openpilot v0.11.1 release
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
This commit is contained in:
Vehicle Researcher
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from __future__ import annotations
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from typing import TYPE_CHECKING
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from collections.abc import Callable
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from dataclasses import dataclass
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import math
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from cereal import car, log, messaging
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from cereal.messaging import PubMaster
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.params import Params
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from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
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from openpilot.selfdrive.ui.lib.prime_state import PrimeType
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from openpilot.selfdrive.ui.tests.diff.replay import FPS, LayoutVariant
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from openpilot.system.updated.updated import parse_release_notes
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# Default frames to wait after events
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WAIT_LONG = FPS
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WAIT_SHORT = FPS // 2
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FAST_CLICK = FPS // 6
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# Direction vectors for drag gestures
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DIR_LEFT = (-1, 0)
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DIR_RIGHT = (1, 0)
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DIR_UP = (0, -1)
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DIR_DOWN = (0, 1)
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AlertSize = log.SelfdriveState.AlertSize
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AlertStatus = log.SelfdriveState.AlertStatus
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BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name"
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@dataclass
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class ScriptEvent:
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if TYPE_CHECKING:
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# Only import for type checking to avoid excluding the application code from coverage
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from openpilot.system.ui.lib.application import MouseEvent
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setup: Callable | None = None # Setup function to run prior to adding mouse events
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mouse_events: list[MouseEvent] | None = None # Mouse events to send to the application on this event's frame
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send_fn: Callable | None = None # When set, the main loop uses this as the new persistent sender
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ScriptEntry = tuple[int, ScriptEvent] # (frame, event)
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class Script:
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def __init__(self, fps: int) -> None:
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self.fps = fps
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self.frame = 0
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self.entries: list[ScriptEntry] = []
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def get_frame_time(self) -> float:
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return self.frame / self.fps
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def add(self, event: ScriptEvent, before: int = 0, after: int = 0) -> None:
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"""Add event to the script, optionally with the given number of frames to wait before or after the event."""
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self.frame += before
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self.entries.append((self.frame, event))
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self.frame += after
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def end(self) -> None:
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"""Add a final empty event to mark the end of the script."""
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self.add(ScriptEvent()) # Without this, it will just end on the last event without waiting for any specified delay after it
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def wait(self, frames: int) -> None:
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"""Add a delay for the given number of frames followed by an empty event."""
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self.add(ScriptEvent(), before=frames)
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def setup(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
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"""Add a setup function to be called immediately followed by a delay of the given number of frames."""
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self.add(ScriptEvent(setup=fn), after=wait_after)
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def set_send(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
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"""Set a new persistent send function to be called every frame."""
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self.add(ScriptEvent(send_fn=fn), after=wait_after)
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def click(self, x: int, y: int, wait_after: int = WAIT_SHORT, wait_between: int = 2) -> None:
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"""Add a click event to the script for the given position and specify frames to wait between mouse events or after the click."""
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# NOTE: By default we wait a couple frames between mouse events so pressed states will be rendered
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from openpilot.system.ui.lib.application import MouseEvent, MousePos
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mouse_down = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=self.get_frame_time())
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self.add(ScriptEvent(mouse_events=[mouse_down]), after=wait_between)
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mouse_up = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
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self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
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def drag(self, start_x: int, start_y: int, direction: tuple[int, int], distance: int, duration_frames: int, wait_after: int = WAIT_LONG) -> None:
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"""Add a drag gesture to the script from start position in the specified direction by the given distance over the given number of frames."""
