IQ.Pilot Release Commit @ d23c019

selfdrive/modeld/test_dmonitoringmodeld.py

@@ -0,0 +1,37 @@
+import pickle
+
+import numpy as np
+import pytest
+
+from openpilot.selfdrive.modeld.dmonitoringmodeld import get_driverstate_packet, get_model_paths, parse_model_output, slice_outputs
+
+
+@pytest.mark.parametrize("device_type, model_name", [
+  ("mici", "dmonitoring_model_mici"),
+  ("tici", "dmonitoring_model"),
+  ("tizi", "dmonitoring_model"),
+])
+def test_model_paths(device_type, model_name):
+  model_path, metadata_path = get_model_paths(device_type)
+
+  assert model_path.name == f"{model_name}_tinygrad.pkl"
+  assert metadata_path.name == f"{model_name}_metadata.pkl"
+
+
+@pytest.mark.parametrize("device_type, expected_sleep_prob", [
+  ("mici", 0.),
+  ("tici", 0.5),
+  ("tizi", 0.5),
+])
+def test_sleep_probability_output(device_type, expected_sleep_prob):
+  _, metadata_path = get_model_paths(device_type)
+  with open(metadata_path, 'rb') as f:
+    metadata = pickle.load(f)
+
+  output = np.zeros(metadata['output_shapes']['outputs'][1], dtype=np.float32)
+  parsed = parse_model_output(slice_outputs(output, metadata['output_slices']))
+  parsed['raw_pred'] = b''
+  msg = get_driverstate_packet(parsed, 1, 0, 0., 0.)
+
+  assert msg.driverStateV2.leftDriverData.sleepProb == expected_sleep_prob
+  assert msg.driverStateV2.rightDriverData.sleepProb == expected_sleep_prob