IQ.Pilot Release Commit @ ba009d5

artifacts/iqpilot_emac_private/manifest.json

@@ -191,8 +191,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/daemon.py": {
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-    "sha256": "15002cb6c81cca8c7aec572568da1e202c55777bbd21fefaf8fda36fd0d39b6e",
-    "size": 30295
+    "sha256": "581e57ffcafab0f796346e657f8cd975daf7b22a92878f20603fd367cb127346",
+    "size": 30513
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   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/driving_action.py": {
     "mode": 420,
@@ -231,8 +231,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_channel.py": {
     "mode": 420,
-    "sha256": "2d706993df418501d93dc766ffe452131e565bfbc2e8412b527dc14915e92832",
-    "size": 1872
+    "sha256": "092d4762710cf453f94741ebd5f63dc8e1c6aac97a177c4cdc5afb7fc868b1d7",
+    "size": 2112
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   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/model_warp.py": {
     "mode": 420,
@@ -341,8 +341,8 @@
   },
   "python/_iqclosure/iqpilot/selfdrive/iqmodeld/tools/compile_warp.py": {
     "mode": 420,
-    "sha256": "2cc299b2cfda88ee2dbc52658f145fb7840e2dfc49a7371e22fe671beed0e57f",
-    "size": 5436
+    "sha256": "6b3992f2bd68774511fe8fe313ee801387f89ef8a52d88e772cf47ca09b75bfe",
+    "size": 5438
   },
   "python/_iqclosure/iqpilot/selfdrive/locationd/__init__.py": {
     "mode": 420,
@@ -536,28 +536,28 @@
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-    "sha256": "846394e2620f16d5bb457a22a01bf44b0c7ba2c3511e90a1b6a2f57bf60e65ef",
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   "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": {
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-    "sha256": "af7708ec07d580ed547985fd45b11ae92c5aa44b3b3222c2550b694e3caaf110",
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     "size": 267864
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   "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": {
     "mode": 493,
-    "sha256": "abefe36ce82767927f9c258a08ef13421b724d85736291043d3062fe19451dcd",
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     "size": 203552
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   "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": {
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-    "sha256": "518157f68e397db8bc4ac345989b62abccddd5fa91f41c4a0c42d5408cde4477",
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+    "sha256": "ee6a34c2d0f42c45338c0cf97d55c3a7575c5c1cc5879c6fd49805e3101eed3d",
+    "size": 399128
   },
   "runtime": {
     "entries": {
@@ -568,10 +568,10 @@
     }
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   "signatures": {
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-    "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "y0TNy549j35aJ7lnS4N21Fx5XRwfWjCZxyObB+SQnZWJQ8sW63r4lVS+t01koyQUXLmzT3/y1mYJ3WujlkxACQ==",
-    "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": "K1glyNgXfg7KVRXYhfsGS53iH9hxv+k5TOzylw6Cu3KA2JvyOYUgMhQlVDg+p+t4DJYfOr69H/d5ENtgHGVNDg=="
+    "python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": "LYNTQr1MnMp3btqtnZ+IcvQYgE9VnRVPyAGms0QUARkSUs3poUIIuV/iYKA14wIUS5/gxHrqiGTNZcyJdNuBCw==",
+    "python/iqpilot_private/emac/ffs_holder.cpython-312-aarch64-linux-gnu.so": "8mWAxk4HILq0BLA2SQSwjuZuqx+Dl/WZdOf8JY2leDUMxDXla1KoMzLPBL/ngL1uQ1r2MqFlLohli4jBYPmtBA==",
+    "python/iqpilot_private/emac/mac_client.cpython-312-aarch64-linux-gnu.so": "T744Rj5GuQl9Xyzc7nxEtE+Wx8rIteZDC+TiPNcSqsyBOBvf5luN7gtrIWfM+dB5fp36EJhCJZFl48E/WgqNAQ==",
+    "python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "WCv8ts3H+9N+OtgxaESxadcS7eRu/bDxvIQIRkj24LLeHJ3hL/Z/0zWJlALqkQuL/eBTjs/nTaziIDwwu9UHAA==",
+    "python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": "o+2jZmIPfaJV8QPleFWyB24sLCVvkJ3Hwg+7kFYXIE7cHXQm2tzkrgdPhUlWhslTk/gRKFBYg67FrjFvBpjRAw=="
   }
 }

artifacts/iqpilot_emac_private/manifest.json.sig

@@ -1 +1 @@
-xwY/6EveM0uSrV6q37dNH9aAkFdYr5Wr1YSawQtQNWBSyzDwA5qacLqCqZFbLbLAx1A9d8wUSEDPeAESmMHMBA==
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artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/daemon.py

@@ -513,6 +513,9 @@ class InferenceDaemon:
     self._lat_smooth_extra_sec = 0.0
 
   def _load_car_params(self, demo: bool):
+    if not demo and self._params.get_bool("IQBenchIgnition") and self._params.get("CarParams") is None:
+      cloudlog.warning("iqmodeld: bench ignition with no CarParams; running with the demo car")
+      demo = True
     car_params = get_demo_car_params() if demo else messaging.log_from_bytes(
       self._params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("iqmodeld got CarParams: %s", car_params.brand)

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

@@ -44,6 +44,14 @@ class ModelChannel:
       return None
     return frame_id
 
+  def peek(self) -> tuple[int | None, bool]:
+    seq, frame_id, length = HEADER.unpack(self.mm[:HEADER.size])
+    if seq % 2 != 0:
+      return None, True
+    if seq == 0 or length == 0:
+      return None, False
+    return frame_id, False
+
   def read(self) -> tuple[int, dict] | None:
     seq1, frame_id, length = HEADER.unpack(self.mm[:HEADER.size])
     if seq1 == 0 or seq1 % 2 != 0 or length == 0:

artifacts/iqpilot_emac_private/python/_iqclosure/iqpilot/selfdrive/iqmodeld/tools/compile_warp.py

@@ -87,8 +87,6 @@ def main() -> None:
     print(f"saved warp JIT to {out} ({os.path.getsize(out) / 1e6:.2f} MB)")
 
 
-if __name__ == "__main__":
-  main()
 
 
 def selftest_inputs(cam_w: int, cam_h: int, nv12_size: int):
@@ -117,3 +115,7 @@ def selftest_digest(compiled, cam_w: int, cam_h: int, nv12_size: int) -> str:
                  frame=Tensor(frame, device=dev).realize(),
                  big_frame=Tensor(big_frame, device=dev).realize())
   return hashlib.sha256(out.numpy().astype(np.uint8).tobytes()).hexdigest()
+
+
+if __name__ == "__main__":
+  main()