openpilot_comma/selfdrive/ui/tests/test_ui/raylib_screenshots.py

#!/usr/bin/env python3
import os
import sys
import shutil
import time
import pathlib
from collections import namedtuple

import pyautogui
import pywinctl

from cereal import log
from cereal import messaging
from cereal.messaging import PubMaster
from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert

TEST_DIR = pathlib.Path(__file__).parent
TEST_OUTPUT_DIR = TEST_DIR / "raylib_report"
SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
UI_DELAY = 0.1

# Offroad alerts to test
OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot']


def setup_homescreen(click, pm: PubMaster):
  pass


def setup_settings_device(click, pm: PubMaster):
  click(100, 100)


def setup_settings_network(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 450)


def setup_settings_toggles(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 600)


def setup_settings_software(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 720)


def setup_settings_firehose(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 845)


def setup_settings_developer(click, pm: PubMaster):
  setup_settings_device(click, pm)
  click(278, 950)


def setup_keyboard(click, pm: PubMaster):
  setup_settings_developer(click, pm)
  click(1930, 270)


def setup_pair_device(click, pm: PubMaster):
  click(1950, 800)


def setup_offroad_alert(click, pm: PubMaster):
  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
  for alert in OFFROAD_ALERTS:
    set_offroad_alert(alert, True)

  setup_settings_device(click, pm)
  click(240, 216)


CASES = {
  "homescreen": setup_homescreen,
  "settings_device": setup_settings_device,
  "settings_network": setup_settings_network,
  "settings_toggles": setup_settings_toggles,
  "settings_software": setup_settings_software,
  "settings_firehose": setup_settings_firehose,
  "settings_developer": setup_settings_developer,
  "keyboard": setup_keyboard,
  "pair_device": setup_pair_device,
  "offroad_alert": setup_offroad_alert,
}


class TestUI:
  def __init__(self):
    os.environ["SCALE"] = os.getenv("SCALE", "1")
    sys.modules["mouseinfo"] = False

  def setup(self):
    # Seed minimal offroad state
    self.pm = PubMaster(["deviceState"])
    ds = messaging.new_message('deviceState')
    ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
    for _ in range(5):
      self.pm.send('deviceState', ds)
      ds.clear_write_flag()
      time.sleep(0.05)
    time.sleep(0.5)
    try:
      self.ui = pywinctl.getWindowsWithTitle("UI")[0]
    except Exception as e:
      print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
      self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0, 0, 2160, 1080)

  def screenshot(self, name: str):
    full_screenshot = pyautogui.screenshot()
    cropped = full_screenshot.crop((self.ui.left, self.ui.top, self.ui.left + self.ui.width, self.ui.top + self.ui.height))
    cropped.save(SCREENSHOTS_DIR / f"{name}.png")

  def click(self, x: int, y: int, *args, **kwargs):
    pyautogui.mouseDown(self.ui.left + x, self.ui.top + y, *args, **kwargs)
    time.sleep(0.01)
    pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)

  @with_processes(["raylib_ui"])
  def test_ui(self, name, setup_case):
    self.setup()
    setup_case(self.click, self.pm)
    self.screenshot(name)


def create_screenshots():
  if TEST_OUTPUT_DIR.exists():
    shutil.rmtree(TEST_OUTPUT_DIR)
  SCREENSHOTS_DIR.mkdir(parents=True)

  t = TestUI()
  with OpenpilotPrefix():
    params = Params()
    params.put("DongleId", "123456789012345")
    for name, setup in CASES.items():
      t.test_ui(name, setup)


if __name__ == "__main__":
  create_screenshots()