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.
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#!/usr/bin/env python3
import os
import random
import threading
import time
import string
import unittest
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)
def zmq_expected_failure(func):
if "ZMQ" in os.environ:
return unittest.expectedFailure(func)
else:
return func
def delayed_send(delay, sock, dat):
def send_func():
sock.send(dat)
threading.Timer(delay, send_func).start()
class TestPubSubSockets(unittest.TestCase):
def setUp(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()
self.assertEqual(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:
self.assertEqual(len(recvd_msgs), 1)
else:
# TODO: compare actual data
self.assertEqual(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()
self.assertLess(time.monotonic() - start_time, 0.2)
assert recvd is None
if __name__ == "__main__":
unittest.main()