IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/iqmodeld/tests/test_model_runner_smoke.py

@@ -0,0 +1,77 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass
+from pathlib import Path
+
+import numpy as np
+import pytest
+from tinygrad.tensor import Tensor
+
+import iqpilot.selfdrive.iqmodeld.models.helpers as bundle_helpers
+import iqpilot.selfdrive.iqmodeld.models.runners.model_runner as model_runner_mod
+import iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner as tinygrad_runner_mod
+from iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
+from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner import TinygradRunner
+
+
+LOCAL_MODEL_DIR = Path(__file__).resolve().parents[1] / "default_model"
+
+
+@dataclass
+class _TypeWrap:
+  raw: int
+
+
+@dataclass
+class _Artifact:
+  fileName: str
+
+
+class _Model:
+  def __init__(self, model_type: int, artifact_name: str, metadata_name: str):
+    self.type = _TypeWrap(model_type)
+    self.artifact = _Artifact(artifact_name)
+    self.metadata = _Artifact(metadata_name)
+
+
+class _Bundle:
+  def __init__(self, models: list[_Model], is_20hz: bool = False):
+    self.models = models
+    self.is20hz = is_20hz
+
+
+def _seed_runner_inputs(runner: TinygradRunner) -> None:
+  for name, shape in runner.input_shapes.items():
+    runner.inputs[name] = Tensor(
+      np.zeros(shape, dtype=np.float32),
+      device=runner.input_to_device[name],
+      dtype=runner.input_to_dtype[name],
+    ).realize()
+
+
+@pytest.mark.tici
+def test_local_tinygrad_models_execute(monkeypatch):
+  bundle = _Bundle([
+    _Model(ModelType.vision, "driving_vision_c210m_tinygrad.pkl", "driving_vision_c210m_metadata.pkl"),
+    _Model(ModelType.policy, "driving_policy_c210m_tinygrad.pkl", "driving_policy_c210m_metadata.pkl"),
+  ])
+
+  monkeypatch.setattr(bundle_helpers, "get_active_bundle", lambda params=None: bundle, raising=False)
+  monkeypatch.setattr(model_runner_mod, "_fetch_bundle", lambda params=None: bundle)
+  monkeypatch.setattr(tinygrad_runner_mod, "CUSTOM_MODEL_PATH", str(LOCAL_MODEL_DIR), raising=False)
+  monkeypatch.setattr(model_runner_mod, "CUSTOM_MODEL_PATH", str(LOCAL_MODEL_DIR), raising=False)
+
+  vision_runner = TinygradRunner(ModelType.vision)
+  _seed_runner_inputs(vision_runner)
+  vision_outputs = vision_runner.run_model()
+  assert "pose" in vision_outputs
+  assert "lane_lines" in vision_outputs
+
+  policy_runner = TinygradRunner(ModelType.policy)
+  _seed_runner_inputs(policy_runner)
+  policy_outputs = policy_runner.run_model()
+  assert "plan" in policy_outputs
+  assert "desire_state" in policy_outputs