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from openpilot.system.ui.lib.application import MouseEvent, MousePos
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# Calculate delta and end position based on direction and distance
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delta_x, delta_y = direction[0] * distance, direction[1] * distance
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end_x, end_y = start_x + delta_x, start_y + delta_y
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# Mouse down at start
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mouse_down = MouseEvent(pos=MousePos(start_x, start_y), slot=0, left_pressed=True, left_released=False, left_down=True, t=self.get_frame_time())
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self.add(ScriptEvent(mouse_events=[mouse_down]), after=1)
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# Interpolate positions over duration_frames
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for i in range(1, duration_frames):
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t = i / duration_frames
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x, y = int(start_x + delta_x * t), int(start_y + delta_y * t)
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mouse_move = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=self.get_frame_time())
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self.add(ScriptEvent(mouse_events=[mouse_move]), after=1)
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# Mouse up at end
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mouse_up = MouseEvent(pos=MousePos(end_x, end_y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
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self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
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# --- Setup functions ---
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def set_prime_state(prime_type: PrimeType) -> None:
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from openpilot.selfdrive.ui.ui_state import ui_state
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ui_state.prime_state.set_type(prime_type)
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def setup_offroad_alerts() -> None:
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set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
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set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
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set_offroad_alert("Offroad_IsTakingSnapshot", True)
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def setup_update_available(available: bool = True) -> None:
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params = Params()
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params.put_bool("UpdateAvailable", available, block=True)
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params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]), block=True)
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if available:
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params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01", block=True)
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params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
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params.put("UpdaterTargetBranch", BRANCH_NAME, block=True)
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else:
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params.remove("UpdaterNewDescription")
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params.remove("UpdaterNewReleaseNotes")
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params.remove("UpdaterTargetBranch")
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def setup_calibration_params() -> None:
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params = Params()
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# live calibration
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calib = messaging.new_message('liveCalibration')
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calib.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
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calib.liveCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
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params.put("CalibrationParams", calib.to_bytes(), block=True)
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# live delay
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delay = messaging.new_message('liveDelay')
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delay.liveDelay.calPerc = 75
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params.put("LiveDelay", delay.to_bytes(), block=True)
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# live torque parameters
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torque = messaging.new_message('liveTorqueParameters')
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torque.liveTorqueParameters.useParams = True
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torque.liveTorqueParameters.calPerc = 60
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params.put("LiveTorqueParameters", torque.to_bytes(), block=True)
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def setup_developer_params() -> None:
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CP = car.CarParams()
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CP.alphaLongitudinalAvailable = True
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Params().put("CarParamsPersistent", CP.to_bytes(), block=True)
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# --- Send functions ---
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def send_onroad(pm: PubMaster) -> None:
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ds = messaging.new_message('deviceState')
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ds.deviceState.started = True
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ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
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ps = messaging.new_message('pandaStates', 1)
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ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos
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ps.pandaStates[0].ignitionLine = True
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pm.send('deviceState', ds)
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pm.send('pandaStates', ps)
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def make_network_state_setup(pm: PubMaster, network_type) -> Callable:
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def _send() -> None:
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ds = messaging.new_message('deviceState')
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ds.deviceState.networkType = network_type
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pm.send('deviceState', ds)
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return _send
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def make_alert_setup(pm: PubMaster, size, text1, text2, status) -> Callable:
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def _send() -> None:
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alert = messaging.new_message('selfdriveState')
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ss = alert.selfdriveState
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ss.alertSize = size
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ss.alertText1 = text1
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ss.alertText2 = text2
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ss.alertStatus = status
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pm.send('selfdriveState', alert)
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return _send
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def test_onroad_alerts(script: Script, pm: PubMaster) -> None:
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"""Go through various alert types and sizes and add them to the script to test alert rendering.
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Each alert is sent as a separate event with a delay in between."""
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# Small alert (normal)
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script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal))
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# Medium alert (userPrompt)
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script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt))
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# Full alert (critical)
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script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical))
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# Full alert multiline
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script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal))
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# Full alert long text
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script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt))
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# --- Script builders ---
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def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
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"""Build the replay script for the mici layout."""
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from openpilot.system.ui.lib.application import gui_app
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width, height = gui_app.width, gui_app.height
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center = (width // 2, height // 2)
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right = (width * 4 // 5, height // 2)
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left = (width // 5, height // 2)
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top = (width // 2, height // 10)
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bottom = (width // 2, height * 9 // 10)
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DURATION = 5
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SWIPE_WAIT = FPS * 3 // 4
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def click(times: int = 1, wait_after: int = WAIT_SHORT) -> None:
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"""Click at the center of the screen the given number of times with optional delay after."""
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for _ in range(times):
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script.click(*center, wait_after=wait_after)
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def press(x: int, y: int, duration_frames: int = DURATION, wait_after: int = WAIT_SHORT) -> None:
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"""Perform a drag with no movement to simulate a left_down mouse event at the given position for the specified duration and delay after."""
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script.drag(x, y, (0, 0), 0, duration_frames, wait_after=wait_after)
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def swipe_left(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
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"""Drag from right edge to left (scroll right / slide confirmation)."""
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script.drag(*right, DIR_LEFT, distance, duration_frames, wait_after)
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def swipe_right(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
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"""Drag from left edge to right (scroll left)."""
