mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
237 lines
7.5 KiB
Python
237 lines
7.5 KiB
Python
import gc
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from types import SimpleNamespace
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import weakref
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import pytest
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from openpilot.selfdrive.ui.onroad import cameraview as big_cameraview
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from openpilot.selfdrive.ui.onroad import augmented_road_view as big_augmented_road_view
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from openpilot.selfdrive.ui.mici.onroad import augmented_road_view as mici_augmented_road_view
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def test_road_transition_releases_camera_buffers(monkeypatch):
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module = big_cameraview
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class FakeClient:
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pass
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view = module.CameraView.__new__(module.CameraView)
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old_client = FakeClient()
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old_client_ref = weakref.ref(old_client)
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view._name = "camerad"
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view._stream_type = object()
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view.client = old_client
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view.frame = None
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view.available_streams = [object()]
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view._target_client = FakeClient()
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view._target_stream_type = object()
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view._switching = True
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view._texture_needs_update = False
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view._regressive_frame_count = 2
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view.last_connection_attempt = 123.0
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view._closed = True
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cleared = []
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view._clear_textures = lambda: cleared.append(True)
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del old_client
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view._offroad_transition()
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gc.collect()
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assert old_client_ref() is None
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assert cleared == [True]
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assert view.frame is None
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assert view.available_streams == []
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assert view._target_client is None
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assert view._target_stream_type is None
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assert view._switching is False
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assert view._texture_needs_update
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assert view._regressive_frame_count == 0
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assert view.last_connection_attempt == 0.0
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def test_transition_callback_does_not_retain_camera_view(monkeypatch):
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module = big_cameraview
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class FakeClient:
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pass
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callbacks = []
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monkeypatch.setattr(module, "TICI", False)
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monkeypatch.setattr(module, "VisionIpcClient", lambda *_args, **_kwargs: FakeClient())
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monkeypatch.setattr(module.rl, "load_shader_from_memory", lambda *_args: SimpleNamespace(id=1))
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monkeypatch.setattr(module.rl, "get_shader_location", lambda *_args: 0)
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monkeypatch.setattr(module.rl, "unload_shader", lambda *_args: None)
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monkeypatch.setattr(module.ui_state, "add_offroad_transition_callback", callbacks.append)
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monkeypatch.setattr(module.ui_state, "remove_offroad_transition_callback", callbacks.remove)
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view = module.CameraView("camerad", object())
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view_ref = weakref.ref(view)
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assert len(callbacks) == 1
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del view
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gc.collect()
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assert view_ref() is None
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assert callbacks == []
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def test_stream_switch_releases_graphics_before_old_client():
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module = big_cameraview
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events = []
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class FakeClient:
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pass
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class FakeFrame:
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pass
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view = module.CameraView.__new__(module.CameraView)
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old_client = FakeClient()
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old_client_finalizer = weakref.finalize(old_client, events.append, "client")
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old_frame = FakeFrame()
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old_frame.frame_id = 10
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old_frame.owner = old_client
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old_frame_finalizer = weakref.finalize(old_frame, events.append, "frame")
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view.client = old_client
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view._target_client = FakeClient()
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view._target_stream_type = object()
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view._stream_type = object()
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view._switching = True
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view.frame = old_frame
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view._regressive_frame_count = 2
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view._texture_needs_update = False
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view._closed = True
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view._clear_textures = lambda: events.append("graphics")
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view._initialize_textures = lambda: events.append("initialize")
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del old_frame
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del old_client
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view._complete_switch(SimpleNamespace(frame_id=11))
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gc.collect()
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assert old_client_finalizer.alive is False
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assert old_frame_finalizer.alive is False
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assert events == ["graphics", "frame", "client", "initialize"]
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assert view._regressive_frame_count == 0
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def test_egl_cleanup_deletes_texture_before_images(monkeypatch):
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module = big_cameraview
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events = []
