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https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
58 lines
1.6 KiB
Python
58 lines
1.6 KiB
Python
import random
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import time
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import string
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import unittest
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import msgq
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def random_sock():
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return ''.join(random.choices(string.ascii_uppercase + string.digits, k=10))
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def random_bytes(length=1000):
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return bytes([random.randrange(0xFF) for _ in range(length)])
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class TestPubSubSockets(unittest.TestCase):
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def test_pub_sub(self):
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sock = random_sock()
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pub_sock = msgq.pub_sock(sock)
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sub_sock = msgq.sub_sock(sock, conflate=False, timeout=None)
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for _ in range(100):
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msg = random_bytes()
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pub_sock.send(msg)
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recvd = sub_sock.receive()
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assert msg == recvd
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def test_conflate(self):
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sock = random_sock()
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pub_sock = msgq.pub_sock(sock)
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for conflate in [True, False]:
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num_msgs = random.randint(3, 10)
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sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None)
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sent_msgs = []
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for __ in range(num_msgs):
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msg = random_bytes()
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pub_sock.send(msg)
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sent_msgs.append(msg)
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recvd_msgs = msgq.drain_sock_raw(sub_sock)
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if conflate:
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assert len(recvd_msgs) == 1
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assert recvd_msgs[0] == sent_msgs[-1]
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else:
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assert len(recvd_msgs) == len(sent_msgs)
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for rec_msg, sent_msg in zip(recvd_msgs, sent_msgs):
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assert rec_msg == sent_msg
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def test_receive_timeout(self):
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sock = random_sock()
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timeout_ms = 5
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sub_sock = msgq.sub_sock(sock, timeout=timeout_ms)
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start_time = time.monotonic()
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recvd = sub_sock.receive()
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elapsed = time.monotonic() - start_time
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assert recvd is None
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assert elapsed >= timeout_ms / 1000
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assert elapsed < 5 # this can be noisy due to other load on the system
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