StarPilot/openpilot/starpilot/ui/tests/test_spacepilot_native.py

"""Native widget routing, actual schema compatibility and subscribed button edges."""

from types import SimpleNamespace as NS
from unittest.mock import Mock

import pyray as rl
import pytest

from openpilot.cereal import messaging
from openpilot.starpilot.ui.spacepilot import native
from openpilot.starpilot.ui.spacepilot.state import Phase
from openpilot.starpilot.ui.tests.test_spacepilot_state import mature_gate, parked_ui, read
from openpilot.system.ui.lib.application import MouseEvent, MousePos, gui_app


def test_real_cereal_schema_matches_the_physical_witness():
  ui = parked_ui()
  for name in ('carState', 'selfdriveState', 'carControl', 'deviceState'):
    data = ui.sm[name]
    def plain(value):
      return {k: plain(v) for k, v in vars(value).items()} if isinstance(value, NS) else value
    event = messaging.new_message(name, valid=True)
    setattr(event, name, plain(data))
    ui.sm[name] = getattr(event.as_reader(), name)
  event = messaging.new_message('pandaStates', 1, valid=True)
  event.pandaStates[0] = vars(ui.sm['pandaStates'][0])
  ui.sm['pandaStates'] = event.as_reader().pandaStates
  assert read(ui) is not None


@pytest.fixture
def page(monkeypatch):
  monkeypatch.setattr(native, 'live_witness', lambda: read(parked_ui()))
  monkeypatch.setattr(native.time, 'monotonic', lambda: 10.)
  monkeypatch.setattr(native.time, 'monotonic_ns', lambda: 10_000_000_000)
  game = Mock(stage=native.Stage.PLAYING, reason='', vehicle=Mock(), wheel=Mock(armed=set()), ignition_return=None)
  game.step.return_value = False
  game.playable.return_value = True
  game.close.side_effect = lambda *_a: setattr(game, 'stage', native.Stage.CLOSED)
  monkeypatch.setattr(native, 'GameSession', lambda *_a, **_k: game)
  widget = native.SpacePilotPage(mature_gate(), Mock())
  widget.set_rect(rl.Rectangle(0, 0, 536, 240))
  monkeypatch.setattr(gui_app, 'get_active_widget', lambda: widget)
  monkeypatch.setattr(gui_app, 'pop_widget', Mock())
  monkeypatch.setattr(gui_app, '_mouse_events', [])
  widget.show_event()
  yield widget
  widget.hide_event()


def test_native_touch_starts_hold_does_not_repeat_exit_and_cleanup(page):
  page._handle_mouse_press(MousePos(160, 120))
  assert page.flight.phase == Phase.FLIGHT
  page.flight.vy = 10
  page._handle_mouse_press(MousePos(160, 120))
  assert page.flight.vy == 10
  page._handle_mouse_event(MouseEvent(MousePos(160, 120), 0, False, True, False, 10.1))
  page._handle_mouse_press(MousePos(500, 20))
  game = page.session
  page._handle_mouse_event(MouseEvent(MousePos(500, 20), 0, False, True, False, 10.2))
  assert page.closed and page.session.stage == native.Stage.CLOSED
  game.close.assert_called_once()
  gui_app.pop_widget.assert_called_once()
  assert page._tick not in gui_app._nav_stack_ticks
  assert not page.flight.gates


@pytest.mark.parametrize('reason', ['stale', 'hidden', 'backlog', 'no_socket'])
def test_safety_exit_reveals_main_and_never_renders_or_continues_input(page, monkeypatch, reason):
  if reason == 'hidden':
    monkeypatch.setattr(gui_app, 'get_active_widget', lambda: object())
  else:
    page.session.step.side_effect = lambda: setattr(page.session, 'stage', native.Stage.CLOSED)
  page._tick()
  page.on_unsafe.assert_called_once()
  assert page.closed and page.session.stage == native.Stage.CLOSED
  page.renderer = Mock()
  page._render(page.rect)
  page.renderer.render.assert_not_called()
  page._tick()
  page.on_unsafe.assert_called_once()


