71427d313ba5e2d540c4ba7658ed",
     "size": 133840
   },
   "python/iqpilot_private/models/egpu_model.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "7111179a66be1ac8bbcefcd2c6f836150e9e31b01d36244315203123f980beb8",
+    "sha256": "e8cb29388e31f636d19f916d5a1d32f38c38113f5fa882344d4effceb6e37d85",
     "size": 68112
   },
   "python/iqpilot_private/models/emac_model_meta.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "16bec7e29dc9b07b743d523735eb3adfd5b43b0ffa7cc89d189ee050065aa08d",
+    "sha256": "b7938d9521352d5c1fa6b0d7ff8f3f11062e33bcc0d9a72ffb0edfb525423b6e",
     "size": 68264
   },
   "python/iqpilot_private/models/fetcher.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "8eaf6bc52ad788587e3a9bfbd06246f68931c8a151772e37c895c396001e5243",
+    "sha256": "dad0c3c3a73338647da25dead17da0db6cebb24527bc9db381cd16753741f676",
     "size": 136200
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   "python/iqpilot_private/models/git_auth.cpython-312-aarch64-linux-gnu.so": {
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-    "sha256": "c785e13bf86fcfdc5bf0d5e5acc6a49b764f800e4a5e87bb740cd187fdeb4584",
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+    "sha256": "ce815034dd8bdadb79131e0b51013a9f9772c4421dfb96b62431d84125089ad2",
+    "size": 68056
   },
   "python/iqpilot_private/models/helpers.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "d98244f8f9b3b1e1f412802d93095a0a05dedf5c6a98c9cefbee6c27e999d341",
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+    "python/iqpilot_private/navd/helpers.cpython-312-aarch64-linux-gnu.so": "NXYguIzqCJ0R2KFlweClB4KVYpLmWhVo125EtvYFqKYEQrPQFc9gPv5z9ximd4uJkeTDSJbDBEtgESscs2tyAA==",
+    "python/iqpilot_private/navd/incident_feed.cpython-312-aarch64-linux-gnu.so": "ng6Y0DD3j+U/Y6LLH5yK5Z5di/FtAnze+nU6EOlE/5v8a0ITw0TDKe90OeiUUWV+vH580sec0DwzNuFyxKodAA==",
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+    "python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": "XTu5FBSn9wzzUbyFpYqtEI6T8xFyIaY4JheqW2laPKx+opAhY8OGyniRdc8WQm28/YkYh7alFHcbmkE0ZRMOAw==",
+    "python/iqpilot_private/navd/mapbox_client.cpython-312-aarch64-linux-gnu.so": "KOXmWcb8Pv+Y8h2hbAVu86CfKvwM2STRljCkiaLFayPa+s7ItISkwwLeaj94EQpg7QW0MGKGXBznZJRHBtM9DA==",
+    "python/iqpilot_private/navd/nav_cameras.cpython-312-aarch64-linux-gnu.so": "2XWDcUR+oJH0invIRcOfERVwwUhC8ATks+gYWHMw8FlTKjSqbLhzY3TyWB2c1MIpF311c968R0wc4ZmCmmdSDw==",
+    "python/iqpilot_private/navd/nav_turn_signals.cpython-312-aarch64-linux-gnu.so": "uR1wgK2h8ouVr+Po1brESGiDhbpxBEBqFGq9Ek+woiaceJO9njiTKSOBSldp3653sGIPuZ4++7yRMmzCd7GDCw==",
+    "python/iqpilot_private/navd/navd.cpython-312-aarch64-linux-gnu.so": "zMtyBW+eW3Phtljgoq8dEHThhyeenDq9IPkRCPiWzdZoSysKWmOz0cDnhuLihgaJJDcOz4msp5aggqzHsKlRCQ==",
+    "python/iqpilot_private/navd/navincidentd.cpython-312-aarch64-linux-gnu.so": "J3ZnYTzWLxwDUrmwh+d2rKmtMM/t6eGfSYQQoihLltX5LfXZHRUjnk/CMbr619iJWw2srmX/HT2LWyjh+h7vBw==",
+    "python/iqpilot_private/navd/navrenderd.cpython-312-aarch64-linux-gnu.so": "E340TW5CssaeUeA/xioykmrvsVJUZDVe5mUpUrdCUyG6qVta/V+6ZxvM+n9FEjUuqHO5w0U1Gog7SMU6QguEDA==",
+    "python/iqpilot_private/navd/osm_cameras.cpython-312-aarch64-linux-gnu.so": "l3iGDUFF+LGssB6mrgoOoB/P4M4FeoDQmmZgYzjoQArM0DjXN51yHC1oAuVUikMC1QqI8JEz+pT/t3K/lthDDA==",
+    "python/iqpilot_private/navd/reroute.cpython-312-aarch64-linux-gnu.so": "dR976C5dqTNV2z2I9RXcfxT/SSwg+IRaIcXrJM6/uL2rjyTW4E0avjJwgIH7GAYyOKfdRdWaBhoeIpfpDu18Aw==",
+    "python/iqpilot_private/navd/road_incidents.cpython-312-aarch64-linux-gnu.so": "n5h8gG43Se5sGYqwc+OAmu2JF2mWKZ6yHz+Zm62qwYuImz/3KMC8dP4tXWrCsZNeOYhIWhQ8/rtrUA2+99GDBg==",
+    "python/iqpilot_private/navd/route_manager.cpython-312-aarch64-linux-gnu.so": "pnE75vxRBGvNdNGna3EETR5/XIVm6++qFo+RiwII/Cfr/qLy2htTdGRv7sVz419HR65NbrK1XNOhnomgaeKvCg==",
+    "python/iqpilot_private/navd/runtime_common.cpython-312-aarch64-linux-gnu.so": "wbXLXRjX9hsV1fhYcHhqii6+ejytkL8cBWROmUjc4S0zJCMj5+h+egXl8Pdg7R2X0ylFM6Ifxa3xvyT6CwMuDA==",
+    "python/iqpilot_private/navd/traffic.cpython-312-aarch64-linux-gnu.so": "DztyZU20SV8yBmCxA8RVRQQgUyOsKYPpvFaXlOOI7qrlWEJUFedw1CPhh+OEfPtqETHtAD/RbYtNTJvJxdOEBA==",
+    "python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": "Zuif6kcPBjB3x+fN9BSrYv0RVMplHLGtV5grV0j8iNLOvO9vgKveAxSQYm+Mds1qjLOheL6ElhOPrlHH93ZlCg==",
+    "python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": "9uBrvcgtzx/3Y4GUaFW2M3DD6got1o+ZtQRjPUC3FZtWLRO4nl4U/6iBRuNXnSOw5Hv2M5P4OZawSo6stK/MAQ=="
   }
 }