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script.drag(*left, DIR_RIGHT, distance, duration_frames, wait_after)
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def swipe_down(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
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"""Drag from top edge to bottom (scroll up / go back)."""
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script.drag(*top, DIR_DOWN, distance, duration_frames, wait_after)
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def swipe_up(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
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"""Drag from bottom edge to top (scroll down)."""
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script.drag(*bottom, DIR_UP, distance, duration_frames, wait_after)
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ActionFn = Callable[[], None] | None
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Cases = list[ActionFn]
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def run_actions(*actions: ActionFn, after_each: ActionFn = None) -> None:
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"""Helper function to run a sequence of actions in order for interaction tests, calling after_each callback after each action if provided."""
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for action in actions:
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if action is not None:
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action()
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if after_each is not None:
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after_each()
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def explore_setting(*actions: ActionFn) -> None:
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"""Helper function to open a settings item, run the given actions, and go back."""
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run_actions(click, *actions, swipe_down) # open, interact, go back
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def scroll_through_cases(cases: Cases) -> None:
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"""Helper function to explore a panel by calling the interaction callbacks for each item/page before swiping to the next one."""
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run_actions(*cases, after_each=lambda: swipe_left(210, 10)) # swipe to roughly the center of the next toggle after each case
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def interact_keyboard() -> None:
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"""Interact with the keyboard in various ways to test different actions and states.
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Assumes it's a password keyboard with 8 characters required. Closes by pressing confirm at the end."""
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KEY = (250, 160) # key in the middle of the keyboard ('G')
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SHIFT = (50, 210)
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NUMBERS = (480, 210)
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SPACE = (500, 160)
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BACKSPACE = (490, 30)
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CONFIRM = (50, 30)
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# Begin interactions
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press(*CONFIRM, wait_after=FAST_CLICK) # confirm while disabled should do nothing
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swipe_left(duration_frames=FPS // 2) # swipe to type
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swipe_up(duration_frames=FPS // 2) # swipe out of keyboard (nothing typed)
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# press various keys to test different states:
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for key in [
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SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY, # test casing (upper, lower, caps lock)
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SPACE, SPACE, BACKSPACE, BACKSPACE, # test multiple space and backspace
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NUMBERS, KEY, center, SHIFT, KEY # test numbers and symbols
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]:
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press(*key, wait_after=FAST_CLICK)
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# press confirm to close
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script.wait(WAIT_SHORT) # wait for confirm to enable
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press(*CONFIRM)
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toggle_cases: Cases = [
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lambda: click(times=3, wait_after=FAST_CLICK), # first toggle is personality, which has 3 states
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None, None, None, None, None, None, # skip other toggles to save time
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lambda: click(times=2, wait_after=FAST_CLICK), # test final toggle (enable openpilot)
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]
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network_cases: Cases = [
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explore_setting, # select wifi (just open and close)
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None, None,
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lambda: run_actions(click, interact_keyboard), # tether password keyboard
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]
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device_cases: Cases = [
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None,
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click, # update
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explore_setting, # pairing (just open and close)
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lambda: explore_setting(
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# training guide
