Add openpilot tests

selfdrive/controls/tests/test_alerts.py

@@ -0,0 +1,135 @@
+#!/usr/bin/env python3
+import copy
+import json
+import os
+import unittest
+import random
+from PIL import Image, ImageDraw, ImageFont
+
+from cereal import log, car
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
+
+AlertSize = log.ControlsState.AlertSize
+
+OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")
+
+# TODO: add callback alerts
+ALERTS = []
+for event_types in EVENTS.values():
+  for alert in event_types.values():
+    ALERTS.append(alert)
+
+
+class TestAlerts(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    with open(OFFROAD_ALERTS_PATH) as f:
+      cls.offroad_alerts = json.loads(f.read())
+
+      # Create fake objects for callback
+      cls.CS = car.CarState.new_message()
+      cls.CP = car.CarParams.new_message()
+      cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
+      cls.sm = SubMaster(cfg.pubs)
+
+  def test_events_defined(self):
+    # Ensure all events in capnp schema are defined in events.py
+    events = car.CarEvent.EventName.schema.enumerants
+
+    for name, e in events.items():
+      if not name.endswith("DEPRECATED"):
+        fail_msg = "%s @%d not in EVENTS" % (name, e)
+        self.assertTrue(e in EVENTS.keys(), msg=fail_msg)
+
+  # ensure alert text doesn't exceed allowed width
+  def test_alert_text_length(self):
+    font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+
+    max_text_width = 2160 - 300  # full screen width is usable, minus sidebar
+    draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
+
+    fonts = {
+      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+                      ImageFont.truetype(regular_font_path, 66)],
+    }
+
+    for alert in ALERTS:
+      if not isinstance(alert, Alert):
+        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100)
+
+      # for full size alerts, both text fields wrap the text,
+      # so it's unlikely that they  would go past the max width
+      if alert.alert_size in (AlertSize.none, AlertSize.full):
+        continue
+
+      for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
+        if i >= len(fonts[alert.alert_size]):
+          break
+
+        font = fonts[alert.alert_size][i]
+        left, _, right, _ = draw.textbbox((0, 0), txt, font)
+        width = right - left
+        msg = f"type: {alert.alert_type} msg: {txt}"
+        self.assertLessEqual(width, max_text_width, msg=msg)
+
+  def test_alert_sanity_check(self):
+    for event_types in EVENTS.values():
+      for event_type, a in event_types.items():
+        # TODO: add callback alerts
+        if not isinstance(a, Alert):
+          continue
+
+        if a.alert_size == AlertSize.none:
+          self.assertEqual(len(a.alert_text_1), 0)
+          self.assertEqual(len(a.alert_text_2), 0)
+        elif a.alert_size == AlertSize.small:
+          self.assertGreater(len(a.alert_text_1), 0)
+          self.assertEqual(len(a.alert_text_2), 0)
+        elif a.alert_size == AlertSize.mid:
+          self.assertGreater(len(a.alert_text_1), 0)
+          self.assertGreater(len(a.alert_text_2), 0)
+        else:
+          self.assertGreater(len(a.alert_text_1), 0)
+
+        self.assertGreaterEqual(a.duration, 0.)
+
+        if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE):
+          self.assertEqual(a.creation_delay, 0.)
+
+  def test_offroad_alerts(self):
+    params = Params()
+    for a in self.offroad_alerts:
+      # set the alert
+      alert = copy.copy(self.offroad_alerts[a])
+      set_offroad_alert(a, True)
+      alert['extra'] = ''
+      self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8'))
+
+      # then delete it
+      set_offroad_alert(a, False)
+      self.assertTrue(params.get(a) is None)
+
+  def test_offroad_alerts_extra_text(self):
+    params = Params()
+    for i in range(50):
+      # set the alert
+      a = random.choice(list(self.offroad_alerts))
+      alert = self.offroad_alerts[a]
+      set_offroad_alert(a, True, extra_text="a"*i)
+
+      written_alert = json.loads(params.get(a, encoding='utf8'))
+      self.assertTrue("a"*i == written_alert['extra'])
+      self.assertTrue(alert["text"] == written_alert['text'])
+
+if __name__ == "__main__":
+  unittest.main()