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135 lines
3.8 KiB
135 lines
3.8 KiB
#include <thread>
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#include <chrono>
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#include "catch2/catch.hpp"
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#include "msgq/visionipc/visionipc_server.h"
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#include "msgq/visionipc/visionipc_client.h"
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static void zmq_sleep(int milliseconds=1000){
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if (messaging_use_zmq()){
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std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
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}
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}
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TEST_CASE("Connecting"){
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
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server.start_listener();
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
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REQUIRE(client.connect());
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REQUIRE(client.connected);
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}
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TEST_CASE("getAvailableStreams"){
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
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server.create_buffers(VISION_STREAM_WIDE_ROAD, 1, 100, 100);
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server.start_listener();
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auto available_streams = VisionIpcClient::getAvailableStreams("camerad");
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REQUIRE(available_streams.size() == 2);
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REQUIRE(available_streams.count(VISION_STREAM_ROAD) == 1);
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REQUIRE(available_streams.count(VISION_STREAM_WIDE_ROAD) == 1);
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}
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TEST_CASE("Check buffers"){
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size_t width = 100, height = 200, num_buffers = 5;
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_ROAD, num_buffers, width, height);
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server.start_listener();
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
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REQUIRE(client.connect());
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REQUIRE(client.buffers[0].width == width);
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REQUIRE(client.buffers[0].height == height);
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REQUIRE(client.buffers[0].len);
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REQUIRE(client.num_buffers == num_buffers);
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}
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TEST_CASE("Send single buffer"){
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
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server.start_listener();
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
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REQUIRE(client.connect());
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zmq_sleep();
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VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
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REQUIRE(buf != nullptr);
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*((uint64_t*)buf->addr) = 1234;
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VisionIpcBufExtra extra = {0};
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extra.frame_id = 1337;
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buf->set_frame_id(extra.frame_id);
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server.send(buf, &extra);
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VisionIpcBufExtra extra_recv = {0};
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VisionBuf * recv_buf = client.recv(&extra_recv);
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REQUIRE(recv_buf != nullptr);
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REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
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REQUIRE(extra_recv.frame_id == extra.frame_id);
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REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
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}
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TEST_CASE("Test no conflate"){
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
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server.start_listener();
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
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REQUIRE(client.connect());
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zmq_sleep();
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VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
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REQUIRE(buf != nullptr);
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VisionIpcBufExtra extra = {0};
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extra.frame_id = 1;
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server.send(buf, &extra);
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extra.frame_id = 2;
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server.send(buf, &extra);
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VisionIpcBufExtra extra_recv = {0};
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VisionBuf * recv_buf = client.recv(&extra_recv);
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REQUIRE(recv_buf != nullptr);
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REQUIRE(extra_recv.frame_id == 1);
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recv_buf = client.recv(&extra_recv);
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REQUIRE(recv_buf != nullptr);
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REQUIRE(extra_recv.frame_id == 2);
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}
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TEST_CASE("Test conflate"){
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_ROAD, 1, 100, 100);
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server.start_listener();
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
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REQUIRE(client.connect());
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zmq_sleep();
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VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
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REQUIRE(buf != nullptr);
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VisionIpcBufExtra extra = {0};
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extra.frame_id = 1;
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server.send(buf, &extra);
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extra.frame_id = 2;
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server.send(buf, &extra);
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VisionIpcBufExtra extra_recv = {0};
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VisionBuf * recv_buf = client.recv(&extra_recv);
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REQUIRE(recv_buf != nullptr);
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REQUIRE(extra_recv.frame_id == 2);
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recv_buf = client.recv(&extra_recv);
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REQUIRE(recv_buf == nullptr);
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}
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