IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ bec7652

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-08-22 21:28:16 -05:00
parent 9e52535231
commit e0fd0efe96
4825 changed files with 177522 additions and 75780 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
iqpilot/selfdrive/iqmodeld/tests/__init__.py
View File

@@ -0,0 +1,3 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""

1
iqpilot/selfdrive/iqmodeld/tests/dmon_lag/repro.cc
View File

@@ -1,5 +1,4 @@
// Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
// clang++ -O2 repro.cc && ./a.out
#include <sys/types.h>
#include <unistd.h>

13
iqpilot/selfdrive/iqmodeld/tests/test_action_dispatch.py
View File

@@ -1,3 +1,6 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from __future__ import annotations
from types import SimpleNamespace
@@ -5,12 +8,12 @@ from types import SimpleNamespace
import numpy as np
import pytest
from cereal import log
from iqpilot.cereal import log
from openpilot.iqpilot.selfdrive.iqmodeld.config import Plan
from openpilot.iqpilot.selfdrive.iqmodeld.daemon import NeuralEngineState, _merged_plan
import openpilot.iqpilot.selfdrive.iqmodeld.daemon as iqmodeld_daemon
from openpilot.selfdrive.controls.lib.drive_helpers import smooth_value
from iqpilot.selfdrive.iqmodeld.config import Plan
from iqpilot.selfdrive.iqmodeld.daemon import NeuralEngineState, _merged_plan
import iqpilot.selfdrive.iqmodeld.daemon as iqmodeld_daemon
from iqpilot.selfdrive.controls.lib.drive_helpers import smooth_value
def _fake_state(**overrides):

26
iqpilot/selfdrive/iqmodeld/tests/test_combined_split_runner.py
View File

@@ -1,3 +1,6 @@
"""
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
@@ -5,13 +8,14 @@ from pathlib import Path
import numpy as np
from openpilot.iqpilot.selfdrive.iqmodeld.models.combined_artifact import resolve_combined_split_artifact
import openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner as runner_helpers
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.combined_split_runner import TinygradCombinedSplitRunner
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import combined_split_runner as combined_runner_mod
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
from openpilot.iqpilot.selfdrive.iqmodeld.parser import PhaseParser
from openpilot.iqpilot.selfdrive.iqmodeld.tests.test_iqmodeld_contracts import _phase_sample
from iqpilot.selfdrive.iqmodeld.models.combined_artifact import resolve_combined_split_artifact
import iqpilot.selfdrive.iqmodeld.models.runners.model_runner as runner_helpers
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import tinygrad_runner as tinygrad_runner_mod
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.combined_split_runner import TinygradCombinedSplitRunner
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import combined_split_runner as combined_runner_mod
from iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
from iqpilot.selfdrive.iqmodeld.parser import PhaseParser
from iqpilot.selfdrive.iqmodeld.tests.test_iqmodeld_contracts import _phase_sample
@dataclass
@@ -77,7 +81,7 @@ def test_resolve_combined_split_artifact_prefers_override(tmp_path: Path, monkey
expected = tmp_path / "driving_combined_demo.pkl"
expected.write_bytes(b"iq")
monkeypatch.setattr("openpilot.iqpilot.selfdrive.iqmodeld.models.combined_artifact._MODEL_ROOT", tmp_path)
monkeypatch.setattr("iqpilot.selfdrive.iqmodeld.models.combined_artifact._MODEL_ROOT", tmp_path)
assert resolve_combined_split_artifact(bundle) == expected
@@ -89,7 +93,7 @@ def test_get_model_runner_prefers_combined_split_artifact(monkeypatch):
], generation=11)
marker = object()
monkeypatch.setattr(runner_helpers, "get_active_bundle", lambda: bundle)
monkeypatch.setattr(runner_helpers, "_fetch_bundle", lambda: bundle)
monkeypatch.setattr(runner_helpers, "has_combined_split_artifact", lambda _: True)
monkeypatch.setattr(combined_runner_mod, "TinygradCombinedSplitRunner", lambda: marker)
@@ -103,9 +107,9 @@ def test_get_model_runner_keeps_split_bundle_on_existing_runner_without_combined
], generation=12)
marker = object()
monkeypatch.setattr(runner_helpers, "get_active_bundle", lambda: bundle)
monkeypatch.setattr(runner_helpers, "_fetch_bundle", lambda: bundle)
monkeypatch.setattr(runner_helpers, "has_combined_split_artifact", lambda _: False)
monkeypatch.setattr(runner_helpers, "TinygradSplitRunner", lambda: marker)
monkeypatch.setattr(tinygrad_runner_mod, "TinygradSplitRunner", lambda: marker)
assert runner_helpers.get_model_runner() is marker

