IQ.Pilot Release Commit @ ba009d5

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)

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()