IQ.Pilot Release Commit @ 0798119

selfdrive/ui/tests/diff/replay.py

@@ -0,0 +1,128 @@
+#!/usr/bin/env python3
+import os
+import time
+import coverage
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+
+os.environ["RECORD"] = "1"
+if "RECORD_OUTPUT" not in os.environ:
+  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
+
+os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
+
+from openpilot.common.params import Params
+from openpilot.system.version import terms_version, training_version
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") == "1"
+
+
+@dataclass
+class DummyEvent:
+  click: bool = False
+  # TODO: add some kind of intensity
+  swipe_left: bool = False
+  swipe_right: bool = False
+  swipe_down: bool = False
+
+
+SCRIPT = [
+  (0, DummyEvent()),
+  (FPS * 1, DummyEvent(click=True)),
+  (FPS * 2, DummyEvent(click=True)),
+  (FPS * 3, DummyEvent()),
+]
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put("DongleId", "test123456789")
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  return None
+
+
+def inject_click(coords):
+  events = []
+  x, y = coords[0]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
+  for x, y in coords[1:]:
+    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
+  x, y = coords[-1]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
+
+  with gui_app._mouse._lock:
+    gui_app._mouse._events.extend(events)
+
+
+def handle_event(event: DummyEvent):
+  if event.click:
+    inject_click([(gui_app.width // 2, gui_app.height // 2)])
+  if event.swipe_left:
+    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width // 4, gui_app.height // 2),
+                  (0, gui_app.height // 2)])
+  if event.swipe_right:
+    inject_click([(gui_app.width // 4, gui_app.height // 2),
+                  (gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width, gui_app.height // 2)])
+  if event.swipe_down:
+    inject_click([(gui_app.width // 2, gui_app.height // 4),
+                  (gui_app.width // 2, gui_app.height * 3 // 4),
+                  (gui_app.width // 2, gui_app.height)])
+
+
+def run_replay():
+  setup_state()
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  if not HEADLESS:
+    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
+  gui_app.init_window("ui diff test", fps=FPS)
+  main_layout = MiciMainLayout()
+  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+  frame = 0
+  script_index = 0
+
+  for should_render in gui_app.render():
+    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
+      _, event = SCRIPT[script_index]
+      handle_event(event)
+      script_index += 1
+
+    ui_state.update()
+
+    if should_render:
+      main_layout.render()
+
+    frame += 1
+
+    if script_index >= len(SCRIPT):
+      break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
+  with cov.collect():
+    run_replay()
+  cov.stop()
+  cov.save()
+  cov.report()
+  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
+  print("HTML report: htmlcov/index.html")
+
+
+if __name__ == "__main__":
+  main()