def test_wheel_only_observes_admitted_game_and_drives_same_action(page):
  page.session.step.return_value = True
  page._tick()
  assert page.flight.phase == Phase.FLIGHT
  page.session.step.assert_called_once_with()


def test_optional_render_failure_returns_to_native_alerts(page, monkeypatch):
  page.renderer = Mock()
  page.renderer.render.side_effect = RuntimeError('GL fixture failure')
  monkeypatch.setattr(native.cloudlog, 'exception', Mock())
  page._render(page.rect)
  assert page.closed and page.session.stage == native.Stage.CLOSED
  page.on_unsafe.assert_called_once()


@pytest.mark.parametrize('vector', [True, False])
def test_gradient_supports_comma_and_desktop_native_signatures(monkeypatch, vector):
  renderer = native.SpaceRenderer()
  renderer.vector_gradient = vector
  draw = Mock()
  monkeypatch.setattr(rl, 'draw_circle_gradient', draw)
  renderer.gradient(12, 13, 20, rl.WHITE, rl.BLANK)
  args = draw.call_args.args
  assert len(args) == (4 if vector else 5)
  assert args[-3:] == (20, rl.WHITE, rl.BLANK)


@pytest.mark.parametrize('interruption', ['long_press', 'drag', 'scroll_cancel', 'other_tile', 'hide', 'unsafe'])
def test_version_sequence_resets_on_interruption(monkeypatch, interruption):
  monkeypatch.setattr(gui_app, 'texture', lambda *_a, **_k: NS(width=64, height=64))
  monkeypatch.setattr(gui_app, 'font', lambda *_a: rl.Font())
  monkeypatch.setattr(native, 'ui_state', NS(params=NS(get=lambda _: '0.10.3')))
  monkeypatch.setattr(native, 'live_witness', lambda: read(parked_ui()))
  pushed = Mock()
  monkeypatch.setattr(gui_app, 'push_widget', pushed)
  version = native.VersionButton(Mock())
  version.set_rect(rl.Rectangle(0, 0, 402, 180))
  version._sub_label.set_rect(rl.Rectangle(40, 110, 322, 46))
  version.gate = mature_gate()
  for i in range(4):
    version.taps.tap(10 + i * .2)
  if interruption == 'hide':
    version.hide_event()
  elif interruption == 'unsafe':
    monkeypatch.setattr(native, 'live_witness', lambda: None)
    version._update_state()
  elif interruption == 'scroll_cancel':
    version.set_touch_valid_callback(lambda: False)
    monkeypatch.setattr(gui_app, '_mouse_events', [])
    version._process_mouse_events()
  else:
    start = MousePos(100, 130)
    finish = MousePos(130, 130) if interruption == 'drag' else start
    if interruption == 'other_tile':
      start = finish = MousePos(500, 130)
    monkeypatch.setattr(gui_app, '_mouse_events', [MouseEvent(start, 0, True, False, True, 10.7),
                       MouseEvent(finish, 0, False, True, False, 11.3 if interruption == 'long_press' else 10.75)])
    version._process_mouse_events()
  assert version.taps.count == 0
  pushed.assert_not_called()


