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fix pkl loader test

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discountchubbs
2026-08-01 16:09:04 -07:00
parent 2e87e08ba6
commit ce488dff50
1 changed files with 5 additions and 7 deletions
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openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
+5 -7
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@@ -67,16 +67,14 @@ class TestStockEquivalence:
state = model_state_factory(ARCHETYPES['vision_policy_split'])
frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
# action_t is a deep-model prerequisite the SP loader doesn't provide yet; see skip_keys below
stock_shapes = {**SPLIT_VISION_INPUT_SHAPES, **SPLIT_POLICY_INPUT_SHAPES, 'action_t': (1, 2)}
stock_queues, stock_npy = make_input_queues(stock_shapes, frame_skip, device='NPY')
# TODO-SP: remove action_t skip once SP adds prerequisite for deep models (action_t input queue)
skip_keys = {'action_t'}
assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
assert set(state.input_queues.keys()) - {'desire', 'traffic_convention'} == \
set(stock_queues.keys()) - {'packed_npy_inputs'}
assert {'desire', 'traffic_convention'} <= set(state.input_queues.keys())
# We generate action_t and prev_feat dynamically based on the metadata
assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - {'action_t', 'prev_feat'}
def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues