IQ.Pilot Release Commit @ 375c059

2026-08-21 17:03:43 +08:00 · 2026-07-11 09:58:33 -05:00
commit 41eba55f68
4656 changed files with 1273061 additions and 0 deletions
@@ -0,0 +1,204 @@
+import os
+import platform
+from pathlib import Path
+
+from cereal import car, custom
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE, PC, TICI
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.manager.process import PythonProcess, NativeProcess, BundleProcess
+
+from openpilot.iqpilot.selfdrive.iqmodeld.models.helpers import get_active_model_runner
+from iqpilot.konn3kt.utils import hephaestus_ready
+
+WEBCAM = os.getenv("USE_WEBCAM") is not None
+
+def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started or params.get_bool("IsDriverViewEnabled")
+
+def driver_monitoring(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if os.path.exists('/tmp/lite_hw'):
+    return False
+  return driverview(started, params, CP)
+
+def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and CP.notCar
+
+def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not CP.notCar
+
+def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
+  run = (not CP.notCar) or not params.get_bool("DisableLogging")
+  return started and run and params.get_bool("DashcamEnabled")
+
+def ublox_available() -> bool:
+  if HARDWARE.get_device_type() == "tizi" or os.path.exists('/tmp/lite_hw'):
+    return False
+
+  quectel_override = Path(Paths.persist_root()) / "comma" / "use-quectel-gps"
+  return os.path.exists('/dev/ttyHS0') and not quectel_override.exists()
+
+def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
+  use_ublox = ublox_available()
+  if use_ublox != params.get_bool("UbloxAvailable"):
+    params.put_bool("UbloxAvailable", use_ublox)
+  return started and use_ublox
+
+def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("JoystickDebugMode")
+
+def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("JoystickDebugMode")
+
+def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LongitudinalManeuverMode")
+
+def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("LongitudinalManeuverMode")
+
+def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LateralManeuverMode")
+
+def not_lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("LateralManeuverMode")
+
+def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not ublox_available()
+
+def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return True
+
+def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started
+
+def navd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("NavigationEnabled")
+
+def navrenderd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("NavigationEnabled") and params.get_bool("OnScreenNavigation")
+
+def iqmapd_needed(params: Params) -> bool:
+  return (
+    params.get_bool("RoadNameToggle")
+    or params.get_bool("ShowSpeedLimits")
+    or params.get_bool("SpeedLimitController")
+    or params.get_bool("EnableSpeedLimitControl")
+    or params.get_bool("EnableSpeedLimitPredicative")
+    or params.get_bool("MapCurveSpeedController")
+    or params.get_bool("VisionCurveSpeedController")
+  )
+
+def iqmapd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("NavigationEnabled") and iqmapd_needed(params)
+
+def mapd_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and iqmapd_needed(params)
+
+def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return not started
+
+def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
+  # Konn3kt Live View: hephaestusd sets IsLiveStreaming when a viewer connects, so the
+  # manager brings up the stream encoder (and camerad/webrtcd when offroad) and tears them
+  # down cleanly when the session ends — no subprocess management inside hephaestusd.
+  return params.get_bool("IsLiveStreaming")
+
+def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is tinygrad."""
+  return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.tinygrad)
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return bool(get_active_model_runner(params, not started) == custom.IQModelManager.Runner.stock)
+
+def hephaestus_ready_shim(started, params, CP: car.CarParams) -> bool:
+  return hephaestus_ready(params)
+
+def not_low_power(started: bool, params: Params, CP: car.CarParams) -> bool:
+  # FastSleep deep standby: heavy processes are shed offroad while DevicePowerState is low_power
+  return started or params.get("DevicePowerState") != "low_power"
+
+def iquploaderd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not params.get_bool("OnroadUploads"):
+    return only_offroad(started, params, CP)
+
+  return always_run(started, params, CP)
+
+def or_(*fns):
+  return lambda *args: any(fn(*args) for fn in fns)
+
+def and_(*fns):
+  return lambda *args: all(fn(*args) for fn in fns)
+
+procs = [
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, livestream)),
+  PythonProcess("logmessaged", "system.logmessaged", always_run, restart_if_crash=True),
+
+  NativeProcess("camerad", "system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
+  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
+  PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
+  PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
+  PythonProcess("micd", "system.micd", or_(iscar, livestream)),
+  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
+
+  PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
+  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driver_monitoring, enabled=(WEBCAM or not PC)),
+
+  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
+  PythonProcess("ui", "selfdrive.ui.ui", not_low_power, restart_if_crash=True),
+  PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
+  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
+  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
+  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
+  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
+  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
+  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
+  PythonProcess("card", "selfdrive.car.card", only_onroad),
+  PythonProcess("deleter", "system.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driver_monitoring, enabled=(WEBCAM or not PC)),
+  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
+  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
+  PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
+  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
+  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
+  PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
+  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
+  PythonProcess("hardwared", "system.hardware.hardwared", always_run, restart_if_crash=True),
+  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
+  PythonProcess("updated", "system.updated.updated", and_(only_offroad, not_low_power), enabled=not PC),
+  BundleProcess("iquploaderd", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.uploaderd.iquploaderd", and_(iquploaderd_ready, not_low_power), restart_if_crash=True),
+  PythonProcess("statsd", "system.statsd", always_run),
+  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", and_(only_onroad, not_lat_maneuver)),
+
+  # debug procs
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
+  PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(iscar, livestream)),
+  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
+]
+
+# iqpilot
+procs += [
+  # Models
+  PythonProcess("models_manager", "iqpilot.selfdrive.iqmodeld.models.manager", and_(only_offroad, not_low_power)),
+  NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model)),
+
+  PythonProcess("backup_manager_k3", "iqpilot.konn3kt.backups.manager", and_(only_offroad, hephaestus_ready_shim, not_low_power)),
+  BundleProcess("navd", "iqpilot_navd_private", "iqpilot_private.navd.navd", navd_onroad, restart_if_crash=True),
+  BundleProcess("navrenderd", "iqpilot_navd_private", "iqpilot_private.navd.navrenderd", navrenderd_onroad, restart_if_crash=True),
+  BundleProcess("iqmapd", "iqpilot_navd_private", "iqpilot_private.navd.iqmapd", iqmapd_onroad, restart_if_crash=True),
+
+  # mapd
+  NativeProcess("mapd", "third_party/mapd_pfeiferj", ["./mapd"], mapd_onroad),
+  PythonProcess("mapd_manager", "iqpilot.iq_maps.orchestrator", and_(only_offroad, not_low_power)),
+
+  # locationd
+  NativeProcess("iqlocd", "iqpilot/selfdrive/iqlocd", ["./iqlocd"], only_onroad),
+]
+
+managed_processes = {p.name: p for p in procs}