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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>
88 lines
4.5 KiB
Python
88 lines
4.5 KiB
Python
"""Rainbow path stays display-only and requires fresh speed for phase changes."""
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from types import SimpleNamespace as NS
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import unittest
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from unittest.mock import Mock, patch
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import numpy as np
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import pyray as rl
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from openpilot.selfdrive.ui.mici.onroad import model_renderer as compact
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from openpilot.selfdrive.ui.onroad import model_renderer as large
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from openpilot.starpilot.ui.rainbow_path import RainbowPath
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from openpilot.system.ui.lib.shader_polygon import Gradient
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class TestRainbowPath(unittest.TestCase):
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def test_phase_uses_only_fresh_finite_speed_and_bounded_frame_time(self):
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path = RainbowPath()
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path.update(1_000_000_000, 10.0, source_alive=True)
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path.update(1_100_000_000, None, source_alive=True)
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self.assertAlmostEqual(path.phase_deg, 5.0)
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path.update(1_700_000_000, None, source_alive=True)
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self.assertAlmostEqual(path.phase_deg, 5.0)
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path.update(1_800_000_000, float("nan"), source_alive=True)
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path.update(1_900_000_000, None, source_alive=True)
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self.assertAlmostEqual(path.phase_deg, 5.0)
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path.update(2_000_000_000, 10.0, source_alive=False)
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path.update(2_100_000_000, None, source_alive=True)
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self.assertAlmostEqual(path.phase_deg, 5.0)
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path.update(2_200_000_000, 10.0, source_alive=True)
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self.assertAlmostEqual(path.phase_deg, 10.0)
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path.update(2_100_000_000, None, source_alive=True)
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self.assertAlmostEqual(path.phase_deg, 10.0)
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def test_gradient_matches_original_twelve_stop_hue_and_alpha_range(self):
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gradient = RainbowPath().gradient()
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self.assertEqual(len(gradient.colors), 12)
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self.assertEqual((gradient.start, gradient.end), ((0.0, 0.0), (0.0, 1.0)))
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self.assertEqual((gradient.stops[0], gradient.stops[-1]), (0.0, 1.0))
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self.assertEqual((gradient.colors[0].r, gradient.colors[0].g, gradient.colors[0].b), (255, 0, 0))
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self.assertEqual((gradient.colors[-1].r, gradient.colors[-1].g, gradient.colors[-1].b), (0, 255, 0))
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self.assertEqual((gradient.colors[0].a, gradient.colors[-1].a), (127, 25))
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def test_both_native_profiles_keep_off_gradient_and_select_rainbow_from_layout(self):
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for module in (large, compact):
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with self.subTest(profile=module.__name__):
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renderer = module.ModelRenderer.__new__(module.ModelRenderer)
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renderer._rect = rl.Rectangle(0, 0, 100, 100)
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points = module.ModelPoints(projected_points=np.array([[0.0, 0.0], [1.0, 1.0]], dtype=np.float32))
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self.enterContext(patch.object(renderer, "_path", points, create=True))
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renderer._longitudinal_control = False
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renderer._experimental_mode = True
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renderer._blend_filter = Mock()
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renderer._exp_gradient = Gradient(start=(0.0, 1.0), end=(0.0, 0.0),
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colors=[rl.WHITE, rl.BLACK], stops=[0.0, 1.0])
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renderer._rainbow_path = RainbowPath()
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messages = {"longitudinalPlan": NS(allowThrottle=True), "carState": NS(vEgo=10.0)}
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class SubMaster:
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valid = {"carState": True}
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alive = {"carState": True}
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updated = {"carState": True}
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recv_frame = {"carState": 5}
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def __init__(self, values):
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self.values = values
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def __getitem__(self, key):
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return self.values[key]
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sm = SubMaster(messages)
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ui = NS(status=compact.UIStatus.ENGAGED, started_frame=5, display_time_ns=Mock())
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with patch.object(module, "ui_state", ui), patch.object(ui, "display_time_ns", return_value=1_000_000_000), \
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patch.object(module, "draw_polygon") as draw:
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renderer._draw_path(sm)
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self.assertIs(draw.call_args.kwargs["gradient"], renderer._exp_gradient)
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renderer.road_style = {"pathMode": "rainbow"}
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with patch.object(module, "ui_state", ui), patch.object(ui, "display_time_ns", return_value=2_000_000_000), \
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patch.object(module, "draw_polygon") as draw:
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renderer._draw_path(sm)
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self.assertEqual(len(draw.call_args.kwargs["gradient"].colors), 12)
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sm.recv_frame["carState"] = 4
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with patch.object(module, "ui_state", ui), patch.object(ui, "display_time_ns", return_value=2_100_000_000), \
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patch.object(module, "draw_polygon"):
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renderer._draw_path(sm)
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self.assertEqual(renderer._rainbow_path.phase_deg, 0.0)
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sm.recv_frame["carState"] = 5
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with patch.object(module, "ui_state", ui), patch.object(ui, "display_time_ns", return_value=2_200_000_000), \
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patch.object(module, "draw_polygon"):
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renderer._draw_path(sm)
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self.assertGreater(renderer._rainbow_path.phase_deg, 0.0)
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