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firestar5683
a82935f326
Integrate onroad views, configurable widgets, local settings, steering-profile contracts, Bluetooth and Android Auto with their device and runtime services. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
86 lines
4.4 KiB
Python
86 lines
4.4 KiB
Python
"""Curve visual authority and frozen-status geometry without a device UI."""
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from dataclasses import replace
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import unittest
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from unittest.mock import patch
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import pyray as rl
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from openpilot.starpilot.curve_speed.status import CurveObservation
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from openpilot.starpilot.ui.onroad_compact_widgets import MiciSidebarWidgets
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from openpilot.starpilot.ui.onroad_curve import controlling, glow_color, glowing, intensity, period, render_glow, status_label, training
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from openpilot.starpilot.ui.onroad_state import OnroadState, SpeedLimitObservation
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def curve(*, applied=True, controlling_speed=True, training_sample=False, glow=True):
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return CurveObservation(True, 16.0, 14.0, applied, controlling_speed, training_sample,
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25.0, 2.0, 60.0, "available", "selected", "saved", glow, True)
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def onroad(**changes):
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state = OnroadState(engaged=True, camera_available=True, speed_mps=20.0, cruise_kph=80.0,
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speed_limit=SpeedLimitObservation(), curve=curve(), show_curve_status=True,
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longitudinal_active=True, slc_system_long_available=True)
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return replace(state, **changes)
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class CurveVisualTests(unittest.TestCase):
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def test_frozen_curvature_intensity_color_and_pulse_bounds(self):
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self.assertEqual(intensity(None), 0.70)
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self.assertEqual(intensity(0.0001), 0.70)
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self.assertEqual(intensity(-0.02), 1.0)
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self.assertEqual(intensity(0.5), 1.0)
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self.assertEqual(period(0.70), 4.5)
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self.assertEqual(period(1.0), 1.5)
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self.assertEqual((glow_color(0.70).r, glow_color(0.70).g, glow_color(0.70).b), (34, 197, 94))
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self.assertEqual((glow_color(1.0).r, glow_color(1.0).g, glow_color(1.0).b), (201, 34, 49))
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def test_control_label_needs_selected_owner_and_real_long_authority(self):
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state = onroad()
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self.assertTrue(controlling(state))
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self.assertEqual(status_label(state), "CURVE 31 MPH")
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self.assertIsNone(status_label(onroad(show_curve_status=False)))
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self.assertFalse(controlling(onroad(longitudinal_active=False)))
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self.assertIsNone(status_label(onroad(longitudinal_active=False)))
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self.assertFalse(controlling(onroad(slc_system_long_available=False)))
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self.assertFalse(controlling(onroad(curve=curve(applied=False, controlling_speed=False))))
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self.assertFalse(glowing(onroad(curve=None)))
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def test_manual_learning_and_stale_absence_never_claim_control(self):
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manual = onroad(curve=curve(applied=False, controlling_speed=False, training_sample=True, glow=False),
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longitudinal_active=False, slc_system_long_available=False)
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self.assertTrue(training(manual))
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self.assertFalse(controlling(manual))
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self.assertEqual(status_label(manual), "CURVE LEARNING 25%")
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self.assertIsNone(status_label(replace(manual, curve=None)))
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def test_glow_uses_four_frozen_edges_only_with_observation(self):
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rect = rl.Rectangle(30, 30, 1800, 1020)
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with patch.object(rl, "draw_rectangle_gradient_v") as vertical, patch.object(rl, "draw_rectangle_gradient_h") as horizontal:
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render_glow(rect, onroad(curve=None), border_width=30, time_s=1.0)
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self.assertEqual((vertical.call_count, horizontal.call_count), (0, 0))
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render_glow(rect, onroad(), border_width=30, time_s=1.0)
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self.assertEqual((vertical.call_count, horizontal.call_count), (2, 2))
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self.assertEqual(vertical.call_args_list[0].args[:4], (30, 30, 1800, 75))
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baseline_color = vertical.call_args_list[0].args[4]
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self.assertEqual((baseline_color.r, baseline_color.g, baseline_color.b), (34, 197, 94))
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vertical.reset_mock()
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render_glow(rect, onroad(curve=replace(curve(), road_curvature=0.02)), border_width=30, time_s=1.0)
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sharp_color = vertical.call_args_list[0].args[4]
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self.assertEqual((sharp_color.r, sharp_color.g, sharp_color.b), (201, 34, 49))
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def test_compact_curve_cue_is_independent_of_large_status_flag(self):
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widget = MiciSidebarWidgets()
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with patch.object(rl, "draw_rectangle"), patch.object(widget, "_confidence_ball"), \
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patch.object(widget, "_personality"), patch.object(widget, "_curve_icon") as curve_icon, \
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patch.object(widget, "_chill_icon") as chill_icon:
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widget.render(rl.Rectangle(0, 0, 536, 240), onroad(show_curve_status=False))
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curve_icon.assert_called_once()
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chill_icon.assert_not_called()
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widget.render(rl.Rectangle(0, 0, 536, 240), onroad(curve=None))
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chill_icon.assert_called_once()
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if __name__ == "__main__":
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unittest.main()
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