mirror of
https://jihulab.com/mr-one/openpilot.git
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github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
237 lines
6.7 KiB
Python
Executable File
237 lines
6.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import contextlib
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import pytest
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from libdatachannel import Description
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from teleoprtc.builder import WebRTCOfferBuilder, WebRTCAnswerBuilder
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from teleoprtc.info import parse_info_from_offer
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from teleoprtc.stream import H264_FORMAT_PARAMETERS
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from teleoprtc.tracks import TiciVideoStreamTrack
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class OfferCapture:
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def __init__(self):
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self.offer = None
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async def __call__(self, offer):
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self.offer = offer
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raise Exception("Offer captured")
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class DummyH264VideoStreamTrack(TiciVideoStreamTrack):
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kind = "video"
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async def recv(self):
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raise NotImplementedError()
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@pytest.mark.asyncio
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class TestOfferStream:
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async def test_offer_stream_sdp_recvonly_audio(self):
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capture = OfferCapture()
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builder = WebRTCOfferBuilder(capture)
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builder.offer_to_receive_audio_stream()
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stream = builder.stream()
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try:
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_ = await stream.start()
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except Exception:
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pass
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finally:
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await stream.stop()
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info = parse_info_from_offer(capture.offer.sdp)
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assert info.expected_audio_track
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assert not info.incoming_audio_track
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async def test_offer_stream_sdp_channel(self):
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capture = OfferCapture()
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builder = WebRTCOfferBuilder(capture)
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builder.add_messaging()
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stream = builder.stream()
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try:
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_ = await stream.start()
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except Exception:
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pass
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finally:
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await stream.stop()
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info = parse_info_from_offer(capture.offer.sdp)
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assert info.incoming_datachannel
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async def test_answer_side_messaging_channel_wrapper_retained_after_stop(self):
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stream = WebRTCOfferBuilder(OfferCapture()).stream()
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stream._retain_messaging_channel_on_close = True
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channel = stream.peer_connection.create_data_channel("data")
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stream.messaging_channel = channel
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stream.messaging_channel_ready_event.set()
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try:
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await stream.stop()
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assert stream.messaging_channel is None
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assert stream._retained_messaging_channels[-1] is channel
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finally:
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stream._retained_messaging_channels.pop()
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@pytest.mark.asyncio
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class TestAnswerStream:
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async def test_codec_preference(self):
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offer_sdp = """v=0
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o=- 3910274679 3910274679 IN IP4 0.0.0.0
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s=-
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t=0 0
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a=group:BUNDLE 0
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a=msid-semantic:WMS *
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m=video 1337 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102
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c=IN IP4 0.0.0.0
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a=recvonly
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a=mid:0
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a=msid:34803878-98f8-4245-b45c-f773e5f926df 881dbc20-356a-499c-b4e8-695303bb901d
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a=rtcp:9 IN IP4 0.0.0.0
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a=rtcp-mux
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a=ssrc-group:FID 1303546896 3784011659
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a=ssrc:1303546896 cname:a59185ac-c115-48d3-b39b-db7d615a6966
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a=ssrc:3784011659 cname:a59185ac-c115-48d3-b39b-db7d615a6966
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a=rtpmap:97 VP8/90000
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a=rtcp-fb:97 nack
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a=rtcp-fb:97 nack pli
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a=rtcp-fb:97 goog-remb
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a=rtpmap:99 H264/90000
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a=rtcp-fb:99 nack
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a=rtcp-fb:99 nack pli
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a=rtcp-fb:99 goog-remb
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a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f
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a=ice-ufrag:1234
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a=ice-pwd:1234
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a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
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a=setup:actpass"""
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builder = WebRTCAnswerBuilder(offer_sdp)
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builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05))
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stream = builder.stream()
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try:
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answer = await stream.start()
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sdp_desc = Description(answer.sdp, Description.Type.Answer)
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video_desc = next(sdp_desc.media(i) for i in range(sdp_desc.media_count()) if sdp_desc.media(i).type() == "video")
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codecs = []
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for pt in video_desc.payload_types():
