|
|
|
|
@ -3,11 +3,10 @@ import capnp |
|
|
|
|
import pathlib |
|
|
|
|
import shutil |
|
|
|
|
import sys |
|
|
|
|
import jinja2 |
|
|
|
|
import matplotlib.pyplot as plt |
|
|
|
|
import numpy as np |
|
|
|
|
import os |
|
|
|
|
import pywinctl |
|
|
|
|
import pyautogui |
|
|
|
|
import pickle |
|
|
|
|
import time |
|
|
|
|
|
|
|
|
|
from cereal import log |
|
|
|
|
@ -23,8 +22,9 @@ from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_c |
|
|
|
|
from openpilot.tools.lib.logreader import LogReader |
|
|
|
|
from openpilot.tools.lib.framereader import FrameReader |
|
|
|
|
from openpilot.tools.lib.route import Route |
|
|
|
|
from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR |
|
|
|
|
|
|
|
|
|
UI_DELAY = 0.5 # may be slower on CI? |
|
|
|
|
UI_DELAY = 0.1 # may be slower on CI? |
|
|
|
|
TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" |
|
|
|
|
|
|
|
|
|
STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = [] |
|
|
|
|
@ -222,41 +222,20 @@ class TestUI: |
|
|
|
|
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): |
|
|
|
|
import pyautogui |
|
|
|
|
im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) |
|
|
|
|
def screenshot(self, name): |
|
|
|
|
im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) |
|
|
|
|
assert im.width == 2160 |
|
|
|
|
assert im.height == 1080 |
|
|
|
|
img = np.array(im) |
|
|
|
|
im.close() |
|
|
|
|
return img |
|
|
|
|
|
|
|
|
|
def click(self, x, y, *args, **kwargs): |
|
|
|
|
import pyautogui |
|
|
|
|
pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) |
|
|
|
|
time.sleep(UI_DELAY) # give enough time for the UI to react |
|
|
|
|
|
|
|
|
|
@with_processes(["ui"]) |
|
|
|
|
def test_ui(self, name, setup_case): |
|
|
|
|
self.setup() |
|
|
|
|
|
|
|
|
|
setup_case(self.click, self.pm) |
|
|
|
|
|
|
|
|
|
im = self.screenshot() |
|
|
|
|
plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def create_html_report(): |
|
|
|
|
OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html" |
|
|
|
|
|
|
|
|
|
with open(TEST_DIR / "template.html") as f: |
|
|
|
|
template = jinja2.Template(f.read()) |
|
|
|
|
|
|
|
|
|
cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")} |
|
|
|
|
cases = dict(sorted(cases.items())) |
|
|
|
|
|
|
|
|
|
with open(OUTPUT_FILE, "w") as f: |
|
|
|
|
f.write(template.render(cases=cases)) |
|
|
|
|
self.screenshot(name) |
|
|
|
|
|
|
|
|
|
def create_screenshots(): |
|
|
|
|
if TEST_OUTPUT_DIR.exists(): |
|
|
|
|
@ -277,13 +256,23 @@ def create_screenshots(): |
|
|
|
|
break |
|
|
|
|
|
|
|
|
|
cam = DEVICE_CAMERAS[("tici", "ar0231")] |
|
|
|
|
road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0] |
|
|
|
|
STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes())) |
|
|
|
|
|
|
|
|
|
wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0] |
|
|
|
|
STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes())) |
|
|
|
|
frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames' |
|
|
|
|
if os.path.isfile(frames_cache): |
|
|
|
|
with open(frames_cache, 'rb') as f: |
|
|
|
|
frames = pickle.load(f) |
|
|
|
|
road_img = frames[0] |
|
|
|
|
wide_road_img = frames[1] |
|
|
|
|
driver_img = frames[2] |
|
|
|
|
else: |
|
|
|
|
with open(frames_cache, 'wb') as f: |
|
|
|
|
road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0] |
|
|
|
|
wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0] |
|
|
|
|
driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0] |
|
|
|
|
pickle.dump([road_img, wide_road_img, driver_img], f) |
|
|
|
|
|
|
|
|
|
driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0] |
|
|
|
|
STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes())) |
|
|
|
|
STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes())) |
|
|
|
|
STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes())) |
|
|
|
|
|
|
|
|
|
t = TestUI() |
|
|
|
|
@ -302,6 +291,3 @@ def create_screenshots(): |
|
|
|
|
if __name__ == "__main__": |
|
|
|
|
print("creating test screenshots") |
|
|
|
|
create_screenshots() |
|
|
|
|
|
|
|
|
|
print("creating html report") |
|
|
|
|
create_html_report() |
|
|
|
|
|
Alexandre Nobuharu Sato
10 months ago
committed by
GitHub