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lambda: swipe_left(width * 2), click, # first page, click next
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lambda: swipe_left(width * 2), swipe_down # second page, go back (TODO: make driver cam preview work)
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),
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None, # TODO: preview driver camera; enabling this causes MultiplePublishersError later in onroad alert tests
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lambda: explore_setting(swipe_left), # terms & conditions (swipe to view QR code)
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lambda: explore_setting(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)), # regulatory info
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lambda: run_actions(click, lambda: swipe_left(width)), # reset calibration confirm (goes back automatically)
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lambda: explore_setting(lambda: swipe_left(width)), # uninstall
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lambda: run_actions(
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lambda: explore_setting(lambda: swipe_left(width)), # reboot
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lambda: script.click(430, 120), lambda: swipe_left(width), swipe_down, # shutdown
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),
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]
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developer_cases: Cases = [
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lambda: click(times=2, wait_after=FAST_CLICK), # toggle ssh mode
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explore_setting, # SSH keys keyboard (just open and close)
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None, # joystick mode
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lambda: click(wait_after=FAST_CLICK), # longitudinal maneuver mode (disabled; should do nothing)
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lambda: click(times=2, wait_after=FAST_CLICK), # toggle UI debug mode
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]
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settings_cases: Cases = [
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lambda: scroll_through_cases(toggle_cases),
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lambda: scroll_through_cases(network_cases),
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lambda: scroll_through_cases(device_cases),
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lambda: script.wait(WAIT_SHORT), # pairing
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lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)), # firehose (scroll down and back up)
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lambda: scroll_through_cases(developer_cases),
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]
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# === Homescreen === #
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script.wait(WAIT_SHORT)
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swipe_left(width, wait_after=WAIT_SHORT) # onroad screen
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swipe_right(width, wait_after=WAIT_SHORT) # back to home
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# === Offroad Alerts ===
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def setup_offroad_alerts_and_refresh() -> None:
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"""Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
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setup_offroad_alerts()
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params = Params()
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main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
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{alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
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main_layout._alerts_layout._refresh()
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swipe_right(width, wait_after=WAIT_SHORT) # open alerts
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script.setup(setup_offroad_alerts_and_refresh) # show alerts
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swipe_up(height) # scroll alerts
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swipe_left(width, wait_after=WAIT_SHORT) # close alerts
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# === Settings === #
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click() # open settings
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scroll_through_cases([lambda case=case: explore_setting(case) for case in settings_cases]) # explore settings
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swipe_down() # back to home
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# === Onroad ===
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script.set_send(lambda: send_onroad(pm))
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swipe_left(width, wait_after=WAIT_SHORT) # onroad screen
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test_onroad_alerts(script, pm)
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swipe_right(width) # back to home
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script.end()
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||||
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||||
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def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
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"""Build the replay script for the tizi layout."""
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||||
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||||
def make_home_refresh_setup(fn: Callable) -> Callable:
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"""Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout."""
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||||
from openpilot.selfdrive.ui.layouts.main import MainState
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||||