def test_five_tap_native_value_region_movement_and_page_reset(monkeypatch):
  monkeypatch.setattr(gui_app, 'texture', lambda *_a, **_k: NS(width=64, height=64))
  monkeypatch.setattr(gui_app, 'font', lambda *_a: rl.Font())
  monkeypatch.setattr(native, 'ui_state', NS(params=NS(get=lambda _: '0.10.3')))
  monkeypatch.setattr(native, 'live_witness', lambda: read(parked_ui()))
  pushed = Mock()
  monkeypatch.setattr(gui_app, 'push_widget', pushed)
  version = native.VersionButton(Mock())
  version.set_rect(rl.Rectangle(0, 0, 402, 180))
  version._sub_label.set_rect(rl.Rectangle(40, 110, 322, 46))
  version.gate = mature_gate()
  for i in range(5):
    now = 10. + i * .2
    monkeypatch.setattr(native.time, 'monotonic', lambda now=now: now)
    pos = MousePos(100, 130)
    monkeypatch.setattr(gui_app, '_mouse_events', [MouseEvent(pos, 0, True, False, True, now),
                                               MouseEvent(pos, 0, False, True, False, now + .04)])
    version._process_mouse_events()
  pushed.assert_called_once()
  assert isinstance(pushed.call_args.args[0], native.SpacePilotPage)
  pushed.reset_mock()
  for i in range(5):
    now = 12. + i * .2
    monkeypatch.setattr(gui_app, '_mouse_events', [MouseEvent(MousePos(100, 130), 0, True, False, True, now),
                    MouseEvent(MousePos(130, 130), 0, False, False, True, now + .02),
                    MouseEvent(MousePos(100, 130), 0, False, True, False, now + .04)])
    version._process_mouse_events()
  pushed.assert_not_called()
  version.taps.tap(20.)
  version.hide_event()
  assert version.taps.count == 0 and not version.gate.ready


def test_return_to_road_is_instant_even_when_still_standing(monkeypatch):
  from openpilot.starpilot.ui import runtime_app
  owner = object.__new__(runtime_app.StarMiciMainLayout)
  owner._scroller = Mock()
  owner._car_onroad_layout = Mock(rect=rl.Rectangle(1072, 0, 536, 240))
  owner._home_layout = Mock(rect=rl.Rectangle(536, 0, 536, 240))
  pop = Mock()
  monkeypatch.setattr(gui_app, 'pop_widgets_to', pop)
  monkeypatch.setattr(runtime_app, 'ui_state', NS(started=True, is_body=False))
  runtime_app.StarMiciMainLayout._exit_spacepilot(owner)
  pop.assert_called_once_with(owner, instant=True)
  owner._scroller.scroll_to.assert_called_once_with(1072, smooth=False)


@pytest.mark.parametrize(('hardware', 'has_owner', 'expected'), [('mici', True, 1), ('tici', True, 0), ('mici', False, 0)])
def test_developer_installs_version_gesture_only_for_c4_with_exit_owner(monkeypatch, tmp_path, hardware, has_owner, expected):
  from openpilot.common.hardware import HARDWARE
  from openpilot.common.params import Params
  from openpilot.selfdrive.ui.mici.layouts.settings import developer
  from openpilot.starpilot.connect import provider
  params = Params(str(tmp_path))
  ui = NS(params=params, is_offroad=lambda: True, is_release=False, add_offroad_transition_callback=Mock())
  monkeypatch.setattr(developer, 'ui_state', ui)
  monkeypatch.setattr(native, 'ui_state', ui)
  monkeypatch.setattr(HARDWARE, 'get_device_type', lambda: hardware)
  monkeypatch.setattr(provider, 'status', lambda: {'selected': 'comma'})
  monkeypatch.setattr(gui_app, 'texture', lambda *_a, **_k: NS(width=64, height=64))
  monkeypatch.setattr(gui_app, 'font', lambda *_a: rl.Font())
  panel = developer.DeveloperLayoutMici(on_spacepilot_exit=Mock() if has_owner else None)
  assert sum(isinstance(item, native.VersionButton) for item in panel._scroller.items) == expected


def test_entry_gate_does_not_share_background_settings_reset(page):
  gate = mature_gate()
  new_page = native.SpacePilotPage(gate, Mock())
  gate.reset()
  assert new_page.gate.ready
  new_page.session.close()


def test_preparation_never_starts_game_and_exit_works(page):
  page.session.stage = native.Stage.STOPPING
  page._handle_mouse_press(MousePos(160, 120))
  assert page.flight.phase == Phase.READY
  page._handle_mouse_event(MouseEvent(MousePos(160, 120), 0, False, True, False, 10.1))
  page._handle_mouse_press(MousePos(500, 20))
  page._handle_mouse_event(MouseEvent(MousePos(500, 20), 0, False, True, False, 10.2))
  assert page.closed


