|
|
|
|
#!/usr/bin/env python
|
|
|
|
|
import pytest
|
|
|
|
|
import asyncio
|
|
|
|
|
import json
|
|
|
|
|
# for aiortc and its dependencies
|
|
|
|
|
import warnings
|
|
|
|
|
warnings.filterwarnings("ignore", category=DeprecationWarning)
|
|
|
|
|
|
|
|
|
|
from openpilot.system.webrtc.webrtcd import get_stream
|
|
|
|
|
|
|
|
|
|
import aiortc
|
|
|
|
|
from teleoprtc import WebRTCOfferBuilder
|
|
|
|
|
from parameterized import parameterized_class
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
@parameterized_class(("in_services", "out_services"), [
|
|
|
|
|
(["testJoystick"], ["carState"]),
|
|
|
|
|
([], ["carState"]),
|
|
|
|
|
(["testJoystick"], []),
|
|
|
|
|
([], []),
|
|
|
|
|
])
|
|
|
|
|
@pytest.mark.asyncio
|
|
|
|
|
class TestWebrtcdProc:
|
|
|
|
|
async def assertCompletesWithTimeout(self, awaitable, timeout=1):
|
|
|
|
|
try:
|
|
|
|
|
async with asyncio.timeout(timeout):
|
|
|
|
|
await awaitable
|
|
|
|
|
except TimeoutError:
|
|
|
|
|
pytest.fail("Timeout while waiting for awaitable to complete")
|
|
|
|
|
|
|
|
|
|
async def test_webrtcd(self, mocker):
|
|
|
|
|
mock_request = mocker.MagicMock()
|
|
|
|
|
async def connect(offer):
|
|
|
|
|
body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
|
|
|
|
|
mock_request.json.side_effect = mocker.AsyncMock(return_value=body)
|
|
|
|
|
response = await get_stream(mock_request)
|
|
|
|
|
response_json = json.loads(response.text)
|
|
|
|
|
return aiortc.RTCSessionDescription(**response_json)
|
|
|
|
|
|
|
|
|
|
builder = WebRTCOfferBuilder(connect)
|
|
|
|
|
builder.offer_to_receive_video_stream("road")
|
|
|
|
|
builder.offer_to_receive_audio_stream()
|
|
|
|
|
if len(self.in_services) > 0 or len(self.out_services) > 0:
|
|
|
|
|
builder.add_messaging()
|
|
|
|
|
|
|
|
|
|
stream = builder.stream()
|
|
|
|
|
|
|
|
|
|
await self.assertCompletesWithTimeout(stream.start())
|
|
|
|
|
await self.assertCompletesWithTimeout(stream.wait_for_connection())
|
|
|
|
|
|
|
|
|
|
assert stream.has_incoming_video_track("road")
|
|
|
|
|
assert stream.has_incoming_audio_track()
|
|
|
|
|
assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0)
|
|
|
|
|
|
|
|
|
|
video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
|
|
|
|
|
await self.assertCompletesWithTimeout(video_track.recv())
|
|
|
|
|
await self.assertCompletesWithTimeout(audio_track.recv())
|
|
|
|
|
|
|
|
|
|
await self.assertCompletesWithTimeout(stream.stop())
|
|
|
|
|
|
|
|
|
|
# cleanup, very implementation specific, test may break if it changes
|
|
|
|
|
assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
|
|
|
|
|
_, session = mock_request.app["streams"].__setitem__.call_args.args
|
|
|
|
|
await self.assertCompletesWithTimeout(session.post_run_cleanup())
|
