mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-13 06:14:47 +08:00
88 lines
3.0 KiB
Python
88 lines
3.0 KiB
Python
import asyncio
|
|
import json
|
|
import time
|
|
# for aiortc and its dependencies
|
|
import warnings
|
|
warnings.filterwarnings("ignore", category=DeprecationWarning)
|
|
warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
|
|
|
|
from aiortc import RTCDataChannel
|
|
from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
|
|
import capnp
|
|
from cereal import messaging, log
|
|
|
|
from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
|
|
from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
|
|
|
|
|
|
class TestStreamSession:
|
|
def setup_method(self):
|
|
self.loop = asyncio.new_event_loop()
|
|
|
|
def teardown_method(self):
|
|
self.loop.stop()
|
|
self.loop.close()
|
|
|
|
def test_outgoing_proxy(self, mocker):
|
|
test_msg = log.Event.new_message()
|
|
test_msg.logMonoTime = 123
|
|
test_msg.valid = True
|
|
test_msg.customReservedRawData0 = b"test"
|
|
expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
|
|
expected_json = json.dumps(expected_dict).encode()
|
|
|
|
channel = mocker.Mock(spec=RTCDataChannel)
|
|
mocked_submaster = messaging.SubMaster(["customReservedRawData0"])
|
|
def mocked_update(t):
|
|
mocked_submaster.update_msgs(0, [test_msg])
|
|
|
|
mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
|
|
proxy = CerealOutgoingMessageProxy(mocked_submaster)
|
|
proxy.add_channel(channel)
|
|
|
|
proxy.update()
|
|
|
|
channel.send.assert_called_once_with(expected_json)
|
|
|
|
def test_incoming_proxy(self, mocker):
|
|
tested_msgs = [
|
|
{"type": "customReservedRawData0", "data": "test"}, # primitive
|
|
{"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
|
|
{"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
|
|
]
|
|
|
|
mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)
|
|
|
|
proxy = CerealIncomingMessageProxy(mocked_pubmaster)
|
|
|
|
for msg in tested_msgs:
|
|
proxy.send(json.dumps(msg).encode())
|
|
|
|
mocked_pubmaster.send.assert_called_once()
|
|
mt, md = mocked_pubmaster.send.call_args.args
|
|
assert mt == msg["type"]
|
|
assert isinstance(md, capnp._DynamicStructBuilder)
|
|
assert hasattr(md, msg["type"])
|
|
|
|
mocked_pubmaster.reset_mock()
|
|
|
|
def test_livestream_track(self, mocker):
|
|
fake_msg = messaging.new_message("livestreamDriverEncodeData")
|
|
|
|
config = {"receive.return_value": fake_msg.to_bytes()}
|
|
mocker.patch("msgq.SubSocket", spec=True, **config)
|
|
track = LiveStreamVideoStreamTrack("driver")
|
|
|
|
assert track.id.startswith("driver")
|
|
assert track.codec_preference() == "H264"
|
|
|
|
for i in range(5):
|
|
packet = self.loop.run_until_complete(track.recv())
|
|
assert packet.time_base == VIDEO_TIME_BASE
|
|
if i == 0:
|
|
start_ns = time.monotonic_ns()
|
|
start_pts = packet.pts
|
|
assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
|
|
assert packet.size == 0
|
|
|