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156 lines
4.5 KiB
156 lines
4.5 KiB
import random
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import time
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from typing import Sized, cast
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import cereal.messaging as messaging
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from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
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random_bytes, random_carstate, assert_carstate, \
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zmq_sleep
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class TestSubMaster:
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def setup_method(self):
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# ZMQ pub socket takes too long to die
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# sleep to prevent multiple publishers error between tests
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zmq_sleep(3)
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def test_init(self):
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sm = messaging.SubMaster(events)
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for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
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sm.sock, sm.data, sm.logMonoTime, sm.valid]:
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assert len(cast(Sized, p)) == len(events)
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def test_init_state(self):
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socks = random_socks()
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sm = messaging.SubMaster(socks)
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assert sm.frame == -1
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assert not any(sm.updated.values())
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assert not any(sm.alive.values())
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assert all(t == 0. for t in sm.recv_time.values())
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assert all(f == 0 for f in sm.recv_frame.values())
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assert all(t == 0 for t in sm.logMonoTime.values())
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for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
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sm.sock, sm.data, sm.logMonoTime, sm.valid]:
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assert len(cast(Sized, p)) == len(socks)
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def test_getitem(self):
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sock = "carState"
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pub_sock = messaging.pub_sock(sock)
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sm = messaging.SubMaster([sock,])
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zmq_sleep()
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msg = random_carstate()
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pub_sock.send(msg.to_bytes())
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sm.update(1000)
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assert_carstate(msg.carState, sm[sock])
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# TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
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def test_update(self):
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sock = "carState"
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pub_sock = messaging.pub_sock(sock)
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sm = messaging.SubMaster([sock,])
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zmq_sleep()
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for i in range(10):
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msg = messaging.new_message(sock)
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pub_sock.send(msg.to_bytes())
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sm.update(1000)
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assert sm.frame == i
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assert all(sm.updated.values())
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def test_update_timeout(self):
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sock = random_sock()
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sm = messaging.SubMaster([sock,])
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timeout = random.randrange(1000, 3000)
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start_time = time.monotonic()
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sm.update(timeout)
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t = time.monotonic() - start_time
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assert t >= timeout/1000.
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assert t < 3
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assert not any(sm.updated.values())
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def test_avg_frequency_checks(self):
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for poll in (True, False):
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sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
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poll=("modelV2" if poll else None),
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frequency=(20. if not poll else None))
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checks = {
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"carState": (20, 20),
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"modelV2": (20, 20 if poll else 10),
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"cameraOdometry": (20, 10),
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"liveCalibration": (4, 4),
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"carParams": (None, None),
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}
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for service, (max_freq, min_freq) in checks.items():
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if max_freq is not None:
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assert sm._check_avg_freq(service)
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assert sm.freq_tracker[service].max_freq == max_freq*1.2
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assert sm.freq_tracker[service].min_freq == min_freq*0.8
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else:
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assert not sm._check_avg_freq(service)
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def test_alive(self):
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pass
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def test_ignore_alive(self):
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pass
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def test_valid(self):
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pass
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# SubMaster should always conflate
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def test_conflate(self):
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sock = "carState"
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pub_sock = messaging.pub_sock(sock)
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sm = messaging.SubMaster([sock,])
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n = 10
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for i in range(n+1):
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msg = messaging.new_message(sock)
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msg.carState.vEgo = i
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pub_sock.send(msg.to_bytes())
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time.sleep(0.01)
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sm.update(1000)
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assert sm[sock].vEgo == n
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class TestPubMaster:
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def setup_method(self):
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# ZMQ pub socket takes too long to die
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# sleep to prevent multiple publishers error between tests
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zmq_sleep(3)
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def test_init(self):
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messaging.PubMaster(events)
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def test_send(self):
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socks = random_socks()
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pm = messaging.PubMaster(socks)
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sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
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zmq_sleep()
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# PubMaster accepts either a capnp msg builder or bytes
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for capnp in [True, False]:
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for i in range(100):
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sock = socks[i % len(socks)]
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if capnp:
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try:
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msg = messaging.new_message(sock)
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except Exception:
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msg = messaging.new_message(sock, random.randrange(50))
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else:
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msg = random_bytes()
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pm.send(sock, msg)
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recvd = sub_socks[sock].receive()
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if capnp:
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msg.clear_write_flag()
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msg = msg.to_bytes()
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assert msg == recvd, i
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