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https://github.com/firestar5683/StarPilot.git
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firestar5683
aaac7a6733
Present saved configuration and live driving state through native Small and Big UI layouts. Support per-field tune resets, movable widgets, camera availability, and a unified speed card while preserving decision-bound actions.
60 lines
1.9 KiB
Python
60 lines
1.9 KiB
Python
import threading
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import unittest
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from openpilot.starpilot.ui.camera_availability import CameraAvailability
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class TestCameraAvailability(unittest.TestCase):
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def test_native_frames_freshness_throttle_and_background_publication(self):
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now = [1_000_000_000]
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written = []
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published = threading.Event()
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def write(*, clock):
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written.append((clock(), threading.get_ident()))
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published.set()
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owner = CameraAvailability(clock=lambda: now[0], write=write)
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self.addCleanup(owner.close)
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self.assertFalse(owner.available())
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owner.observe()
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self.assertTrue(published.wait(1))
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self.assertTrue(owner.available())
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self.assertNotEqual(written[0][1], threading.get_ident())
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for tick in range(1,100):
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now[0] = 1_000_000_000 + tick * 10_000_000
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owner.observe()
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self.assertEqual(len(written), 1)
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published.clear()
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now[0] = 2_000_000_000
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owner.observe()
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self.assertTrue(published.wait(1))
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self.assertEqual(len(written), 2)
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now[0] += 500_000_001
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self.assertFalse(owner.available())
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now[0] = 1
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self.assertFalse(owner.available())
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def test_slow_writer_keeps_latest_bounded_frame_and_never_blocks_observer(self):
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now = [1_000_000_000]
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entered, release, done = threading.Event(), threading.Event(), threading.Event()
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written = []
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def write(*, clock):
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stamp = clock()
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if not written:
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entered.set()
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release.wait(1)
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written.append(stamp)
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if len(written) == 2:
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done.set()
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owner = CameraAvailability(clock=lambda: now[0], write=write)
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self.addCleanup(owner.close)
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owner.observe()
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self.assertTrue(entered.wait(1))
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now[0] = 2_000_000_000
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owner.observe()
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now[0] = 3_000_000_000
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owner.observe()
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self.assertEqual(owner.pending, 3_000_000_000)
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release.set()
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self.assertTrue(done.wait(1))
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self.assertEqual(written, [1_000_000_000, 3_000_000_000])
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