7
iqpilot/selfdrive/iqmodeld/tests/test_compile_supercombo_guards.py
View File

@@ -1,12 +1,15 @@
"""
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 openpilot.iqpilot.selfdrive.iqmodeld.tools.compile_supercombo import (
from iqpilot.selfdrive.iqmodeld.tools.compile_supercombo import (
_captured_devices,
_captured_queue_depth,
_validate_pose_outputs,
)
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.supercombo_runner import _captured_queue_depth
class _Captured:

128
iqpilot/selfdrive/iqmodeld/tests/test_fused_runner_guards.py Normal file
View File

@@ -0,0 +1,128 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from __future__ import annotations
import pickle
from dataclasses import dataclass
import numpy as np
import pytest
from iqpilot.selfdrive.iqmodeld.models.runners import model_runner as model_runner_mod
from iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import fused_runner as fused_mod
class _View:
def __init__(self, shape):
self.shape = shape
class _Captured:
def __init__(self, expected_names, expected_input_info):
self.expected_names = expected_names
self.expected_input_info = expected_input_info
class _FakeJit:
def __init__(self, expected_names, expected_input_info):
self.captured = _Captured(expected_names, expected_input_info)
def __call__(self, **kwargs):
raise AssertionError("policy jit should not run in this test")
class _FakeTensor:
def __init__(self, arr, device=None):
self.shape = tuple(np.asarray(arr).shape)
def contiguous(self):
return self
def realize(self):
return self
class _FakeDevice:
DEFAULT = "FAKE"
@dataclass
class _Type:
raw: int
@dataclass
class _Artifact:
fileName: str
class _Model:
def __init__(self, file_name):
self.type = _Type(ModelType.vision)
self.artifact = _Artifact(file_name)
self.metadata = None
class _Bundle:
def __init__(self, file_name):
self.models = [_Model(file_name)]
self.is20hz = True
POLICY_INPUTS = ["action_t", "big_img", "desire", "desire_q", "feat_q", "img", "traffic_convention"]
POLICY_SHAPES = {
"action_t": (1, 2), "big_img": (1, 12, 128, 256), "desire": (1, 8), "desire_q": (1, 100, 8),
"feat_q": (1, 99, 512), "img": (1, 12, 128, 256), "traffic_convention": (1, 2),
}
def _write_fused_pkl(path, policy_inputs):
info = [(_View(POLICY_SHAPES[n]), (), None, "NPY") for n in policy_inputs]
role_meta = {
"input_shapes": {"desire_pulse": (1, 100, 8), "traffic_convention": (1, 2), "features_buffer": (1, 99, 512)},
"output_slices": {},
}
blob = {
"metadata": {
"vision": {"input_shapes": {"img": (1, 12, 128, 256), "big_img": (1, 12, 128, 256)}, "output_slices": {}},
"on_policy": role_meta,
"off_policy": role_meta,
},
"run_policy": _FakeJit(policy_inputs, info),
"frame_skip": 4,
(1928, 1208): _FakeJit(["frame"], [(_View((1,)), (), None, "NPY")]),
}
with open(path, "wb") as f:
pickle.dump(blob, f)
@pytest.fixture
def fused_runner(tmp_path, monkeypatch):
def _build(policy_inputs):
name = "driving_fused_test.pkl"
_write_fused_pkl(tmp_path / name, policy_inputs)
monkeypatch.setattr(model_runner_mod, "_fetch_bundle", lambda params=None: _Bundle(name))
monkeypatch.setattr(fused_mod, "CUSTOM_MODEL_PATH", str(tmp_path))
monkeypatch.setattr(fused_mod, "_tinygrad_imports", lambda: (_FakeTensor, _FakeDevice))
return fused_mod.TinygradFusedRunner()
return _build
def test_action_t_allocated_when_only_the_jit_declares_it(fused_runner):
runner = fused_runner(POLICY_INPUTS)
assert "action_t" not in runner._on_meta["input_shapes"]
runner._ensure_queues(1928, 1208)
assert runner._npy_buffers["action_t"].shape == POLICY_SHAPES["action_t"]
assert runner._npy_buffers["traffic_convention"].shape == POLICY_SHAPES["traffic_convention"]
def test_action_t_absent_when_the_jit_does_not_take_it(fused_runner):
runner = fused_runner([n for n in POLICY_INPUTS if n != "action_t"])
runner._ensure_queues(1928, 1208)
assert "action_t" not in runner._npy_buffers

