ci: add cameras to ui reports (#33401)

add cameras

.github/workflows/ui_preview.yaml

@@ -76,11 +76,15 @@ jobs:
             <table>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
               </tr>
               <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
-                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_wide_sidebar.png"></td>
               </tr>
               <tr>
                 <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>

selfdrive/ui/tests/test_ui/run.py

@@ -14,15 +14,17 @@ from cereal import messaging, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.route import Route
 
 UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
-CAM = DEVICE_CAMERAS[("tici", "ar0231")]
-DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder | None] = dict.fromkeys(
+STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
+DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   ["deviceState", "pandaStates", "controlsState", "liveCalibration",
   "modelV2", "radarState", "driverMonitoringState",
   "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState"], None)
@@ -50,33 +52,36 @@ def setup_onroad(click, pm: PubMaster):
 
   vipc_server = VisionIpcServer("camerad")
 
-  streams = [(VisionStreamType.VISION_STREAM_ROAD, CAM.fcam),
-             (VisionStreamType.VISION_STREAM_DRIVER, CAM.dcam),
-             (VisionStreamType.VISION_STREAM_WIDE_ROAD, CAM.ecam)]
-  for stream_type, cam in streams:
-    vipc_server.create_buffers(stream_type, 40, False, cam.width, cam.height)
 
+  for stream_type, cam, _ in STREAMS:
+    vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
   vipc_server.start_listener()
 
   packet_id = 0
-  for _ in range(10):
+  for _ in range(30):
     for service, data in DATA.items():
       if data:
         data.clear_write_flag()
         pm.send(service, data)
 
-    for stream_type, cam in streams:
-      IMG = np.zeros((int(cam.width*1.5), cam.height), dtype=np.uint8)
-      IMG_BYTES = IMG.flatten().tobytes()
-      packet_id = packet_id + 1
-      vipc_server.send(stream_type, IMG_BYTES, packet_id, packet_id, packet_id)
+    packet_id = packet_id + 1
+    for stream_type, _, image in STREAMS:
+      vipc_server.send(stream_type, image, packet_id, packet_id, packet_id)
 
     time.sleep(0.05)
 
+def setup_onroad_wide(click, pm: PubMaster):
+  DATA['controlsState'].controlsState.experimentalMode = True
+  DATA["carState"].carState.vEgo = 1
+  setup_onroad(click, pm)
+
 def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
   click(500, 500)
 
+def setup_onroad_wide_sidebar(click, pm: PubMaster):
+  setup_onroad_wide(click, pm)
+  click(500, 500)
 
 def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.ControlsState.AlertStatus.normal):
   print(f'setup onroad alert, size: {size}')
@@ -105,6 +110,8 @@ CASES = {
   "settings_network": setup_settings_network,
   "onroad": setup_onroad,
   "onroad_sidebar": setup_onroad_sidebar,
+  "onroad_wide": setup_onroad_wide,
+  "onroad_wide_sidebar": setup_onroad_wide_sidebar,
   "onroad_alert_small": setup_onroad_alert_small,
   "onroad_alert_mid": setup_onroad_alert_mid,
   "onroad_alert_full": setup_onroad_alert_full,
@@ -177,7 +184,10 @@ def create_screenshots():
 
   SCREENSHOTS_DIR.mkdir(parents=True)
 
-  lr = list(LogReader(f'{TEST_ROUTE}/1/q'))
+  route = Route(TEST_ROUTE)
+
+  segnum = 2
+  lr = LogReader(route.qlog_paths()[segnum])
   for event in lr:
     if event.which() in DATA:
       DATA[event.which()] = event.as_builder()
@@ -185,6 +195,13 @@ def create_screenshots():
     if all(DATA.values()):
       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()))
+
   t = TestUI()
   for name, setup in CASES.items():
     t.test_ui(name, setup)