artifacts/iqpilot_navd_private/manifest.json.sig

@@ -1 +1 @@
-qir1it9kZm0rKWklTiwgR7rtCnv5YABlSkR4Mg+0lGlsBrw7mWRFJ81zSR+uOTgJllPAugTSzlAck8lHpXZCAQ==
+WJGvk92Vi3ftfwgoTBFWBFrdBiRyw1rJNRMjFcAsqEAcbBlA3tZWbUNmqLqiJamhrGc7pWX/1j2jEB0dImvZBg==

artifacts/iqpilot_navd_private/python/_iqclosure/iqpilot/selfdrive/car/cruise.py

@@ -6,6 +6,7 @@ from iqpilot.common.constants import CV
 from iqpilot.cereal import car, custom
 from iqdbc.car import structs
 from iqpilot.common.params import Params
+from iqpilot.common.realtime import DT_CTRL
 from iqpilot.selfdrive.car.long_increments import LongIncrementConfig, read_long_increment_config, resolve_button_step
 
 
@@ -237,6 +238,35 @@ class VCruiseHelper(VCruiseHelperIQ):
     self.v_cruise_kph_last = 0
     self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
+    self.slc_set_speed_request_id = 0
+    self.slc_set_speed_gesture_id = 0
+    self.slc_set_speed_request_kph = 0.0
+    self._slc_accel_held = False
+    self._slc_accel_release_frames = 0
+    self._slc_pcm_speed_last = None
+
+  def _update_slc_accel_gesture(self, CS):
+    self._slc_accel_release_frames = max(0, self._slc_accel_release_frames - 1)
+    for button in CS.buttonEvents:
+      if button.type in (ButtonType.accelCruise, ButtonType.resumeCruise):
+        if button.pressed:
+          self.slc_set_speed_gesture_id = (self.slc_set_speed_gesture_id + 1) % (1 << 32)
+          self._slc_accel_release_frames = 0
+        else:
+          self._slc_accel_release_frames = int(0.5 / DT_CTRL)
+        self._slc_accel_held = button.pressed
+      elif button.pressed:
+        self._slc_accel_held = False
+        self._slc_accel_release_frames = 0
+    if not CS.cruiseState.available:
+      self._slc_accel_held = False
+      self._slc_accel_release_frames = 0
+
+  def _record_slc_set_speed_increase(self, previous_kph, enabled):
+    if enabled and (self._slc_accel_held or self._slc_accel_release_frames > 0) and \
+       previous_kph is not None and 0 < previous_kph < self.v_cruise_kph <= V_CRUISE_MAX:
+      self.slc_set_speed_request_id = (self.slc_set_speed_request_id + 1) % (1 << 32)
+      self.slc_set_speed_request_kph = float(self.v_cruise_kph)
 
   @property
   def v_cruise_initialized(self):
@@ -248,6 +278,7 @@ class VCruiseHelper(VCruiseHelperIQ):
 
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
+    self._update_slc_accel_gesture(CS)
 
     self.get_minimum_set_speed(is_metric)
 
@@ -256,12 +287,15 @@ class VCruiseHelper(VCruiseHelperIQ):
       if not self.CP.pcmCruise or (not self.CP_IQ.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric, self.volkswagen_standby_set_speed)
+        self._record_slc_set_speed_increase(self.v_cruise_kph_last, _enabled)
         self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+        self._record_slc_set_speed_increase(self._slc_pcm_speed_last, _enabled)
+        self._slc_pcm_speed_last = self.v_cruise_kph
         if CS.cruiseState.speed == 0:
           self.v_cruise_kph = V_CRUISE_UNSET
           self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -273,6 +307,7 @@ class VCruiseHelper(VCruiseHelperIQ):
     else:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
+      self._slc_pcm_speed_last = None
 
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, allow_standby_adjustment=False):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press