Manual feature test matrix — array snapshots & image preview

This document captures the end-to-end test plan for the array-snapshot plotting and image-preview features. The automated tests in tests/test_array_snapshot.py and tests/test_image_decode.py cover the core data path, but the visible behavior in a real terminal can only be verified by hand.

Re-run this matrix whenever any of these files change:

• src/rosight/widgets/plot_view.py
• src/rosight/widgets/plot_panel.py
• src/rosight/widgets/image_screen.py
• src/rosight/utils/image_decode.py
• src/rosight/widgets/topics_panel.py
• src/rosight/widgets/message_tree.py
• src/rosight/ros/introspection.py

Setup

You need a ROS 2 distro (Humble or newer) and a bag that publishes a laser scan, joint state, RGB camera image, and depth image. turtlebot3_gazebo + realsense2_camera sample bag are convenient sources.

Terminal A:

source /opt/ros/<distro>/setup.bash
ros2 bag play <path-to-bag> --loop

Terminal B:

source /opt/ros/<distro>/setup.bash
pip install -e ".[dev]"
rosight

Automated baseline

ruff check src tests
mypy src             # bags_panel Popen overloads are pre-existing
python -m pytest -q  # 112+ passed expected

Manual matrix

A. UI-only (--no-ros)

#	Step	Expected
A1	rosight --no-ros	Boots; status bar shows backend not connected.
A2	Press 6	Plot tab shows "no series — press [p]…" hint.
A3	Press 1, then v (no topic selected)	Status: "select a topic first"; no modal.
A4	:plot-array /foo bar	Unknown topic; falls through cleanly (no crash).
A5	Press ? then Esc	Help shows new sections "Image preview" and "Message tree".

B. With ROS — 1D array snapshot plotting

#	Step	Expected
B1	Topics → /scan Enter	Subscribes; message tree shows ranges <360 items> [plot ↵].
B2	On ranges press Enter	Switches to Plot tab; chart updates at ~15 Hz, X axis 0..359.
B3	Side table	Row shows n=360 [min…max].
B4	Add a scalar series: /odom Enter, twist.linear.x p	Plot now shows two stacked subplots (top time, bottom index).
B5	Press Space	Both subplots freeze; [PAUSED] banner.
B6	Press c	All series clear, "no series" hint returns.
B7	:plot-array /joint_states position	Joint position array snapshot is plotted.
B8	Press s	CSV written. Open it: header is kind,x,label,value; rows tagged time or snapshot.
B9	Press d on a snapshot row	Series is removed.

C. With ROS — Image preview

Run in each of these terminals (or as many as you have access to): - Kitty, WezTerm, or foot (kitty graphics) - iTerm2 or xterm-with-sixel (sixel) - Default xterm, gnome-terminal, default tmux (unicode fallback)

#	Step	Expected
C1	/camera/image_raw (rgb8) Enter, then v	Modal opens, image visible at ~5 Hz.
C2	Press s	rosight-camera_image_raw-<ts>.png saved to cwd. Open it.
C3	Press space	Image freezes; header includes PAUSED.
C4	Press q	Modal closes; back to Topics; no other panels affected.
C5	/camera/depth/image_rect_raw (32FC1) v	Depth shown in turbo colormap.
C6	Press m	Cycles to viridis; press again → gray; again → turbo.
C7	/camera/image_raw/compressed v	JPEG/PNG decoded; modal works the same.
C8	Select /scan (a non-image topic) press v	Status: "/scan is sensor_msgs/msg/LaserScan, not an image topic"; no modal.
C9	:view /camera/image_raw	Same as C1.
C10	Modal open, resize terminal (drag corner)	Image rescales without crash.
C11	Modal open, then domain switch via :domain 99 (no such domain)	Modal exits cleanly when subscription dies.

D. Stress

#	Step	Expected
D1	Image stream at 30 Hz 1280×720	CPU usage of rosight < 50%; modal renders ~5 Hz; terminal responsive.
D2	Plot 6 scalar + 2 snapshot series at 100 Hz	Chart still updates; no missed redraw warnings in --log-file.
D3	Snapshot a huge array (e.g. Image.data with len > 4096)	Plot truncates to first 4096 points; no memory blow-up.

Reporting

Record failures in --log-file rosight.log and attach to the PR. If a test fails because of a terminal protocol limitation (e.g. unicode-block fallback looks bad), that's documented behavior — note the terminal in the PR but don't gate the merge on it.