openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
 
 
 
 
 
 

69 lines
1.8 KiB

import os
import random
import time
import string
import msgq
def random_sock():
return ''.join(random.choices(string.ascii_uppercase + string.digits, k=10))
def random_bytes(length=1000):
return bytes([random.randrange(0xFF) for _ in range(length)])
def zmq_sleep(t=1):
if "ZMQ" in os.environ:
time.sleep(t)
class TestPubSubSockets:
def setup_method(self):
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
zmq_sleep()
def test_pub_sub(self):
sock = random_sock()
pub_sock = msgq.pub_sock(sock)
sub_sock = msgq.sub_sock(sock, conflate=False, timeout=None)
zmq_sleep(3)
for _ in range(1000):
msg = random_bytes()
pub_sock.send(msg)
recvd = sub_sock.receive()
assert msg == recvd
def test_conflate(self):
sock = random_sock()
pub_sock = msgq.pub_sock(sock)
for conflate in [True, False]:
for _ in range(10):
num_msgs = random.randint(3, 10)
sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None)
zmq_sleep()
sent_msgs = []
for __ in range(num_msgs):
msg = random_bytes()
pub_sock.send(msg)
sent_msgs.append(msg)
time.sleep(0.1)
recvd_msgs = msgq.drain_sock_raw(sub_sock)
if conflate:
assert len(recvd_msgs) == 1
else:
# TODO: compare actual data
assert len(recvd_msgs) == len(sent_msgs)
def test_receive_timeout(self):
sock = random_sock()
for _ in range(10):
timeout = random.randrange(200)
sub_sock = msgq.sub_sock(sock, timeout=timeout)
zmq_sleep()
start_time = time.monotonic()
recvd = sub_sock.receive()
assert (time.monotonic() - start_time) < 0.2
assert recvd is None