mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 15:33:45 +08:00
Adeeb Shihadeh
88 lines
4.0 KiB
Python
88 lines
4.0 KiB
Python
"""The C4 lead setting uses current radar evidence and the upstream native lead bar."""
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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 numpy as np
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from openpilot.starpilot.ui.raylib import rl
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from openpilot.selfdrive.ui.mici.onroad import model_renderer as native
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class LeadIndicatorTests(unittest.TestCase):
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def test_native_default_off_and_temporary_opt_in_including_stock_longitudinal(self):
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renderer = native.ModelRenderer.__new__(native.ModelRenderer)
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renderer._lead_indicator_enabled = False
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renderer._longitudinal_control = False
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renderer._torque_filter = Mock()
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renderer._path = native.ModelPoints(raw_points=np.array([[20.0, 0.0, 0.0]], dtype=np.float32))
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renderer._path_offset_z = 0.0
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renderer._transform_dirty = False
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renderer._update_model = Mock()
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renderer._update_leads = Mock(side_effect=lambda *_: setattr(
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renderer, "_lead_vehicles", [NS(bar=np.ones((4, 2), dtype=np.float32), info=NS(present=True, dRel=20.0, vLead=10.0))]))
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renderer._draw_lead_indicator = Mock()
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renderer._draw_lane_lines = Mock()
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renderer._draw_path = Mock()
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renderer._experimental_mode = False
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rect = rl.Rectangle(0, 0, 476, 240)
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radar = NS(leadOne=NS(present=False), leadTwo=NS(present=False))
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messages = {"carOutput": NS(actuatorsOutput=NS(torque=0.0)), "extrinsicsCalibration": NS(height=[]),
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"selfdriveState": NS(experimentalMode=False), "modelV2": NS(), "radarState": radar}
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class SubMaster:
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recv_frame = {"extrinsicsCalibration": 2, "modelV2": 2}
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updated = {"carParams": False, "modelV2": False, "radarState": False}
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valid = {"radarState": True}
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def __getitem__(self, key):
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return messages[key]
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sm = SubMaster()
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ui = NS(sm=sm, started_frame=1, status=native.UIStatus.DISENGAGED)
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with patch.object(native, "ui_state", ui), patch.object(native.ModelRenderer, "render", autospec=True,
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side_effect=lambda self, _rect: self._render(_rect)):
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renderer.render(rect)
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renderer._update_leads.assert_not_called()
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renderer._draw_lead_indicator.assert_not_called()
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renderer.render_with_lead(rect, True)
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renderer._update_leads.assert_called_once()
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renderer._draw_lead_indicator.assert_called_once()
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self.assertFalse(renderer._lead_indicator_enabled)
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renderer._path.raw_points = np.empty((0, 3), dtype=np.float32)
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renderer._update_leads.reset_mock()
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renderer._draw_lead_indicator.reset_mock()
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renderer.render_with_lead(rect, True)
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self.assertFalse(renderer._lead_vehicles[0].bar.size, "empty current path clears the old marker")
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renderer._update_leads.assert_not_called()
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renderer._draw_lead_indicator.assert_not_called()
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renderer.render_with_lead(rect, False)
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renderer._update_leads.assert_not_called()
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renderer._draw_lead_indicator.assert_not_called()
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def test_temporary_context_clears_after_render_exception(self):
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renderer = native.ModelRenderer.__new__(native.ModelRenderer)
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renderer._lead_indicator_enabled = False
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with patch.object(native.ModelRenderer, "render", side_effect=RuntimeError("lost frame")):
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with self.assertRaisesRegex(RuntimeError, "lost frame"):
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renderer.render_with_lead(rl.Rectangle(0, 0, 476, 240), True)
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self.assertFalse(renderer._lead_indicator_enabled)
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def test_only_present_finite_leads_are_projected(self):
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from openpilot.starpilot.ui.tests.test_lead_bar import fixture
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for field, value in (("dRel", float("nan")), ("yRel", float("inf")), ("vRel", "bad"), ("dRel", -1.)):
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renderer, sm = fixture()
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setattr(sm["radarState"].leadOne, field, value)
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renderer._update_leads(sm)
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self.assertFalse(renderer._lead_vehicles[0].bar.size)
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renderer._get_lead_bar.assert_not_called()
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renderer, sm = fixture()
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renderer._update_leads(sm)
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self.assertTrue(renderer._lead_vehicles[0].bar.size)
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if __name__ == "__main__":
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unittest.main()
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