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IQ.Pilot Release Commit @ d2ce8a8

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IQ.Lvbs CI [bot]
2026-08-28 08:35:52 -05:00
parent 9206164707
commit ee1dca77c7
210 changed files with 19726 additions and 455 deletions
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4
iqpilot/selfdrive/test/process_replay/migration.py
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@@ -135,7 +135,9 @@ def migrate_drivingModelData(msgs):
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
for meta_field in ["laneChangeState", "laneChangeState"]:
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
lane_lines = msg.modelV2.laneLines
lane_probs = msg.modelV2.laneLineProbs
if len(lane_lines) > 2 and len(lane_probs) > 2 and len(lane_lines[1].y) and len(lane_lines[2].y):
fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)

19
iqpilot/selfdrive/test/process_replay/test_migration.py Normal file
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@@ -0,0 +1,19 @@
"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""
from iqpilot.cereal import messaging
from iqpilot.selfdrive.test.process_replay.migration import migrate_drivingModelData
def test_driving_model_migration_ignores_incomplete_lane_metadata():
msg = messaging.new_message("modelV2")
msg.modelV2.init("laneLines", 4)
for lane_line in msg.modelV2.laneLines:
lane_line.y = [1.0]
msg.modelV2.laneLineProbs = [0.5]
_, added, _ = migrate_drivingModelData([(0, msg.as_reader())])
assert len(added) == 1
assert added[0].drivingModelData.laneLineMeta.leftProb == 0.0
assert added[0].drivingModelData.laneLineMeta.rightProb == 0.0