mirror of
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.
136 lines
2.5 KiB
Python
136 lines
2.5 KiB
Python
import unittest
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import msgq
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import concurrent.futures
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SERVICE_NAME = 'myService'
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def poller():
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context = msgq.Context()
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p = msgq.Poller()
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sub = msgq.SubSocket()
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sub.connect(context, SERVICE_NAME)
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p.registerSocket(sub)
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socks = p.poll(10000)
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r = [s.receive(non_blocking=True) for s in socks]
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return r
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class TestPoller(unittest.TestCase):
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def test_poll_once(self):
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context = msgq.Context()
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pub = msgq.PubSocket()
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pub.connect(context, SERVICE_NAME)
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with concurrent.futures.ThreadPoolExecutor() as e:
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poll = e.submit(poller)
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pub.wait_for_readers()
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# Send message
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pub.send(b"a")
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# Wait for poll result
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result = poll.result()
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del pub
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context.term()
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assert result == [b"a"]
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def test_poll_and_create_many_subscribers(self):
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context = msgq.Context()
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pub = msgq.PubSocket()
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pub.connect(context, SERVICE_NAME)
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with concurrent.futures.ThreadPoolExecutor() as e:
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poll = e.submit(poller)
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pub.wait_for_readers()
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c = msgq.Context()
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for _ in range(10):
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msgq.SubSocket().connect(c, SERVICE_NAME)
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# Send message
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pub.send(b"a")
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# Wait for poll result
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result = poll.result()
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del pub
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context.term()
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assert result == [b"a"]
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def test_multiple_publishers_exception(self):
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context = msgq.Context()
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with self.assertRaises(msgq.MultiplePublishersError):
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pub1 = msgq.PubSocket()
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pub1.connect(context, SERVICE_NAME)
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pub2 = msgq.PubSocket()
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pub2.connect(context, SERVICE_NAME)
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pub1.send(b"a")
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del pub1
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del pub2
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context.term()
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def test_multiple_messages(self):
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context = msgq.Context()
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pub = msgq.PubSocket()
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pub.connect(context, SERVICE_NAME)
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sub = msgq.SubSocket()
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sub.connect(context, SERVICE_NAME)
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pub.wait_for_readers()
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for i in range(1, 100):
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pub.send(b'a'*i)
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msg_seen = False
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i = 1
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while True:
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r = sub.receive(non_blocking=True)
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if r is not None:
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assert b'a'*i == r
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msg_seen = True
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i += 1
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if r is None and msg_seen:
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break
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del pub
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del sub
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context.term()
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def test_conflate(self):
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context = msgq.Context()
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pub = msgq.PubSocket()
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pub.connect(context, SERVICE_NAME)
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sub = msgq.SubSocket()
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sub.connect(context, SERVICE_NAME, conflate=True)
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pub.wait_for_readers()
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pub.send(b'a')
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pub.send(b'b')
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assert b'b' == sub.receive()
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del pub
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del sub
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context.term()
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