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view = module.CameraView.__new__(module.CameraView)
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view.texture_y = None
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view.texture_uv = None
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view.egl_texture = SimpleNamespace(id=7)
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view._external_texture_id = 11
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view.egl_images = {0: object(), 1: object()}
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view._closed = True
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view._use_egl = True
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monkeypatch.setattr(module.rl, "unload_texture", lambda _texture: events.append("texture"))
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monkeypatch.setattr(module, "destroy_external_texture", lambda _texture: events.append("external"))
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monkeypatch.setattr(module, "destroy_egl_image", lambda _image: events.append("image"))
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view._clear_textures()
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assert events == ["external", "texture", "image", "image"]
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assert view.egl_texture is None
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assert view._external_texture_id == 0
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assert view.egl_images == {}
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def test_egl_cleanup_synchronizes_after_backend_switch(monkeypatch):
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module = big_cameraview
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events = []
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view = module.CameraView.__new__(module.CameraView)
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view.texture_y = None
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view.texture_uv = None
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view.egl_texture = SimpleNamespace(id=7)
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view._external_texture_id = 11
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view.egl_images = {0: object()}
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view._use_egl = False
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view._closed = True
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monkeypatch.setattr(module, "is_egl_initialized", lambda: True)
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monkeypatch.setattr(module.rl, "rl_draw_render_batch_active", lambda: events.append("flush"))
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monkeypatch.setattr(module, "finish_gl", lambda: events.append("finish"))
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monkeypatch.setattr(module.rl, "unload_texture", lambda _texture: events.append("texture"))
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monkeypatch.setattr(module, "destroy_external_texture", lambda _texture: events.append("external"))
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monkeypatch.setattr(module, "destroy_egl_image", lambda _image: events.append("image"))
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view._clear_textures()
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assert events == ["flush", "finish", "external", "texture", "image"]
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def test_reverse_activation_cancels_mismatched_pending_switch():
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view = mici_augmented_road_view.AugmentedRoadView.__new__(mici_augmented_road_view.AugmentedRoadView)
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view._stream_type = mici_augmented_road_view.DRIVER_CAM
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view._target_stream_type = mici_augmented_road_view.WIDE_CAM
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view._target_client = object()
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view._switching = True
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view._closed = True
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view._update_reverse_driver_camera_state = lambda: True
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view._switch_stream_if_needed(None, mici_augmented_road_view.CAMERA_VIEW_AUTO)
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assert view._target_client is None
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assert view._target_stream_type is None
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assert not view._switching
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def test_onroad_reentry_keeps_matching_candidate_alive():
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for module in (big_augmented_road_view, mici_augmented_road_view):
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view = module.AugmentedRoadView.__new__(module.AugmentedRoadView)
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candidate = object()
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view._stream_type = module.ROAD_CAM
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view._target_stream_type = module.ROAD_CAM
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view._target_client = candidate
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view._switching = True
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view._onroad_reentry_pending = True
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view._reentry_stream_selected = True
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view.available_streams = [module.ROAD_CAM]
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view._closed = True
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view._update_reverse_driver_camera_state = lambda: False
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view._refresh_available_streams = lambda: pytest.fail("reentry selection was repeated")
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view._switch_stream_if_needed(None, module.CAMERA_VIEW_STANDARD)
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assert view._target_client is candidate
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assert view._target_stream_type == module.ROAD_CAM
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assert view._switching
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def test_onroad_transition_marks_camera_reentry(monkeypatch):
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module = big_cameraview
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class FakeClient:
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pass
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view = module.CameraView.__new__(module.CameraView)
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view._name = "camerad"
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view._stream_type = object()
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view.client = FakeClient()
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view.frame = None
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view.available_streams = []
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view._target_client = None
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view._target_stream_type = None
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view._switching = False
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view._texture_needs_update = False
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view._regressive_frame_count = 1
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view._closed = True
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view._onroad_reentry_pending = False
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view._reentry_stream_selected = False
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view._clear_textures = lambda: None
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monkeypatch.setattr(module.ui_state, "is_onroad", lambda: True)
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view._offroad_transition()
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assert view._onroad_reentry_pending
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assert not view._reentry_stream_selected
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