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https://github.com/firestar5683/StarPilot.git
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firestar5683
8b254da432
Extend vendored runtime helpers and diagnostics while preserving the existing compiler and model ABI.
107 lines
3.3 KiB
Python
107 lines
3.3 KiB
Python
import struct
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import unittest
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import uuid
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from typing import Optional
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from msgq.visionipc import VisionIpcServer, VisionIpcClient
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class TestVisionIpc(unittest.TestCase):
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server: Optional[VisionIpcServer]
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client: Optional[VisionIpcClient]
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def setUp(self):
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# Each test needs independent listener and publisher endpoints in parallel runs.
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self.name = f"test_{uuid.uuid4().hex}"
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self.server = None
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self.client = None
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def tearDown(self):
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self.client = None
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self.server = None
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def setup_vipc(self, *stream_types, num_buffers=1, width=100, height=100, conflate=False):
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self.server = VisionIpcServer(self.name)
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for stream_type in stream_types:
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self.server.create_buffers(stream_type, num_buffers, width, height)
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self.server.start_listener()
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if len(stream_types):
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self.client = VisionIpcClient(self.name, stream_types[0], conflate)
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assert self.client.connect(True)
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else:
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self.client = None
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return self.server, self.client
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def test_connect(self):
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self.setup_vipc(0)
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assert self.client is not None
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assert self.client.is_connected()
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def test_available_streams(self):
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stream_types = (0, 2)
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self.setup_vipc(*stream_types)
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available_streams = VisionIpcClient.available_streams(self.name, True)
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assert available_streams == set(stream_types)
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def test_buffers(self):
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width, height, num_buffers = 100, 200, 5
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self.setup_vipc(0, num_buffers=num_buffers, width=width, height=height)
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assert self.client is not None
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assert self.client.width == width
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assert self.client.height == height
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assert self.client.buffer_len is not None and self.client.buffer_len > 0
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assert self.client.num_buffers == num_buffers
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def test_send_single_buffer(self):
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self.setup_vipc(0)
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assert self.server is not None
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assert self.client is not None
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assert self.client.buffer_len is not None
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buf = bytearray(self.client.buffer_len)
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struct.pack_into("<Q", buf, 0, 1234)
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self.server.send(0, buf, frame_id=1337)
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recv_buf = self.client.recv()
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assert recv_buf is not None
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data = recv_buf.data
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assert isinstance(data, memoryview)
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assert struct.unpack_from("<Q", data, 0)[0] == 1234
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assert len(data) == self.client.buffer_len
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assert data[8:].nbytes == self.client.buffer_len - 8
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assert self.client.frame_id == 1337
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assert recv_buf.frame_id == 1337
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def test_no_conflate(self):
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self.setup_vipc(0)
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assert self.server is not None
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assert self.client is not None
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assert self.client.buffer_len is not None
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buf = bytearray(self.client.buffer_len)
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self.server.send(0, buf, frame_id=1)
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self.server.send(0, buf, frame_id=2)
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recv_buf = self.client.recv()
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assert recv_buf is not None
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assert self.client.frame_id == 1
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recv_buf = self.client.recv()
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assert recv_buf is not None
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assert self.client.frame_id == 2
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def test_conflate(self):
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self.setup_vipc(0, conflate=True)
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assert self.server is not None
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assert self.client is not None
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assert self.client.buffer_len is not None
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buf = bytearray(self.client.buffer_len)
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self.server.send(0, buf, frame_id=1)
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self.server.send(0, buf, frame_id=2)
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recv_buf = self.client.recv()
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assert recv_buf is not None
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assert self.client.frame_id == 2
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recv_buf = self.client.recv(timeout_ms=5)
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assert recv_buf is None
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