IQ.Pilot Release Commit @ 0012d8f

README.md

@@ -12,7 +12,7 @@
 ## Installation
 #### Installing Via Installer URL:
 #### Enter the following into your device custom URL box to install IQ.Pilot:
-`IQLvbs/release`
+`iqinc/release`
 #### Having Trouble? If your device is currently running AGNOS 13.1 or older, you should install latest stock openpilot, then install IQ.Pilot, or try one of the alternative methods listed below!
 
 
@@ -27,11 +27,11 @@
 
 #### Installing Via SSH:
 #### Once you are connected to your device via SSH, you can paste the following command below to install IQ.Pilot:
-`cd .. && rm -rf openpilot && git clone https://github.com/IQLvbs/openpilot.git -b release && cd openpilot && sudo reboot`
+`cd .. && rm -rf openpilot && git clone https://github.com/iqinc/openpilot.git -b release && cd openpilot && sudo reboot`
 #### If you'd like to backup your previous installation as well, paste the following command below to install IQ.Pilot:
-`cd .. && mv openpilot openpilot_backup_X && git clone https://github.com/IQLvbs/openpilot.git -b release && cd openpilot && sudo reboot`
+`cd .. && mv openpilot openpilot_backup_X && git clone https://github.com/iqinc/openpilot.git -b release && cd openpilot && sudo reboot`
 #### Alternatively, you can use your existing fork's built in tools to switch your branch as well:
-`git remote add iqpilot https://github.com/IQLvbs/openpilot.git && op switch iqpilot release`
+`git remote add iqpilot https://github.com/iqinc/openpilot.git && op switch iqpilot release`
 
 ---
 

common/params.py

@@ -9,12 +9,14 @@ except ImportError:
     pass
 
   class ParamKeyFlag(IntFlag):
-    PERSISTENT = 1
-    CLEAR_ON_MANAGER_START = 2
-    CLEAR_ON_ONROAD_TRANSITION = 4
-    CLEAR_ON_OFFROAD_TRANSITION = 8
-    DONT_LOG = 16
-    DEVELOPMENT_ONLY = 32
+    # must stay in lockstep with enum ParamKeyFlag in common/params.h
+    PERSISTENT = 0x02
+    CLEAR_ON_MANAGER_START = 0x04
+    CLEAR_ON_ONROAD_TRANSITION = 0x08
+    CLEAR_ON_OFFROAD_TRANSITION = 0x10
+    DONT_LOG = 0x20
+    DEVELOPMENT_ONLY = 0x40
+    CLEAR_ON_IGNITION_ON = 0x80
     ALL = 0xFFFFFFFF
 
   class ParamKeyType(IntEnum):

selfdrive/modeld/SConscript

@@ -72,7 +72,10 @@ for model_name in ['dmonitoring_model']:
   # inputs (onnx + tinygrad_repo + flags + metadata script) and output hashes; if it matches, skip
   # declaring the targets entirely. Any mismatch falls back to a normal on-device compile.
   if arch == "larch64":
-    from openpilot.selfdrive.modeld.prebuilt_models import verify_prebuilt, outputs_match
+    from openpilot.selfdrive.modeld.prebuilt_models import packaged_prebuilt_matches, verify_prebuilt, outputs_match
+    if packaged_prebuilt_matches(model_name):
+      print(lenv.PrettyNote('SKIP', f"{model_name} — packaged prebuilt pkl"))
+      continue
     if verify_prebuilt(model_name, flags):
       print(lenv.PrettyNote('SKIP', f"{model_name} — prebuilt pkl"))
       continue

selfdrive/modeld/prebuilt_models.py

@@ -77,7 +77,13 @@ def outputs_match(model_name: str) -> bool:
   return True
 
 
+def packaged_prebuilt_matches(model_name: str) -> bool:
+  return not (MODELS_DIR / f'{model_name}.onnx').is_file() and outputs_match(model_name)
+
+
 def verify_prebuilt(model_name: str, flags: str) -> bool:
+  if not (MODELS_DIR / f'{model_name}.onnx').is_file():
+    return False
   data = _load_checks().get(model_name, {})
   if data.get('signature') != compute_signature(model_name, flags):
     return False

selfdrive/modeld/test_prebuilt_models.py

@@ -0,0 +1,51 @@
+import hashlib
+import json
+
+from openpilot.selfdrive.modeld import prebuilt_models
+
+
+def write_outputs(models_dir, check_path):
+  outputs = {}
+  for name, contents in {
+    'dmonitoring_model_tinygrad.pkl': b'tinygrad',
+    'dmonitoring_model_metadata.pkl': b'metadata',
+  }.items():
+    (models_dir / name).write_bytes(contents)
+    outputs[name] = hashlib.sha256(contents).hexdigest()
+  check_path.write_text(json.dumps({'dmonitoring_model': {'outputs': outputs}}))
+
+
+def test_packaged_prebuilt_without_onnx(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
+  assert not prebuilt_models.verify_prebuilt('dmonitoring_model', 'flags')
+
+
+def test_packaged_prebuilt_rejects_corrupt_output(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  (models_dir / 'dmonitoring_model_tinygrad.pkl').write_bytes(b'corrupt')
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
+
+
+def test_source_checkout_is_not_packaged_prebuilt(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  (models_dir / 'dmonitoring_model.onnx').write_bytes(b'onnx')
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')

system/loggerd/loggerd.h

@@ -43,10 +43,7 @@ struct EncoderSettings {
   }
 
   static EncoderSettings QcamEncoderSettings() {
-    // qcamera.ts is the small "dashcam" copy uploaded to konn3kt. Stock 256kbps @ 526x330 is potato;
-    // bump the bitrate to match the higher resolution below. Still H264/.ts (web/HLS compatible) and
-    // ~1/4 the bitrate of fcamera.hevc, so the file stays small. Override with QCAM_BITRATE if needed.
-    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 1'600'000;
+    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 3'200'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
   }
 
@@ -140,8 +137,8 @@ const EncoderInfo qcam_encoder_info = {
   .filename = "qcamera.ts",
   .cbr = true,           // enforce the bitrate so upload size stays predictable (no VBR overshoot)
   .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
-  .frame_width = 1052,   // 2x the stock 526x330, same road-cam aspect ratio
-  .frame_height = 660,
+  .frame_width = 1578,   // 3x the stock 526x330, same road-cam aspect ratio
+  .frame_height = 990,
   .include_audio = Params().getBool("RecordAudio"),
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };