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firestar5683
56 lines
2.3 KiB
Python
56 lines
2.3 KiB
Python
"""An obsolete pending Big camera switch must never paint its first frame."""
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from types import SimpleNamespace as NS
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from unittest.mock import Mock, patch
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import pytest
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from openpilot.selfdrive.ui.onroad import augmented_road_view as road
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from openpilot.selfdrive.ui.onroad import cameraview
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class ViewWithoutResources(road.AugmentedRoadView):
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def close(self):
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pass
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@pytest.mark.parametrize('experimental,speed', [(False, 1.), (True, road.ROAD_CAM_MIN_SPEED + 1.)])
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def test_big_cancelled_wide_switch_never_consumes_unwanted_target_frame(experimental, speed):
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view = ViewWithoutResources.__new__(ViewWithoutResources)
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view._name = 'camerad'
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view._stream_type = road.NARROW_ROAD_CAM
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view._switching = False
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view._target_client = view._target_stream_type = None
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view.available_streams = [road.NARROW_ROAD_CAM, road.WIDE_CAM]
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current_frame = NS(idx=0)
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view.frame = current_frame
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view.client = Mock()
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view.client.is_connected.return_value = True
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view.client.recv.return_value = None
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pending = Mock()
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pending.recv.side_effect = AssertionError('Obsolete wide stream must not be consumed')
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sm = {'selfdriveState': NS(experimentalMode=True), 'carState': NS(vEgo=1.)}
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with patch.object(cameraview, 'VisionIpcClient', return_value=pending):
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view._switch_stream_if_needed(sm)
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assert view._switching and view._target_stream_type == road.WIDE_CAM
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# Policy returns to the already displayed narrow stream before wide arrives.
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sm['selfdriveState'].experimentalMode = experimental
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sm['carState'].vEgo = speed
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view._switch_stream_if_needed(sm)
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assert not view._switching and view._target_client is None
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assert view._target_stream_type is None
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assert view._poll_camera()
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assert view.frame is current_frame and view.stream_type == road.NARROW_ROAD_CAM
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pending.recv.assert_not_called()
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view.client.recv.assert_called_once_with(timeout_ms=0)
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def test_big_keeps_still_requested_pending_switch():
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view = ViewWithoutResources.__new__(ViewWithoutResources)
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view._stream_type = road.NARROW_ROAD_CAM
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pending = view._target_client = Mock()
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view._target_stream_type = road.WIDE_CAM
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view._switching = True
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view.available_streams = [road.NARROW_ROAD_CAM, road.WIDE_CAM]
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view._switch_stream_if_needed({'selfdriveState': NS(experimentalMode=True), 'carState': NS(vEgo=1.)})
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assert view._target_client is pending and view._switching
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