15
iqpilot/selfdrive/iqmodeld/tests/test_iqmodeld_contracts.py
View File

@@ -1,20 +1,23 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from __future__ import annotations
import copy
import cereal.messaging as messaging
import iqpilot.cereal.messaging as messaging
import numpy as np
from cereal import log
from iqpilot.cereal import log
from openpilot.iqpilot.selfdrive.iqmodeld.config import Meta, ModelConstants
from openpilot.iqpilot.selfdrive.iqmodeld.messaging import (
from iqpilot.selfdrive.iqmodeld.config import Meta, ModelConstants
from iqpilot.selfdrive.iqmodeld.messaging import (
DrivePacketMemory,
pick_curvature,
populate_drive_messages,
populate_odometry_message,
)
from openpilot.iqpilot.selfdrive.iqmodeld.models.split_model_constants import SplitModelConstants
from openpilot.iqpilot.selfdrive.iqmodeld.parser import ArchiveParser, PhaseParser
from iqpilot.selfdrive.iqmodeld.models.split_model_constants import SplitModelConstants
from iqpilot.selfdrive.iqmodeld.parser import ArchiveParser, PhaseParser
def _archive_sample(rng: np.random.Generator) -> dict[str, np.ndarray]:

72
iqpilot/selfdrive/iqmodeld/tests/test_lat_delay_source.py Normal file
View File

@@ -0,0 +1,72 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
from types import SimpleNamespace
import pytest
from iqpilot.cereal import car
from iqpilot.common.params import Params
from iqpilot.selfdrive.iqmodeld.daemon import InferenceDaemon
LIVE_DELAY = 0.4387
RACK_DELAY = 0.10
OFFSET = 0.05
@pytest.fixture
def params(tmp_path, monkeypatch):
monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
p = Params()
p.put("IQSteerDelayCache", LIVE_DELAY)
p.put("IQSoftwareSteerDelay", OFFSET)
p.put_bool("ModelSmoothingEnabled", False)
p.put("ModelLatSmoothSec", 0)
p.put("PlanplusControl", 1.0)
p.put("CameraOffset", 0.0)
return p
def _daemon(params, steer_control_type):
car_params = car.CarParams.new_message()
car_params.steerControlType = steer_control_type
car_params.steerActuatorDelay = RACK_DELAY
return SimpleNamespace(
_params=params,
_car_params=car_params,
_sub={"lateralDelay": SimpleNamespace(lateralDelay=LIVE_DELAY)},
_runtime=SimpleNamespace(lat_delay=None, PLANPLUS_CONTROL=None, model_smoothing_max_extra_sec=None),
_warps=SimpleNamespace(set_offset=lambda _: None),
)
@pytest.mark.parametrize("live_enabled, expected", [(False, RACK_DELAY + OFFSET), (True, LIVE_DELAY)])
def test_angle_cars_honour_the_self_tuning_toggle(params, live_enabled, expected):
params.put_bool("IQLiveSteerDelay", live_enabled)
daemon = _daemon(params, car.CarParams.SteerControlType.angle)
InferenceDaemon._refresh_tunables(daemon, 0)
assert daemon._runtime.lat_delay == pytest.approx(expected)
def test_angle_cars_never_plan_against_the_live_estimate_when_disabled(params):
params.put_bool("IQLiveSteerDelay", False)
daemon = _daemon(params, car.CarParams.SteerControlType.angle)
InferenceDaemon._refresh_tunables(daemon, 0)
assert daemon._runtime.lat_delay != pytest.approx(LIVE_DELAY)
@pytest.mark.parametrize("live_enabled", [True, False])
def test_torque_cars_keep_the_live_estimate(params, live_enabled):
params.put_bool("IQLiveSteerDelay", live_enabled)
daemon = _daemon(params, car.CarParams.SteerControlType.torque)
InferenceDaemon._refresh_tunables(daemon, 0)
assert daemon._runtime.lat_delay == pytest.approx(LIVE_DELAY)
def test_refresh_is_throttled_to_every_sixtieth_tick(params):
params.put_bool("IQLiveSteerDelay", False)
daemon = _daemon(params, car.CarParams.SteerControlType.angle)
InferenceDaemon._refresh_tunables(daemon, 1)
assert daemon._runtime.lat_delay is None
InferenceDaemon._refresh_tunables(daemon, 60)
assert daemon._runtime.lat_delay == pytest.approx(RACK_DELAY + OFFSET)

