mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 21:43:44 +08:00
Adeeb Shihadeh
59 lines
2.9 KiB
Python
59 lines
2.9 KiB
Python
from types import SimpleNamespace as NS
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from unittest.mock import Mock
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import numpy as np
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import pytest
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from openpilot.selfdrive.ui.onroad import cameraview as large_camera
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from openpilot.selfdrive.ui.mici.onroad import cameraview as small_camera
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from openpilot.selfdrive.ui.onroad import model_renderer as large_model
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from openpilot.selfdrive.ui.mici.onroad import model_renderer as small_model
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@pytest.mark.parametrize("module", [large_camera, small_camera])
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def test_shared_camera_constructor_preserves_display_specific_clients_and_uniforms(module, monkeypatch):
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ui = NS(add_offroad_transition_callback=Mock())
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clients = []
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def client(name, stream, conflate):
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clients.append((name, stream, conflate))
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return NS(stream=stream)
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for target in (large_camera, small_camera):
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monkeypatch.setattr(target, "COMMA_HARDWARE", False)
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monkeypatch.setattr(target, "ui_state", ui)
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monkeypatch.setattr(target, "VisionIpcClient", client)
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monkeypatch.setattr(module.CameraView, "close", lambda self: None)
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shader = Mock(return_value=NS(id=1))
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monkeypatch.setattr(module.rl, "load_shader_from_memory", shader)
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monkeypatch.setattr(module.rl, "get_shader_location", lambda *_args: 1)
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stream = module.VisionStreamType.VISION_STREAM_CABIN
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camera = module.CameraView("camerad", stream)
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assert shader.call_args.args[1] == module.FRAME_FRAGMENT_SHADER
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assert camera.stream_type == stream
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assert camera.frame is None and camera._color_strength_val.tolist() == [0.0]
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assert camera.texture_y is None and camera.texture_uv is None
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ui.add_offroad_transition_callback.assert_called_once_with(camera._offroad_transition)
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if module is small_camera:
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assert clients == [("camerad", stream, True)]
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assert camera._engaged_val.tolist() == [1]
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assert camera._enhance_driver_val.tolist() == [1]
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else:
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assert len(clients) == len(list(module.VisionStreamType))
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assert camera._road_camera_val.tolist() == [0]
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camera.shader.id = 0
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def test_shared_model_constructor_keeps_distinct_lead_types_and_native_geometry():
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assert issubclass(small_model.ModelRenderer, large_model.ModelGeometry)
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assert issubclass(large_model.ModelRenderer, large_model.ModelGeometry)
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for module in (large_model, small_model):
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renderer = module.ModelRenderer()
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assert all(isinstance(lead, module.LeadVehicle) for lead in renderer._lead_vehicles)
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assert len(renderer._lane_lines) == 4 and len(renderer._road_edges) == 2
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assert renderer._path.raw_points.shape == (0, 3)
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assert renderer._path.raw_points.dtype == np.float32
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renderer.set_transform(np.eye(3))
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np.testing.assert_array_equal(renderer._car_space_transform, np.eye(3, dtype=np.float32))
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assert small_model.ModelRenderer.set_transform is large_model.ModelRenderer.set_transform
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assert small_model.ModelRenderer._update_raw_points is large_model.ModelRenderer._update_raw_points
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assert small_model.ModelRenderer._draw_lane_lines is not large_model.ModelRenderer._draw_lane_lines
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