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https://github.com/firestar5683/StarPilot.git
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firestar5683
59 lines
1.9 KiB
Python
59 lines
1.9 KiB
Python
from types import SimpleNamespace
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import numpy as np
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import pytest
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import openpilot.selfdrive.ui.onroad.model_renderer as model_renderer
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class _FakeSubMaster:
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def __init__(self, plan):
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self.recv_frame = {"starpilotPlan": 1}
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self._plan = plan
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def __getitem__(self, key):
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assert key == "starpilotPlan"
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return self._plan
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@pytest.mark.parametrize(
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("lane_width_left", "lane_width_right", "expected_side"),
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[
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(3.5, 0.0, 0),
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(0.0, 3.5, 1),
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],
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)
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def test_adjacent_path_keeps_a_single_valid_side(monkeypatch, lane_width_left, lane_width_right, expected_side):
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fake_ui_state = SimpleNamespace(
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sm=_FakeSubMaster(SimpleNamespace(laneWidthLeft=lane_width_left, laneWidthRight=lane_width_right)),
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started_frame=0,
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)
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monkeypatch.setattr(model_renderer, "ui_state", fake_ui_state)
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renderer = object.__new__(model_renderer.ModelRenderer)
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left_outer = np.ones((2, 3), dtype=np.float32)
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left_inner = np.ones((2, 3), dtype=np.float32)
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right_inner = np.ones((2, 3), dtype=np.float32)
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right_outer = np.ones((2, 3), dtype=np.float32)
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renderer._lane_lines = [
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SimpleNamespace(raw_points=left_outer),
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SimpleNamespace(raw_points=left_inner),
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SimpleNamespace(raw_points=right_inner),
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SimpleNamespace(raw_points=right_outer),
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]
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renderer._adjacent_path_vertices = [
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np.ones((4, 2), dtype=np.float32),
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np.ones((4, 2), dtype=np.float32),
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]
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def fake_get_adjacent_path_polygon(line1, *_args):
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side = 0 if line1 is left_outer else 1
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return np.array([[side, 0], [side, 1], [side + 0.5, 1], [side + 0.5, 0]], dtype=np.float32)
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monkeypatch.setattr(renderer, "_get_adjacent_path_polygon", fake_get_adjacent_path_polygon)
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renderer._update_adjacent_paths(max_idx=1, max_distance=10.0)
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assert renderer._adjacent_path_vertices[expected_side].size >= 4
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assert renderer._adjacent_path_vertices[1 - expected_side].size == 0
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