150
iqpilot/selfdrive/iqmodeld/tests/test_manager_manifest_refresh.py
View File

@@ -1,150 +0,0 @@
"""
Copyright (c) IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
from dataclasses import dataclass, field
from openpilot.iqpilot.selfdrive.iqmodeld.models.manager import IQModelManager, _DOWNLOAD_INDEX_KEY
@dataclass
class _DownloadUri:
sha256: str = ""
uri: str = ""
@dataclass
class _Artifact:
fileName: str = ""
downloadUri: _DownloadUri = field(default_factory=_DownloadUri)
@dataclass
class _Model:
artifact: _Artifact = field(default_factory=_Artifact)
metadata: _Artifact | None = None
@dataclass
class _Bundle:
index: int = 0
ref: str = ""
internalName: str = ""
displayName: str = ""
models: list = field(default_factory=list)
class _FakeParams:
def __init__(self):
self.store = {}
def get(self, key):
return self.store.get(key)
def put(self, key, value):
self.store[key] = value
def remove(self, key):
self.store.pop(key, None)
def _bundle(index, name, sha, filename="driving_vision_test_tinygrad.pkl"):
return _Bundle(
index=index,
ref=f"ref-{name}",
internalName=name,
displayName=f"{name} display",
models=[_Model(artifact=_Artifact(fileName=filename, downloadUri=_DownloadUri(sha256=sha)))],
)
def _manager(active, available):
mgr = IQModelManager.__new__(IQModelManager)
mgr.params = _FakeParams()
mgr.active_bundle = active
mgr.available_models = available
mgr._validated_active_key = None
mgr._manifest_refresh_key = None
return mgr
def test_stale_active_bundle_queues_redownload_at_current_index():
active = _bundle(55, "WMIV12", "a" * 64)
counterpart = _bundle(12, "WMIV12", "b" * 64)
mgr = _manager(active, [counterpart])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) == 12
assert mgr.active_bundle is active
def test_matching_shas_do_not_queue():
active = _bundle(55, "WMIV12", "a" * 64)
counterpart = _bundle(12, "WMIV12", "A" * 64)
mgr = _manager(active, [counterpart])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) is None
def test_retired_bundle_is_left_alone():
active = _bundle(55, "WMIV12", "a" * 64)
mgr = _manager(active, [_bundle(12, "OtherModel", "b" * 64)])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) is None
assert mgr.active_bundle is active
def test_default_bundle_is_never_refreshed():
active = _bundle(0, "Default", "a" * 64)
active.ref = "default"
mgr = _manager(active, [_bundle(0, "Default", "b" * 64)])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) is None
def test_pending_download_blocks_refresh():
active = _bundle(55, "WMIV12", "a" * 64)
mgr = _manager(active, [_bundle(12, "WMIV12", "b" * 64)])
mgr.params.put(_DOWNLOAD_INDEX_KEY, 3)
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) == 3
def test_empty_manifest_hash_never_triggers():
active = _bundle(55, "WMIV12", "a" * 64)
mgr = _manager(active, [_bundle(12, "WMIV12", "")])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) is None
def test_refresh_queued_once_per_run():
active = _bundle(55, "WMIV12", "a" * 64)
mgr = _manager(active, [_bundle(12, "WMIV12", "b" * 64)])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) == 12
mgr.params.remove(_DOWNLOAD_INDEX_KEY)
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) is None
def test_counterpart_matched_by_name_not_index():
active = _bundle(55, "WMIV12", "a" * 64)
imposter = _bundle(55, "OtherModel", "c" * 64)
counterpart = _bundle(12, "WMIV12", "b" * 64)
mgr = _manager(active, [imposter, counterpart])
mgr._queue_active_manifest_refresh()
assert mgr.params.get(_DOWNLOAD_INDEX_KEY) == 12

