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ci: add cameras to ui reports (#33401)

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add cameras
old-commit-hash: db5c0419ce
This commit is contained in:
Dean Lee
2024-08-30 03:11:51 +08:00
committed by GitHub
parent 51fb5009f1
commit 5cdd421db1
2 changed files with 38 additions and 17 deletions
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8
.github/workflows/ui_preview.yaml vendored
View File

@@ -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>

47
selfdrive/ui/tests/test_ui/run.py
View File

@@ -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)