def test_controller_start_debounce_and_unsafe_input_isolated(page):
  page.capture_controller(native.INCREASE_SPEED, 10_100_000_000)
  assert page.flight.phase == Phase.FLIGHT
  page.flight.vy = 10
  page.capture_controller(native.DECREASE_SPEED, 10_110_000_000)
  assert page.flight.vy == 10
  page.capture_controller('unrelated.action', 10_400_000_000)
  assert page.flight.vy == 10
  page.session.playable.return_value = False
  page.capture_controller(native.INCREASE_SPEED, 10_600_000_000)
  assert page.closed


def test_big_ui_canvas_preserves_aspect_and_exit_target(page):
  from openpilot.starpilot.ui.spacepilot.render import canvas_rect
  page.set_rect(rl.Rectangle(0, 0, 2160, 1080))
  canvas = canvas_rect(page.rect)
  assert canvas.width / canvas.height == pytest.approx(1072 / 480)
  assert canvas.y > 0
  assert page._in_exit(MousePos(canvas.x + 997 * canvas.width / 1072, canvas.y + 25 * canvas.height / 480))
  assert not page._in_exit(MousePos(997, 25))


def test_real_nav_stack_launch_survives_background_gesture_reset(monkeypatch, page):
  version = Mock()
  root = Mock()
  monkeypatch.setattr(gui_app, '_nav_stack', [root, version])
  monkeypatch.setattr(gui_app, 'get_active_widget', type(gui_app).get_active_widget.__get__(gui_app))
  monkeypatch.setattr(gui_app, 'pop_widget', type(gui_app).pop_widget.__get__(gui_app))
  game = native.SpacePilotPage(mature_gate(), Mock())
  gui_app.push_widget(game)
  assert gui_app.get_active_widget() is game
  version.set_enabled.assert_called_once_with(False)
  game._tick()
  assert not game.closed
  gui_app.pop_widget()
  assert game.closed and game._tick not in gui_app._nav_stack_ticks


@pytest.mark.parametrize('timeout', [5, 30, 60])
@pytest.mark.parametrize('finish', ['exit', 'unsafe', 'render_failure', 'stopped_ticks'])
def test_game_wake_renews_actual_device_timeout_and_releases(page, monkeypatch, timeout, finish):
  from openpilot.selfdrive.ui import ui_state as display
  from openpilot.starpilot.ui.display_preferences import DisplayPreferences
  clock = [10.]
  state = NS(started=False, ignition=True, projection_read_only=False, sm=NS(valid={}, alive={}))
  monkeypatch.setattr(display, 'ui_state', state)
  monkeypatch.setattr(native, 'ui_state', state)
  monkeypatch.setattr(display, 'PC', False)
  monkeypatch.setattr(display.HARDWARE, 'set_display_power', Mock())
  monkeypatch.setattr(gui_app, 'set_should_render', Mock())
  monkeypatch.setattr(native.time, 'monotonic', lambda: clock[0])
  device = display.Device()
  device._display_preferences = DisplayPreferences(enabled=True, parked_timeout=timeout)
  monkeypatch.setattr(native, 'device', device, raising=False)
  callback = Mock()
  device.add_interactive_timeout_callback(callback)
  device._reset_interactive_timeout()
  # No touch or controller event renews this timer; the actual active page does.
  for _ in range(150):
    clock[0] += .5
    device._update_wakefulness()
    page._tick()
    assert device.awake
    assert device.interactive_timeout == timeout
    assert device._override_interactive_timeout is None
  callback.assert_not_called()
  if finish == 'exit':
    page._exit(unsafe=False)
  elif finish == 'unsafe':
    page.session.step.side_effect = lambda: setattr(page.session, 'stage', native.Stage.CLOSED)
    page._tick()
  elif finish == 'render_failure':
    page.renderer = Mock(render=Mock(side_effect=RuntimeError('fixture render failure')))
    page._render(page.rect)
  # A halted caller renews nothing even if it never receives hide_event.
  clock[0] += timeout + .01
  device._update_wakefulness()
  assert not device.awake
  assert device.interactive_timeout == timeout and device._override_interactive_timeout is None
  callback.assert_called_once()
  assert page.closed or finish == 'stopped_ticks'