Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
104 lines
3.7 KiB
Python
104 lines
3.7 KiB
Python
import struct
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import unittest
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from typing import Optional
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from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
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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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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, name, *stream_types, num_buffers=1, width=100, height=100, conflate=False):
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self.server = VisionIpcServer(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(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("camerad", VisionStreamType.VISION_STREAM_ROAD)
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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 = (VisionStreamType.VISION_STREAM_ROAD, VisionStreamType.VISION_STREAM_WIDE_ROAD)
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self.setup_vipc("camerad", *stream_types)
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available_streams = VisionIpcClient.available_streams("camerad", True)
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assert available_streams == {stream.value for stream in 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("camerad", VisionStreamType.VISION_STREAM_ROAD, 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("camerad", VisionStreamType.VISION_STREAM_ROAD)
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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(VisionStreamType.VISION_STREAM_ROAD, 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("camerad", VisionStreamType.VISION_STREAM_ROAD)
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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(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
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self.server.send(VisionStreamType.VISION_STREAM_ROAD, 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("camerad", VisionStreamType.VISION_STREAM_ROAD, 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(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
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self.server.send(VisionStreamType.VISION_STREAM_ROAD, 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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