18
iqpilot/selfdrive/iqmodeld/tests/test_model_runner_smoke.py
View File

@@ -1,17 +1,20 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from __future__ import annotations
import os
from dataclasses import dataclass
from pathlib import Path
import numpy as np
import pytest
from tinygrad.tensor import Tensor
import openpilot.iqpilot.selfdrive.iqmodeld.models.helpers as bundle_helpers
import openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner as model_runner_mod
import openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner as tinygrad_runner_mod
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner import TinygradRunner
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"
@@ -49,6 +52,7 @@ def _seed_runner_inputs(runner: TinygradRunner) -> None:
).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"),
@@ -56,7 +60,7 @@ def test_local_tinygrad_models_execute(monkeypatch):
])
monkeypatch.setattr(bundle_helpers, "get_active_bundle", lambda params=None: bundle, raising=False)
monkeypatch.setattr(model_runner_mod, "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)

7
iqpilot/selfdrive/iqmodeld/tests/test_public_surface.py
View File

@@ -1,5 +1,8 @@
from openpilot.iqpilot.selfdrive.iqmodeld import metadata, messaging, parser
from openpilot.iqpilot.selfdrive.iqmodeld.daemon import CaptureStamp, NeuralEngineState
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from iqpilot.selfdrive.iqmodeld import metadata, messaging, parser
from iqpilot.selfdrive.iqmodeld.daemon import CaptureStamp, NeuralEngineState
def test_public_module_surface():

27
iqpilot/selfdrive/iqmodeld/tests/test_selector_share_smoke.py
View File

@@ -1,3 +1,6 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from __future__ import annotations
import os
@@ -5,15 +8,14 @@ from dataclasses import dataclass
from pathlib import Path
import numpy as np
import pytest
from tinygrad.nn.onnx import OnnxRunner
from tinygrad.tensor import Tensor
import openpilot.iqpilot.selfdrive.iqmodeld.models.helpers as bundle_helpers
import openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner as model_runner_mod
import openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner as tinygrad_runner_mod
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.tinygrad_runner import TinygradRunner
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
SHARE_ROOT = Path(os.getenv("IQPILOT_SELECTOR_SHARE", "/Volumes/New New Vault/IQModels/models/recompiled16"))
@@ -86,6 +88,7 @@ def _run_tinygrad_bundle(bundle_dir: Path, monkeypatch):
bundle = _bundle_for_dir(bundle_dir)
monkeypatch.setattr(bundle_helpers, "get_active_bundle", lambda params=None: bundle, raising=False)
monkeypatch.setattr(model_runner_mod, "get_active_bundle", lambda params=None: bundle, raising=False)
monkeypatch.setattr(model_runner_mod, "_fetch_bundle", lambda: bundle)
monkeypatch.setattr(tinygrad_runner_mod, "CUSTOM_MODEL_PATH", str(bundle_dir), raising=False)
monkeypatch.setattr(model_runner_mod, "CUSTOM_MODEL_PATH", str(bundle_dir), raising=False)
@@ -122,8 +125,9 @@ def _run_onnx_bundle(bundle_dir: Path):
)
@pytest.mark.skipif(not SHARE_ROOT.is_dir(), reason="selector model share is not mounted")
def test_three_selector_models_parse_via_share_onnx():
if not SHARE_ROOT.is_dir():
return
selector_dirs = _find_selector_dirs(limit=3, require_onnx=True)
assert len(selector_dirs) >= 3
@@ -133,8 +137,9 @@ def test_three_selector_models_parse_via_share_onnx():
assert policy_raw.size > 0
@pytest.mark.skipif(not SHARE_ROOT.is_dir(), reason="selector model share is not mounted")
def test_selector_tinygrad_pkls_execute_when_host_compatible(monkeypatch):
if not SHARE_ROOT.is_dir():
return
selector_dirs = _find_selector_dirs(limit=10)
attempted = 0
executed = 0
@@ -151,6 +156,10 @@ def test_selector_tinygrad_pkls_execute_when_host_compatible(monkeypatch):
if "/dev/kgsl-3d0" in str(exc):
continue
raise
except TypeError as exc:
if "DType.__init__()" in str(exc):
continue
raise
assert "pose" in vision_outputs
assert "plan" in policy_outputs
@@ -159,4 +168,4 @@ def test_selector_tinygrad_pkls_execute_when_host_compatible(monkeypatch):
break
if executed == 0:
pytest.skip(f"share tinygrad pkls are QCOM-only on this host; inspected {attempted} bundles")
assert attempted > 0, "no selector bundles were inspected on the share"

