mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 05:33:49 +08:00
firestarsdog
102 lines
3.5 KiB
Python
102 lines
3.5 KiB
Python
from types import SimpleNamespace
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from openpilot.selfdrive.ui.onroad.starpilot.widgets import model_source
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class FakeSubMaster:
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def __init__(self, *, selfdrive_frame: int, model_frame: int, model_alive: bool, enabled: bool):
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self.recv_frame = {"selfdriveState": selfdrive_frame, "modelV2": model_frame}
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self.alive = {"modelV2": model_alive}
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self._selfdrive_state = SimpleNamespace(enabled=enabled)
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def __getitem__(self, service: str):
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assert service == "selfdriveState"
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return self._selfdrive_state
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def test_model_source_status_prioritizes_loading_then_fallback_then_failure():
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status = model_source.ModelSourceWidget._status_for
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assert status(True, True, True) is model_source.ModelSourceStatus.LOADING
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assert status(False, True, True) is model_source.ModelSourceStatus.FALLBACK_ENGAGED
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assert status(False, False, True) is model_source.ModelSourceStatus.FAILED
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assert status(False, False, False) is model_source.ModelSourceStatus.ACTIVE
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def test_model_source_failure_detection_matches_the_backend_state_contract():
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failed = model_source.ModelSourceWidget._big_model_failed
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assert failed(False, True, False, True)
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assert failed(True, False, False, True)
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assert failed(True, True, True, False)
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assert not failed(True, True, False, True)
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def test_model_source_latches_small_model_engagement_until_the_big_model_recovers(monkeypatch):
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widget = object.__new__(model_source.ModelSourceWidget)
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widget._small_model_engaged = False
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widget._engaged = False
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widget._fade_time = 0.0
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widget._status = None
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sm = FakeSubMaster(selfdrive_frame=11, model_frame=11, model_alive=True, enabled=True)
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monkeypatch.setattr(
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model_source,
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"ui_state",
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SimpleNamespace(
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sm=sm,
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started_frame=10,
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usbgpu=True,
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usbgpu_compiled=True,
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usbgpu_active=False,
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usbgpu_loading=False,
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),
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)
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monkeypatch.setattr(model_source.rl, "get_time", lambda: 42.0)
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widget._update_state()
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assert widget._small_model_engaged
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assert widget._status is model_source.ModelSourceStatus.FALLBACK_ENGAGED
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assert widget._fade_time == 42.0
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model_source.ui_state.usbgpu_active = True
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widget._update_state()
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assert not widget._small_model_engaged
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assert widget._status is model_source.ModelSourceStatus.ACTIVE
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def test_model_source_uses_the_approved_big_ui_footprint():
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assert model_source.ModelSourceWidget.SIZE == (300.0, 208.0)
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assert model_source.ModelSourceWidget.ICON_SIZES[model_source.ModelSourceStatus.FAILED] == (300, 176)
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def test_model_source_loads_and_centers_the_scaled_assets(monkeypatch):
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calls = []
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def texture(path, width, height):
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calls.append((path, width, height))
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return SimpleNamespace(width=width, height=height)
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monkeypatch.setattr(model_source, "gui_app", SimpleNamespace(target_fps=60, texture=texture))
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widget = model_source.ModelSourceWidget()
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widget._status = model_source.ModelSourceStatus.FAILED
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widget._shown_status = model_source.ModelSourceStatus.FAILED
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widget._fade_time = 1.0
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rendered = []
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monkeypatch.setattr(model_source.rl, "get_time", lambda: 2.0)
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monkeypatch.setattr(model_source.rl, "draw_texture_ex", lambda *_args: rendered.append(_args))
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widget._render(model_source.rl.Rectangle(1830, 436, 300, 208))
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assert calls == [
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("icons_mici/egpu_loading.png", 240, 176),
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("icons_mici/egpu_green.png", 240, 176),
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("icons_mici/egpu_orange.png", 300, 176),
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("icons_mici/egpu_crossed.png", 240, 208),
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]
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assert not widget.blocks_pointer
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assert rendered[0][1].x == 1830
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assert rendered[0][1].y == 452
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