mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
115 lines
6.4 KiB
Python
115 lines
6.4 KiB
Python
import unittest
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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 pyray as rl
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from openpilot.starpilot.ui.live_developer_sidebar import DeveloperMetrics, render_sidebar
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from openpilot.starpilot.ui.layout_preview_sidebar import metric_rects
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class TestLiveDeveloperSidebar(unittest.TestCase):
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def observe(self, owner, **changes):
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values = {'drive': 10, 'car': NS(aEgo=-1.), 'delay': NS(lateralDelay=.15),
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'torque': NS(useParams=True, frictionCoefficientFiltered=.12, latAccelFactorFiltered=2.5),
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'parameters': NS(steerRatio=16.8, stiffnessFactor=.9), 'metric': True}
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return owner.observe(**(values | changes))
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def test_original_default_order_real_values_and_drive_reset(self):
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owner = DeveloperMetrics()
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rows = self.observe(owner)
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self.assertEqual([r.label for r in rows], ['ACCEL', 'MAX ACCEL', 'LEARNED DELAY', 'LEARNED FRICTION', 'LEARNED LAT ACCEL', 'STEER RATIO', 'STEER STIFF'])
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self.assertEqual(rows[0].value, '-1.00 m/s²')
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self.observe(owner, car=NS(aEgo=5., gasPressed=True))
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self.assertEqual(self.observe(owner)[1].value, '0.00 m/s²')
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self.observe(owner, car=NS(aEgo=2.))
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self.assertEqual(self.observe(owner)[1].value, '2.00 m/s²')
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self.assertEqual(self.observe(owner, drive=11)[1].value, '0.00 m/s²')
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self.assertEqual(self.observe(owner, metric=False)[0].value, '-3.28 ft/s²')
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def test_missing_nonfinite_sources_and_explicit_cp_fallback(self):
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rows = self.observe(DeveloperMetrics(), car=None, delay=None, torque=None, parameters=None)
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self.assertTrue(all(row.value == '—' for row in rows))
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rows = self.observe(DeveloperMetrics(), car=NS(aEgo=float('nan')), delay=NS(lateralDelay=float('inf')))
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self.assertEqual(rows[0].value, '—')
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self.assertEqual(rows[2].value, '—')
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cp = NS(steerActuatorDelay=.2, lateralTuning=NS(which=lambda: 'torque', torque=NS(friction=.13, latAccelFactor=2.)))
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rows = self.observe(DeveloperMetrics(), delay=None, torque=None, cp=cp)
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self.assertEqual(rows[2].label, 'BASE DELAY')
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self.assertEqual(rows[2].value, '0.20000')
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self.assertEqual(rows[3].value, '0.13000')
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def test_live_render_uses_given_metrics_inside_shifted_rail(self):
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fonts = Mock()
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fonts.measure.return_value = NS(width=100, height=30)
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frame = rl.Rectangle(1560, 0, 300, 1080)
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rows = self.observe(DeveloperMetrics())
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with patch('openpilot.starpilot.ui.live_developer_sidebar.rl.draw_rectangle_rec'), \
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patch('openpilot.starpilot.ui.live_developer_sidebar.rl.draw_rectangle_rounded_lines_ex'):
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render_sidebar(fonts, frame, rows)
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self.assertEqual(fonts.draw.call_count, 14)
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self.assertNotIn('SAMPLE DATA', [call.args[0] for call in fonts.draw.call_args_list])
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self.assertTrue(all(frame.x <= r.x and r.x + r.width <= frame.x + frame.width for r in metric_rects(frame, 7)))
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def test_snapshot_current_stale_and_previous_drive_observations(self):
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from openpilot.starpilot.ui.tests.test_runtime_snapshot import NOW, RuntimeSnapshotAdapter, ui_fake
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from openpilot.starpilot.ui.shell import ShellMode
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ui = ui_fake()
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ui.sm['carState'].aEgo = 1.5
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ui.sm['carState'].canValid = True
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ui.sm['carState'].canTimeout = False
