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100 lines
3.4 KiB
100 lines
3.4 KiB
11 months ago
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#!/usr/bin/env python3
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import os
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import time
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import random
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import unittest
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import numpy as np
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from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
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def zmq_sleep(t=1):
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if "ZMQ" in os.environ:
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time.sleep(t)
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class TestVisionIpc(unittest.TestCase):
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def setup_vipc(self, name, *stream_types, num_buffers=1, rgb=False, 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, rgb, 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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self.assertTrue(self.client.connect(True))
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else:
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self.client = None
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zmq_sleep()
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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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self.assertTrue(self.client.is_connected)
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def test_available_streams(self):
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for k in range(4):
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stream_types = set(random.choices([x.value for x in VisionStreamType], k=k))
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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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self.assertEqual(available_streams, 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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self.assertEqual(self.client.width, width)
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self.assertEqual(self.client.height, height)
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self.assertGreater(self.client.buffer_len, 0)
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self.assertEqual(self.client.num_buffers, num_buffers)
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def test_yuv_rgb(self):
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_, client_yuv = self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, rgb=False)
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_, client_rgb = self.setup_vipc("navd", VisionStreamType.VISION_STREAM_MAP, rgb=True)
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self.assertTrue(client_rgb.rgb)
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self.assertFalse(client_yuv.rgb)
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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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buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
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buf.view('<i4')[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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self.assertIsNot(recv_buf, None)
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self.assertEqual(recv_buf.data.view('<i4')[0], 1234)
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self.assertEqual(self.client.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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buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
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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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self.assertIsNot(recv_buf, None)
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self.assertEqual(self.client.frame_id, 1)
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recv_buf = self.client.recv()
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self.assertIsNot(recv_buf, None)
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self.assertEqual(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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buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
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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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self.assertIsNot(recv_buf, None)
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self.assertEqual(self.client.frame_id, 2)
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recv_buf = self.client.recv()
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self.assertIs(recv_buf, None)
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if __name__ == "__main__":
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unittest.main()
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