mirror of
https://github.com/firestar5683/StarPilot.git
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Prabhaav Pillai
d78902d73b
Cherry-picked corrected Feature Request 510203 implementation from 8768e08341f2d4044776f5ba846e606dc9cd3f1d. Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu>
87 lines
3.3 KiB
Python
87 lines
3.3 KiB
Python
from openpilot.selfdrive.ui.onroad.starpilot.pip_sidecam import (
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IMAGE_TO_VEHICLE_SIDE,
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PIP_FRAGMENT_SHADER,
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PIP_CURVED_FRAGMENT_SHADER,
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PipSideCamera,
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)
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def test_pip_maps_raw_driver_image_sides_to_vehicle_sides():
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assert IMAGE_TO_VEHICLE_SIDE == {"left": "right", "right": "left"}
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camera = PipSideCamera.__new__(PipSideCamera)
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camera._closed = True
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camera._mask = {
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"center_left": [100, 200],
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"center_right": [900, 200],
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"crop_size": 100,
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}
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left_vehicle_crop = camera._crop_rect("left")
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right_vehicle_crop = camera._crop_rect("right")
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assert (left_vehicle_crop.x, left_vehicle_crop.y) == (850, 150)
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assert (right_vehicle_crop.x, right_vehicle_crop.y) == (50, 150)
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def test_pip_driver_camera_shader_mirrors_the_crop():
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assert "uniform int uFlipX" in PIP_FRAGMENT_SHADER
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assert "cropCoord.x = 1.0 - cropCoord.x" in PIP_FRAGMENT_SHADER
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def test_pip_driver_camera_shader_masks_before_sampling_and_keeps_two_texture_reads():
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assert "fwidth(radius)" in PIP_FRAGMENT_SHADER
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assert "if (radius > 1.0 + aa)" in PIP_FRAGMENT_SHADER
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assert PIP_FRAGMENT_SHADER.index("if (radius > 1.0 + aa)") < PIP_FRAGMENT_SHADER.index("texture(texture0")
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assert PIP_FRAGMENT_SHADER.count("texture(texture0") == 1
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assert PIP_FRAGMENT_SHADER.count("texture(texture1") == 1
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def test_pip_driver_camera_shader_uses_analytic_bubble_shading_without_new_uniforms():
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assert "float z = sqrt(max(0.0, 1.0 - dot(p, p)))" in PIP_FRAGMENT_SHADER
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assert "BUBBLE_REFRACTION" in PIP_FRAGMENT_SHADER
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assert "BUBBLE_EDGE_DARKEN" in PIP_FRAGMENT_SHADER
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assert "BUBBLE_HIGHLIGHT" in PIP_FRAGMENT_SHADER
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assert "BUBBLE_RIM" in PIP_FRAGMENT_SHADER
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assert "BUBBLE_EDGE_TRANSPARENCY" in PIP_FRAGMENT_SHADER
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assert "BUBBLE_BORDER_WIDTH" not in PIP_FRAGMENT_SHADER
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assert "rgb = mix(rgb, vec3(1.0)" not in PIP_FRAGMENT_SHADER
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assert "uniform sampler2D texture2" not in PIP_FRAGMENT_SHADER
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assert "uRefraction" not in PIP_FRAGMENT_SHADER
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def test_pip_c4_curved_shader_masks_a_rounded_rectangle_before_sampling():
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assert "uRectSize" in PIP_CURVED_FRAGMENT_SHADER
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assert "CORNER_RADIUS_FRACTION" in PIP_CURVED_FRAGMENT_SHADER
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assert "CURVE_AMOUNT" in PIP_CURVED_FRAGMENT_SHADER
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assert "length(max(q, 0.0))" in PIP_CURVED_FRAGMENT_SHADER
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assert PIP_CURVED_FRAGMENT_SHADER.index("if (dist > aa)") < PIP_CURVED_FRAGMENT_SHADER.index("texture(texture0")
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assert PIP_CURVED_FRAGMENT_SHADER.count("texture(texture0") == 1
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assert PIP_CURVED_FRAGMENT_SHADER.count("texture(texture1") == 1
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assert "cropCoord.x = 1.0 - cropCoord.x" in PIP_CURVED_FRAGMENT_SHADER
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assert "y + 1.402 * c.y" in PIP_CURVED_FRAGMENT_SHADER
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assert "uRefraction" not in PIP_CURVED_FRAGMENT_SHADER
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def test_pip_sidecam_is_a_widget_with_curved_and_bubble_shapes():
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bubble = PipSideCamera.__new__(PipSideCamera)
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bubble._closed = True
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assert isinstance(bubble, PipSideCamera)
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assert hasattr(bubble, "render")
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assert hasattr(bubble, "_draw_bubble")
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assert hasattr(bubble, "_draw_curved")
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curved = PipSideCamera.__new__(PipSideCamera)
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curved._closed = True
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curved._shape = "curved"
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assert curved._shape == "curved"
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def test_pip_sidecam_rejects_unknown_shapes():
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camera = object.__new__(PipSideCamera)
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try:
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PipSideCamera.__init__(camera, shape="hexagon")
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except ValueError:
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pass
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else:
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raise AssertionError("expected ValueError for unknown shape")
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