From 89e0ad290292e77cac89aeaae1f349c7fa8b96c8 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Wed, 24 Jan 2024 16:51:06 -0800
Subject: [PATCH] test_ui: add onroad state (#31148)

add onroad
old-commit-hash: 3676ae4da3dc4fbc2ea6aa84369a5f460662f6e4
---
 selfdrive/ui/tests/test_ui/run.py | 70 +++++++++++++++++++++++++++++--
 1 file changed, 67 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index f943786350..48223d3fe8 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -10,22 +10,37 @@ import time
 import unittest
 
 from parameterized import parameterized
-from cereal import messaging, log
+from cereal import messaging, car, log
+from cereal.visionipc import VisionIpcServer, VisionStreamType
 
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.transformations.camera import tici_f_frame_size
 from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+from openpilot.tools.webcam.camera import Camera
 
 UI_DELAY = 0.5 # may be slower on CI?
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
+EventName = car.CarEvent.EventName
+EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
+
+
 def setup_common(click, pm: PubMaster):
   Params().put("DongleId", "123456789012345")
   dat = messaging.new_message('deviceState')
+  dat.deviceState.started = True
   dat.deviceState.networkType = NetworkType.cell4G
   dat.deviceState.networkStrength = NetworkStrength.moderate
+  dat.deviceState.freeSpacePercent = 80
+  dat.deviceState.memoryUsagePercent = 2
+  dat.deviceState.cpuTempC = [2,]*3
+  dat.deviceState.gpuTempC = [2,]*3
+  dat.deviceState.cpuUsagePercent = [2,]*8
 
   pm.send("deviceState", dat)
 
@@ -47,13 +62,61 @@ def setup_settings_network(click, pm: PubMaster):
   click(300, 600)
   time.sleep(UI_DELAY)
 
+def setup_onroad(click, pm: PubMaster):
+  setup_common(click, pm)
+
+  dat = messaging.new_message('pandaStates', 1)
+  dat.pandaStates[0].ignitionLine = True
+  dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+
+  pm.send("pandaStates", dat)
+
+  server = VisionIpcServer("camerad")
+  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
+  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
+  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
+  server.start_listener()
+
+  time.sleep(UI_DELAY)
+
+  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8))
+  IMG_BYTES = IMG.flatten().tobytes()
+
+  cams = ('roadCameraState', 'wideRoadCameraState')
+
+  frame_id = 0
+  for cam in cams:
+    msg = messaging.new_message(cam)
+    cs = getattr(msg, cam)
+    cs.frameId = frame_id
+    cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
+    cs.timestampEof = int((frame_id * DT_MDL) * 1e9)
+    cam_meta = meta_from_camera_state(cam)
+
+    pm.send(msg.which(), msg)
+    server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof)
+
+  time.sleep(UI_DELAY)
+
+def setup_onroad_map(click, pm: PubMaster):
+  setup_onroad(click, pm)
+  click(500, 500)
+  time.sleep(UI_DELAY)
+
+def setup_onroad_sidebar(click, pm: PubMaster):
+  setup_onroad_map(click, pm)
+  click(500, 500)
+  time.sleep(UI_DELAY)
+
 CASES = {
   "homescreen": setup_homescreen,
   "settings_device": setup_settings_device,
   "settings_network": setup_settings_network,
+  "onroad": setup_onroad,
+  "onroad_map": setup_onroad_map,
+  "onroad_map_sidebar": setup_onroad_sidebar
 }
 
-
 TEST_DIR = pathlib.Path(__file__).parent
 
 TEST_OUTPUT_DIR = TEST_DIR / "report"
@@ -67,7 +130,7 @@ class TestUI(unittest.TestCase):
 
   def setup(self):
     self.sm = SubMaster(["uiDebug"])
-    self.pm = PubMaster(["deviceState"])
+    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState'])
     while not self.sm.valid["uiDebug"]:
       self.sm.update(1)
     time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering
@@ -102,6 +165,7 @@ def create_html_report():
     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))