36
iqpilot/selfdrive/iqmodeld/tests/test_supercombo_runner_guards.py
View File

@@ -1,3 +1,6 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
"""
from __future__ import annotations
import hashlib
@@ -5,10 +8,10 @@ from pathlib import Path
import pytest
from cereal import custom
from openpilot.iqpilot.selfdrive.iqmodeld.models import helpers as model_helpers
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import supercombo_runner as supercombo_runner_mod
from openpilot.iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.supercombo_runner import (
from iqpilot.cereal import custom
from iqpilot.selfdrive.iqmodeld.models import helpers as model_helpers
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import supercombo_runner as supercombo_runner_mod
from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad.supercombo_runner import (
TinygradSupercomboRunner,
)
@@ -153,6 +156,31 @@ def test_select_default_model_clears_custom_download_state(tmp_path: Path, monke
assert not pending_restore.exists()
def test_seed_default_bundle_runs_while_a_download_is_queued(monkeypatch: pytest.MonkeyPatch):
monkeypatch.setattr(model_helpers, "ensure_default_model_files", lambda *a, **k: None)
params = _FakeParams()
params.put("ModelManager_DownloadIndex", "81")
model_helpers.seed_default_bundle_if_unset(params)
active = params.get("ModelManager_ActiveBundle")
assert active is not None and active.get("ref") == "default"
assert params.get("ModelManager_DownloadIndex") == "81"
def test_seed_default_bundle_leaves_an_existing_active_bundle_alone(monkeypatch: pytest.MonkeyPatch):
monkeypatch.setattr(model_helpers, "ensure_default_model_files", lambda *a, **k: None)
params = _FakeParams({"index": 81, "ref": "pop"})
params.put("ModelManager_DownloadIndex", "81")
model_helpers.seed_default_bundle_if_unset(params)
assert params.get("ModelManager_ActiveBundle").get("ref") == "pop"
assert params.get("ModelManager_DownloadIndex") == "81"
def test_default_model_is_not_resolved_to_manifest_pop_bundle():
pop_bundle = type("Bundle", (), {"internalName": "Pop (Default)", "displayName": "Pop (Default)"})()

9
iqpilot/selfdrive/iqmodeld/tests/test_temporal_replay.py
View File

@@ -1,3 +1,6 @@
"""
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
@@ -6,9 +9,9 @@ from types import SimpleNamespace
import numpy as np
import pytest
import openpilot.iqpilot.selfdrive.iqmodeld.models.helpers as bundle_helpers
import openpilot.iqpilot.selfdrive.iqmodeld.models.runners.model_runner as runner_helpers
import openpilot.iqpilot.selfdrive.iqmodeld.daemon as iqmodeld_daemon
import iqpilot.selfdrive.iqmodeld.models.helpers as bundle_helpers
import iqpilot.selfdrive.iqmodeld.models.runners.model_runner as runner_helpers
import iqpilot.selfdrive.iqmodeld.daemon as iqmodeld_daemon
@dataclass

4
iqpilot/selfdrive/iqmodeld/tests/timing/benchmark.py
View File

@@ -9,8 +9,8 @@ import time
import numpy as np
import cereal.messaging as messaging
from openpilot.system.manager.process_config import managed_processes
import iqpilot.cereal.messaging as messaging
from iqpilot.system.manager.process_config import managed_processes
RUN_COUNT = int(os.getenv("N", "5"))
WINDOW_SECONDS = int(os.getenv("TIME", "30"))