ci: add all onroad hud elements to ui report (#33395)

* add model

* merge master

* make static analysis happy
old-commit-hash: 341e7a4384

selfdrive/ui/tests/test_ui/run.py

@@ -1,4 +1,5 @@
 from collections import namedtuple
+import capnp
 import pathlib
 import shutil
 import sys
@@ -9,38 +10,26 @@ import os
 import pywinctl
 import time
 
-from cereal import messaging, car, log
+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.realtime import DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
+from openpilot.tools.lib.logreader import LogReader
 
 UI_DELAY = 0.5 # may be slower on CI?
+TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
-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()}
-
+CAM = DEVICE_CAMERAS[("tici", "ar0231")]
+DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder | None] = dict.fromkeys(
+  ["deviceState", "pandaStates", "controlsState", "liveCalibration",
+  "modelV2", "radarState", "driverMonitoringState",
+  "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState"], None)
 
 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)
+  pm.send('deviceState', DATA['deviceState'])
 
 def setup_homescreen(click, pm: PubMaster):
   setup_common(click, pm)
@@ -59,37 +48,30 @@ def setup_settings_network(click, pm: PubMaster):
 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
+  vipc_server = VisionIpcServer("camerad")
 
-  pm.send("pandaStates", dat)
+  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)
 
-  d = DEVICE_CAMERAS[("tici", "ar0231")]
-  server = VisionIpcServer("camerad")
-  server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height)
-  server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height)
-  server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height)
-  server.start_listener()
+  vipc_server.start_listener()
 
-  time.sleep(0.5) # give time for vipc server to start
+  packet_id = 0
+  for _ in range(10):
+    for service, data in DATA.items():
+      if data:
+        data.clear_write_flag()
+        pm.send(service, data)
 
-  IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
-  IMG_BYTES = IMG.flatten().tobytes()
+    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)
 
-  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(0.05)
 
 def setup_onroad_sidebar(click, pm: PubMaster):
   setup_onroad(click, pm)
@@ -141,7 +123,7 @@ class TestUI:
 
   def setup(self):
     self.sm = SubMaster(["uiDebug"])
-    self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState'])
+    self.pm = PubMaster(list(DATA.keys()))
     while not self.sm.valid["uiDebug"]:
       self.sm.update(1)
     time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering
@@ -195,6 +177,14 @@ def create_screenshots():
 
   SCREENSHOTS_DIR.mkdir(parents=True)
 
+  lr = list(LogReader(f'{TEST_ROUTE}/1/q'))
+  for event in lr:
+    if event.which() in DATA:
+      DATA[event.which()] = event.as_builder()
+
+    if all(DATA.values()):
+      break
+
   t = TestUI()
   for name, setup in CASES.items():
     t.test_ui(name, setup)