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||||
def setup():
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||||
fn()
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main_layout._layouts[MainState.HOME].last_refresh = 0
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||||
|
||||
return setup
|
||||
|
||||
def add_prime_state_setup(prime_type: PrimeType) -> None:
|
||||
script.set_send(lambda: set_prime_state(prime_type))
|
||||
|
||||
def do_onboarding() -> None:
|
||||
"""Click through the training guide and close."""
|
||||
from openpilot.selfdrive.ui.layouts.onboarding import STEP_RECTS
|
||||
step = 0
|
||||
for step_rect in STEP_RECTS:
|
||||
if step < len(STEP_RECTS) - 1:
|
||||
script.click(int(step_rect.x), int(step_rect.y), wait_after=FAST_CLICK)
|
||||
else:
|
||||
script.click(950, 900) # On the last step, click Finish instead of restart
|
||||
step += 1
|
||||
|
||||
def type_keyboard() -> None:
|
||||
"""Types 8 characters using the big keyboard to test different layouts and interactions."""
|
||||
KEY = (150, 430) # e.g. 'Q' key
|
||||
SHIFT = (150, 750) # also symbols key in number mode
|
||||
NUMBERS = (150, 950)
|
||||
SPACE = (1060, 950)
|
||||
BACKSPACE = (2000, 780)
|
||||
for key in [
|
||||
SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY, # test casing (upper, lower, caps lock)
|
||||
SPACE, SPACE, BACKSPACE, BACKSPACE, # test multiple space and backspace
|
||||
NUMBERS, KEY, KEY, SHIFT, KEY, KEY # test numbers and symbols
|
||||
]:
|
||||
script.click(*key, wait_after=FAST_CLICK)
|
||||
|
||||
# TODO: Better way of organizing the events
|
||||
|
||||
# === Homescreen ===
|
||||
script.set_send(make_network_state_setup(pm, log.DeviceState.NetworkType.wifi))
|
||||
# Go through different prime state layouts
|
||||
add_prime_state_setup(PrimeType.LITE)
|
||||
add_prime_state_setup(PrimeType.NONE)
|
||||
add_prime_state_setup(PrimeType.UNPAIRED)
|
||||
|
||||
# === Update Available (auto-transitions via HomeLayout refresh) ===
|
||||
script.setup(make_home_refresh_setup(setup_update_available))
|
||||
|
||||
# === Offroad Alerts (auto-transitions via HomeLayout refresh, overrides update) ===
|
||||
script.setup(make_home_refresh_setup(setup_offroad_alerts))
|
||||
script.click(620, 950) # close alerts
|
||||
|
||||
# === Settings (click sidebar settings button) ===
|
||||
script.click(150, 90)
|
||||
|
||||
# === Settings - Device ===
|
||||
# pair device
|
||||
script.click(2000, 450) # pair device
|
||||
script.click(110, 110) # close pairing dialog
|
||||
add_prime_state_setup(PrimeType.NONE) # changed from unpaired to hide pair device button
|
||||
# calibration
|
||||
script.setup(setup_calibration_params, wait_after=0)
|
||||
script.click(1000, 620) # expand calibration description
|
||||
script.click(2000, 620) # reset calibration confirmation
|
||||
script.click(1500, 750) # confirm reset
|
||||
script.click(1000, 620) # collapse calibration description
|
||||
# training guide
|
||||
script.click(2000, 800) # open training guide
|
||||
do_onboarding()
|
||||
# regulatory info
|
||||
script.click(2000, 970) # regulatory button
|
||||
script.click(2000, 970) # OK
|
||||
|
||||
# === Settings - Network ===
|
||||
script.click(278, 450)
|
||||
# TODO: mock networks
|
||||
script.click(1880, 100) # advanced network settings
|
||||
|
||||
# Keyboard (tethering password)
|
||||
script.click(2000, 420, wait_after=FAST_CLICK) # open tether password keyboard
|
||||
script.click(2000, 950, wait_after=FAST_CLICK) # click confirm (disabled, should not close)
|
||||
script.click(2000, 115) # cancel (close without typing)
|
||||
script.click(2000, 420, wait_after=FAST_CLICK) # open keyboard again
|
||||
type_keyboard() # test various keyboard layouts and interactions
|
||||
script.click(2050, 250, wait_after=FAST_CLICK) # toggle show/hide password
|
||||
script.click(2000, 950) # confirm (close keyboard)
|
||||
|
||||
script.click(630, 80) # back from advanced network
|
||||
|
||||
# === Settings - Toggles ===
|
||||
script.click(278, 600)
|
||||
script.click(1200, 280) # expand experimental mode description
|
||||
|
||||
# === Settings - Software ===
|
||||
script.setup(lambda: setup_update_available(False), wait_after=0) # start with no update available
|
||||
script.click(278, 720) # software
|
||||
for _ in range(2):
|
||||
script.click(720, 120) # toggle current release notes
|
||||
script.setup(setup_update_available) # set update available
|
||||
for _ in range(2):
|
||||
script.click(720, 450) # toggle new release notes
|
||||
script.click(2000, 630) # open select branch dialog
|
||||
script.click(1000, 300) # select 1st option
|
||||
script.click(1600, 900) # confirm selection
|
||||
script.click(2000, 800) # uninstall
|
||||
script.click(650, 750) # cancel uninstall
|
||||
|
||||
# === Settings - Firehose ===
|
||||
script.click(278, 845)
|
||||
|
||||
# === Settings - Developer (set CarParamsPersistent first) ===
|
||||
script.setup(setup_developer_params, wait_after=0)
|
||||
script.click(278, 950)
|
||||
script.click(1930, 470) # SSH keys (keyboard)
|
||||
script.click(1930, 115) # click cancel on keyboard
|
||||
script.click(2000, 960) # toggle alpha long
|
||||
script.click(1500, 875) # confirm
|
||||
|
||||
# === Close settings ===
|
||||
script.click(250, 160)
|
||||
|
||||
# === Onroad ===
|
||||
script.set_send(lambda: send_onroad(pm))
|
||||
script.click(1000, 500) # click onroad to toggle sidebar
|
||||
test_onroad_alerts(script, pm)
|
||||
|
||||
# End
|
||||
script.end()
|
||||
|
||||
|
||||
def build_script(pm: PubMaster, main_layout, variant: LayoutVariant) -> list[ScriptEntry]:
|
||||
"""Build the replay script for the appropriate layout variant and return list of script entries."""
|
||||
print(f"Building {variant} replay script...")
|
||||
|
||||
script = Script(FPS)
|
||||
builder = build_tizi_script if variant == 'tizi' else build_mici_script
|
||||
builder(pm, main_layout, script)
|
||||
|
||||
print(f"Built replay script with {len(script.entries)} events and {script.frame} frames ({script.get_frame_time():.2f} seconds)")
|
||||
|
||||
return script.entries
|
||||
Reference in New Issue
Block a user