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