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59 lines
2.3 KiB
Python
59 lines
2.3 KiB
Python
# Copyright (c) 2026 IQ.Lvbs. All rights reserved.
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from types import SimpleNamespace
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import pytest
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from iqpilot.selfdrive.ui.mici.onroad import confidence_ball as ball_module
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from iqpilot.ui.onroad import lead_confidence as confidence_module
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@pytest.fixture
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def shared_confidence(monkeypatch):
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class Messages(dict):
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frame = 1
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predictions = SimpleNamespace(brakeDisengageProbs=[0.2], steerOverrideProbs=[0.4])
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messages = Messages(modelV2=SimpleNamespace(meta=SimpleNamespace(disengagePredictions=predictions)))
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state = SimpleNamespace(sm=messages, status=ball_module.UIStatus.LAT_ONLY)
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shared = confidence_module.DrivingConfidence()
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monkeypatch.setattr(confidence_module, 'ui_state', state)
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monkeypatch.setattr(ball_module, 'ui_state', state)
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monkeypatch.setattr(ball_module, 'driving_confidence', shared)
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return state, shared
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@pytest.mark.parametrize('status,target', [('disengaged', -0.5), ('lat_only', 0.6), ('long_only', 0.8),
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('engaged', 0.48), ('override', 0.48)])
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def test_ball_and_other_overlays_share_one_update_per_frame(shared_confidence, status, target):
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state, shared = shared_confidence
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state.status = getattr(ball_module.UIStatus, status.upper())
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values = []
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shared._filter.update = values.append
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ball = ball_module.ConfidenceBall()
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ball._update_state()
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shared.update()
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ball._update_state()
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assert values == pytest.approx([target])
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def test_demo_does_not_advance_shared_confidence(shared_confidence):
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_, shared = shared_confidence
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ball = ball_module.ConfidenceBall(demo=True)
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ball.update_filter(0.9)
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ball._update_state()
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assert shared._last_frame == -1
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assert ball._confidence_filter.x > -0.5
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def test_partial_engagement_keeps_iq_colors_and_shared_height(shared_confidence, monkeypatch):
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_, shared = shared_confidence
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shared._filter.x = 0.75
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ball = ball_module.ConfidenceBall()
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ball._rect = ball_module.rl.Rectangle(0, 0, 500, 300)
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draws = []
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monkeypatch.setattr(ball_module, 'draw_circle_gradient', lambda *args: draws.append(args))
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ball._render(None)
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assert draws[0][1] == pytest.approx((1 - 0.75) * (300 - 48) + 24)
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assert (draws[0][3].r, draws[0][3].g, draws[0][3].b) == (0x22, 0xB8, 0xB9)
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assert (draws[0][4].r, draws[0][4].g, draws[0][4].b) == (0x0C, 0x94, 0x96)
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