Test Reused Camera Client Lifecycle

openpilot/starpilot/ui/tests/test_big_camera_pending_switch.py

@@ -29,6 +29,7 @@ def test_big_cancelled_wide_switch_never_consumes_unwanted_target_frame(experime
   pending = Mock()
   pending.recv.side_effect = AssertionError('Obsolete wide stream must not be consumed')
   sm = {'selfdriveState': NS(experimentalMode=True), 'carState': NS(vEgo=1.)}
+  view._clients = {road.NARROW_ROAD_CAM: view.client, road.WIDE_CAM: pending}
   with patch.object(cameraview, 'VisionIpcClient', return_value=pending):
     view._switch_stream_if_needed(sm)
   assert view._switching and view._target_stream_type == road.WIDE_CAM

openpilot/starpilot/ui/tests/test_camera_client_cache.py

@@ -0,0 +1,35 @@
+from unittest.mock import Mock,patch
+from openpilot.selfdrive.ui.onroad import cameraview as camera
+
+class ViewWithoutResources(camera.CameraView):
+  def close(self):pass
+
+
+def test_constructor_caches_once_across_repeated_switches():
+  with patch.object(camera,'COMMA_HARDWARE',False), \
+       patch.object(camera,'VisionIpcClient',side_effect=lambda *a,**k:Mock()) as factory, \
+       patch.object(camera.rl,'load_shader_from_memory',return_value=Mock(id=0)), \
+       patch.object(camera.rl,'get_shader_location',return_value=1), \
+       patch.object(camera.ui_state,'add_offroad_transition_callback'):
+    view=ViewWithoutResources('camera-cache-test',camera.VisionStreamType.VISION_STREAM_NARROW_ROAD)
+  expected=len(list(camera.VisionStreamType))
+  assert factory.call_count==expected
+  identities=dict(view._clients)
+  with patch.object(view,'_initialize_textures'):
+    for _ in range(50):
+      for stream in camera.VisionStreamType:
+        view.switch_stream(stream)
+        if view._switching:view._complete_switch()
+        assert view.client is identities[stream]
+  assert factory.call_count==expected
+
+
+def test_new_drive_drains_cached_clients_and_cancels_pending_switch():
+  view=ViewWithoutResources.__new__(ViewWithoutResources)
+  view._clients={stream:Mock() for stream in camera.VisionStreamType}
+  view.client=view._clients[camera.VisionStreamType.VISION_STREAM_NARROW_ROAD]
+  view.frame=Mock();view._target_client=Mock();view._target_stream_type=Mock();view._switching=True
+  with patch.object(camera.ui_state,'is_onroad',return_value=True):view._offroad_transition()
+  assert view.frame is None and view._target_client is None
+  assert view._target_stream_type is None and not view._switching
+  for client in view._clients.values():client.recv.assert_called_once_with(timeout_ms=0)

openpilot/starpilot/ui/tests/test_camera_resources.py

@@ -29,6 +29,7 @@ for path in ("openpilot.selfdrive.ui.onroad.cameraview", "openpilot.selfdrive.ui
     view.egl_texture = SimpleNamespace(id=13) if hardware else None
     view.egl_images = {1: "owned-image"} if hardware else {}
     view.frame, view.client, view.available_streams = None, None, set()
+    view._clients = {}
     textures, shaders, images = [], [], []
     with patch.object(module, "COMMA_HARDWARE", hardware), \\
          patch.object(module.rl, "unload_texture", side_effect=lambda texture: textures.append(texture.id)), \\