Reduce onroad UI work and move parameter refresh off render thread

system/ui/tests/test_nav_widget.py

@@ -0,0 +1,128 @@
+import pyray as rl
+import pytest
+
+from openpilot.system.ui.lib.application import MouseEvent, MousePos, gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+
+
+class NavScreen(NavWidget):
+  def _render(self, _):
+    pass
+
+
+class TransparentScreen(Widget):
+  def _render(self, _):
+    pass
+
+
+@pytest.fixture
+def viewport():
+  return rl.Rectangle(0, 0, gui_app.width, gui_app.height)
+
+
+@pytest.fixture
+def screen(monkeypatch, viewport):
+  monkeypatch.setattr(rl, "draw_rectangle_rec", lambda *_: None)
+  monkeypatch.setattr(rl, "get_time", lambda: 10.0)
+  monkeypatch.setattr(gui_app, "_show_touches", False)
+  monkeypatch.setattr(gui_app, "_mouse_events", [])
+  screen = NavScreen()
+  screen.set_rect(viewport)
+  monkeypatch.setattr(screen._nav_bar, "render", lambda: None)
+  return screen
+
+
+def touch(monkeypatch, y, *, pressed=False, released=False):
+  event = MouseEvent(MousePos(20, y), 0, pressed, released, not released, 10.0)
+  monkeypatch.setattr(gui_app, "_mouse_events", [event])
+  monkeypatch.setattr(gui_app, "_last_mouse_event", event)
+
+
+def test_only_settled_opaque_navigation_covers_background(screen, viewport):
+  assert screen.covers_background(viewport)
+  assert not TransparentScreen().covers_background(viewport)
+
+  class TransparentNav(NavScreen):
+    def _layout(self):
+      pass
+
+  transparent = TransparentNav()
+  transparent.set_rect(viewport)
+  assert not transparent.covers_background(viewport)
+  screen.set_visible(False)
+  assert not screen.covers_background(viewport)
+
+
+@pytest.mark.parametrize("x,y,width,height", [(1, 0, 1, 1), (0, 1, 1, 1), (0, 0, 0.5, 1), (0, 0, 1, 0.5)])
+def test_partial_navigation_does_not_cover_background(screen, viewport, x, y, width, height):
+  screen.set_rect(rl.Rectangle(x, y, viewport.width * width, viewport.height * height))
+  assert not screen.covers_background(viewport)
+
+
+@pytest.mark.parametrize("position,velocity", [(0.1, 0), (-0.1, 0), (0, 0.1), (0, -0.1)])
+def test_bounce_keeps_background_visible(screen, viewport, position, velocity):
+  screen._y_pos_filter.x = position
+  screen._y_pos_filter.velocity.x = velocity
+  assert not screen.covers_background(viewport)
+
+
+def test_show_animation_keeps_background_until_settled(screen, viewport):
+  shown = []
+  screen.set_shown_callback(lambda: shown.append(True))
+  screen.show_event()
+  assert not screen.covers_background(viewport)
+  for _ in range(300):
+    screen.render(viewport)
+    if screen.covers_background(viewport):
+      break
+  assert screen.covers_background(viewport)
+  assert shown == [True]
+
+
+def test_swipe_uncovers_background_before_first_moving_frame(monkeypatch, screen, viewport):
+  touch(monkeypatch, 20, pressed=True)
+  assert screen.covers_background(viewport)
+  screen.render(viewport)
+  assert screen.rect.y == 0
+
+  touch(monkeypatch, 120)
+  assert not screen.covers_background(viewport)
+  screen.render(viewport)
+  assert screen.rect.y > 0
+
+  popped = []
+  monkeypatch.setattr(gui_app, "pop_widget", lambda: popped.append(True))
+  touch(monkeypatch, 120, released=True)
+  screen.render(viewport)
+  monkeypatch.setattr(gui_app, "_mouse_events", [])
+  for _ in range(300):
+    assert not screen.covers_background(viewport)
+    screen.render(viewport)
+    if popped:
+      break
+  assert popped == [True]
+
+
+def test_cancelled_swipe_restores_culling_only_after_settling(monkeypatch, screen, viewport):
+  touch(monkeypatch, 20, pressed=True)
+  screen.render(viewport)
+  touch(monkeypatch, 50)
+  screen.render(viewport)
+  touch(monkeypatch, 50, released=True)
+  screen.render(viewport)
+  assert not screen.covers_background(viewport)
+  monkeypatch.setattr(gui_app, "_mouse_events", [])
+  for _ in range(300):
+    screen.render(viewport)
+    if screen.covers_background(viewport):
+      break
+  assert screen.covers_background(viewport)
+  assert screen.rect.y == 0
+
+
+def test_programmatic_dismiss_uncovers_background_before_first_moving_frame(screen, viewport):
+  screen.dismiss()
+  assert not screen.covers_background(viewport)
+  screen.render(viewport)
+  assert screen.rect.y > 0