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IQ.Pilot Release Commit @ bec7652

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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
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27
iqpilot/selfdrive/iqmodeld/tests/test_selector_share_smoke.py
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@@ -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"