IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/iqmodeld/tests/test_compile_supercombo_guards.py

@@ -0,0 +1,47 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+from __future__ import annotations
+
+import numpy as np
+
+from iqpilot.selfdrive.iqmodeld.tools.compile_supercombo import (
+  _captured_devices,
+  _validate_pose_outputs,
+)
+from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.supercombo_runner import _captured_queue_depth
+
+
+class _Captured:
+  def __init__(self, expected_input_info):
+    self.expected_input_info = expected_input_info
+
+
+class _FakeJit:
+  def __init__(self, expected_input_info):
+    self.captured = _Captured(expected_input_info)
+
+
+def test_captured_queue_helpers_extract_depth_and_device():
+  infos = [
+    ("noop", (), "uchar", "QCOM"),
+    ("reshape(arg=None, src=(noop, stack(arg=None, src=(const(arg=5), const(arg=6), const(arg=128), const(arg=256)))))", (), "uchar", "QCOM"),
+    ("reshape(arg=None, src=(noop, const(arg=3)))", (), "float", "NPY"),
+  ]
+  fake_jit = _FakeJit(infos)
+
+  assert _captured_queue_depth(fake_jit) == 5
+  assert _captured_devices(fake_jit) == {"QCOM", "NPY"}
+
+
+def test_validate_pose_outputs_accepts_sane_odometry_payload():
+  outputs = {
+    "pose": np.array([[1.0, 0.5, 0.25, 0.1, 0.2, 0.3]], dtype=np.float32),
+    "pose_stds": np.array([[0.5, 0.4, 0.3, 0.2, 0.2, 0.2]], dtype=np.float32),
+    "wide_from_device_euler": np.array([[0.1, 0.2, 0.3]], dtype=np.float32),
+    "wide_from_device_euler_stds": np.array([[0.2, 0.2, 0.2]], dtype=np.float32),
+    "road_transform": np.array([[0.5, 0.4, 0.3, 0.2, 0.1, 0.0]], dtype=np.float32),
+    "road_transform_stds": np.array([[0.3, 0.3, 0.3, 0.2, 0.2, 0.2]], dtype=np.float32),
+  }
+
+  _validate_pose_outputs(outputs)