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with contextlib.suppress(ValueError):
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codecs.append(video_desc.rtp_map(pt).format)
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assert codecs[0] == "H264"
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finally:
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await stream.stop()
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async def test_fail_if_preferred_codec_not_in_offer(self):
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offer_sdp = """v=0
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o=- 3910274679 3910274679 IN IP4 0.0.0.0
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s=-
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t=0 0
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a=group:BUNDLE 0
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a=msid-semantic:WMS *
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m=video 1337 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102
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c=IN IP4 0.0.0.0
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a=recvonly
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a=mid:0
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a=msid:34803878-98f8-4245-b45c-f773e5f926df 881dbc20-356a-499c-b4e8-695303bb901d
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a=rtcp:9 IN IP4 0.0.0.0
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a=rtcp-mux
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a=ssrc-group:FID 1303546896 3784011659
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a=ssrc:1303546896 cname:a59185ac-c115-48d3-b39b-db7d615a6966
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a=ssrc:3784011659 cname:a59185ac-c115-48d3-b39b-db7d615a6966
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a=rtpmap:97 VP8/90000
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a=rtcp-fb:97 nack
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a=rtcp-fb:97 nack pli
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a=rtcp-fb:97 goog-remb
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a=ice-ufrag:1234
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a=ice-pwd:1234
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a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
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a=setup:actpass"""
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builder = WebRTCAnswerBuilder(offer_sdp)
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builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05))
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stream = builder.stream()
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try:
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with pytest.raises(ValueError):
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_ = await stream.start()
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finally:
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await stream.stop()
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async def test_multi_track(self):
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offer_sdp = """v=0
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o=- 1 1 IN IP4 0.0.0.0
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s=-
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t=0 0
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a=group:BUNDLE 0 1
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m=video 9 UDP/TLS/RTP/SAVPF 99
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c=IN IP4 0.0.0.0
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a=recvonly
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a=mid:0
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a=rtpmap:99 H264/90000
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a=ice-ufrag:1234
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a=ice-pwd:1234
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a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
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a=setup:actpass
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m=video 9 UDP/TLS/RTP/SAVPF 99
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c=IN IP4 0.0.0.0
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a=recvonly
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a=mid:1
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a=rtpmap:99 H264/90000
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a=ice-ufrag:1234
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a=ice-pwd:1234
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a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
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a=setup:actpass"""
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builder = WebRTCAnswerBuilder(offer_sdp)
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builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05))
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builder.add_video_stream("wideRoad", DummyH264VideoStreamTrack("wideRoad", 0.05))
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stream = builder.stream()
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try:
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answer = await stream.start()
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sdp_desc = Description(answer.sdp, Description.Type.Answer)
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video_ssrcs = []
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for i in range(sdp_desc.media_count()):
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media = sdp_desc.media(i)
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if media and media.type() == "video":
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video_ssrcs.extend(media.get_ssrcs())
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assert len(video_ssrcs) == 2
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assert len(set(video_ssrcs)) == 2
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video_sections = list(answer.sdp.split("m=video")[1:])
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assert all(f"a=fmtp:99 {H264_FORMAT_PARAMETERS}" in section for section in video_sections)
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finally:
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await stream.stop()
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async def test_parse_incoming_streams_datachannel_counting(self):
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offer_sdp = """v=0
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o=- 3910274679 3910274679 IN IP4 0.0.0.0
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s=-
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t=0 0
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a=group:BUNDLE 0 1
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m=video 9 UDP/TLS/RTP/SAVPF 97
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c=IN IP4 0.0.0.0
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a=recvonly
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a=mid:0
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a=ice-ufrag:1234
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a=ice-pwd:1234
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a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
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a=setup:actpass
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m=application 9 UDP/DTLS/SCTP webrtc-datachannel
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c=IN IP4 0.0.0.0
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a=sendrecv
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a=mid:1
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a=sctp-port:5000"""
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builder = WebRTCAnswerBuilder(offer_sdp)
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stream = builder.stream()
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stream._parse_incoming_streams(builder.offer_sdp)
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assert stream.expected_number_of_incoming_media == 1
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await stream.stop()
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