mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
a82935f326
Integrate onroad views, configurable widgets, local settings, steering-profile contracts, Bluetooth and Android Auto with their device and runtime services. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: DimitriChrysafis <Dimitri.chrysafis@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: stef <19478336+stefpi@users.noreply.github.com> Co-authored-by: whoisdomi <dcantu83@gmail.com> Co-authored-by: Intelli <contact@intelli.software> Co-authored-by: pharmacomaniac <blittle65@gmail.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
89 lines
3.0 KiB
Python
89 lines
3.0 KiB
Python
import asyncio
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import json
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import time
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import capnp
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from openpilot.common.test import OpenpilotTestCase
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from openpilot.cereal import messaging, log
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from teleoprtc.tracks import VIDEO_CLOCK_RATE
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from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy, ServerState, handle_get_stream
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from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
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class TestStreamSession(OpenpilotTestCase):
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def setup_method(self):
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self.loop = asyncio.new_event_loop()
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def teardown_method(self):
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self.loop.stop()
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self.loop.close()
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def test_outgoing_proxy(self, mocker):
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test_msg = log.Event.new_message()
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test_msg.logMonoTime = 123
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test_msg.valid = True
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test_msg.aolSafetyWire = b"test"
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expected_dict = {"type": "aolSafetyWire", "logMonoTime": 123, "valid": True, "data": "test"}
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expected_json = json.dumps(expected_dict).encode()
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channel = mocker.Mock()
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channel.is_open.return_value = True
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proxy = CerealOutgoingMessageProxy(["aolSafetyWire"])
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def mocked_update(t):
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proxy.sm.update_msgs(0, [test_msg])
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mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
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proxy.add_channel(channel)
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proxy.update()
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channel.send.assert_called_once_with(expected_json)
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def test_incoming_proxy(self, mocker):
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tested_msgs = [
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{"type": "aolSafetyWire", "data": "test"}, # primitive
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{"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
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{"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
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]
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mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)
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proxy = CerealIncomingMessageProxy(mocked_pubmaster)
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for msg in tested_msgs:
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for encoded in (json.dumps(msg), json.dumps(msg).encode()):
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proxy.send(encoded)
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mocked_pubmaster.send.assert_called_once()
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mt, md = mocked_pubmaster.send.call_args.args
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msg_type = msg["type"]
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assert isinstance(msg_type, str)
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assert mt == msg_type
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assert isinstance(md, capnp._DynamicStructBuilder)
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assert hasattr(md, msg_type)
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mocked_pubmaster.reset_mock()
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def test_livestream_track(self, mocker):
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fake_msg = messaging.new_message("livestreamCabinEncodeData")
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config = {"receive.return_value": fake_msg.to_bytes()}
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mocker.patch("msgq.SubSocket", spec=True, **config)
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track = LiveStreamVideoStreamTrack("driver")
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assert track.id.startswith("driver")
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for i in range(5):
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packet = self.loop.run_until_complete(track.recv())
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if i == 0:
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start_ns = time.monotonic_ns()
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start_pts = packet.pts
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assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
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assert bytes(packet) == b""
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def test_stream_rejects_non_json_content_type(self):
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response = self.loop.run_until_complete(handle_get_stream(ServerState(), b"{}", "text/plain"))
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assert response == (415, b'{"error": "unsupported media type"}', "application/json; charset=utf-8")
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