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ui.sm.put('lateralDelay', NS(lateralDelay=.12))
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ui.sm.put('lateralTorqueParameters', NS(useParams=True, frictionCoefficientFiltered=.15, latAccelFactorFiltered=2.4))
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ui.sm.put('vehicleParameters', NS(steerRatio=17., stiffnessFactor=1.1))
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adapter = RuntimeSnapshotAdapter(ui)
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rows = adapter.build(ShellMode.ONROAD, now_ns=NOW).onroad.developer_metrics
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self.assertEqual(rows[0].value, '4.92 ft/s²')
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self.assertEqual(rows[3].value, '0.15000')
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for service in ('lateralDelay', 'lateralTorqueParameters'):
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ui.sm.logMonoTime[service] = NOW - 300_000_000
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rows = adapter.build(ShellMode.ONROAD, now_ns=NOW).onroad.developer_metrics
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self.assertEqual(rows[2].value, '0.12000')
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self.assertEqual(rows[3].value, '0.15000')
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for service in ('carState', 'lateralDelay', 'lateralTorqueParameters', 'vehicleParameters'):
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ui.sm.logMonoTime[service] = NOW - 600_000_000
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rows = adapter.build(ShellMode.ONROAD, now_ns=NOW).onroad.developer_metrics
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self.assertTrue(all(row.value == '—' for row in rows))
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for service in ('carState', 'lateralDelay', 'lateralTorqueParameters', 'vehicleParameters'):
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ui.sm.logMonoTime[service] = NOW
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ui.sm.recv_frame[service] = ui.started_frame
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rows = adapter.build(ShellMode.ONROAD, now_ns=NOW).onroad.developer_metrics
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self.assertTrue(all(row.value == '—' for row in rows))
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def test_onroad_view_physical_rail_and_projection_omission(self):
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from contextlib import ExitStack
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from pathlib import Path
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from openpilot.starpilot.ui.onroad import OnroadView
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from openpilot.starpilot.ui.onroad_state import OnroadState, SpeedLimitObservation
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from openpilot.starpilot.ui.presentation import Profile
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fonts = Mock(profile=Profile.LARGE)
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fonts.measure.return_value = NS(width=100, height=30)
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state = OnroadState(False, False, None, None, SpeedLimitObservation(), viewport_width=1560,
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developer_metrics=self.observe(DeveloperMetrics()))
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with ExitStack() as stack:
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for name in ('draw_rectangle_rec', 'draw_rectangle_gradient_v', 'draw_rectangle_lines_ex',
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'draw_rectangle_rounded', 'draw_rectangle_rounded_lines_ex', 'draw_line_ex', 'draw_circle', 'draw_texture_pro',
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'rl_push_matrix', 'rl_translatef', 'rl_pop_matrix'):
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stack.enter_context(patch('openpilot.starpilot.ui.onroad.rl.' + name))
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stack.enter_context(patch('openpilot.starpilot.ui.onroad.clip.begin_scissor_mode'))
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stack.enter_context(patch('openpilot.starpilot.ui.onroad.clip.end_scissor_mode'))
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stack.enter_context(patch('openpilot.starpilot.ui.onroad.render_corner_hint'))
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stack.enter_context(patch('openpilot.starpilot.ui.onroad.gui_app.add_render_prepare'))
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rail = stack.enter_context(patch('openpilot.starpilot.ui.onroad.render_live_sidebar'))
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view = OnroadView(fonts, Path('/unused'))
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view.unified_speed = view.current_speed = view.steering_wheel = Mock()
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view.navigation = view.alert = Mock()
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view._large(state)
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self.assertEqual(rail.call_args.args[1].x, 1560)
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self.assertEqual(rail.call_args.args[1].width, 300)
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rail.reset_mock()
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view.projection_viewport = (1280, 720)
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view._large(state)
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rail.assert_not_called()
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