#!/usr/bin/env python3
import os
import time
import random
import unittest
import numpy as np
from cereal.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
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def zmq_sleep(t=1):
if "ZMQ" in os.environ:
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):
self.server = VisionIpcServer(name)
for stream_type in stream_types:
self.server.create_buffers(stream_type, num_buffers, rgb, width, height)
self.server.start_listener()
if len(stream_types):
self.client = VisionIpcClient(name, stream_types[0], conflate)
self.assertTrue(self.client.connect(True))
else:
self.client = None
zmq_sleep()
return self.server, self.client
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def test_connect(self):
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
self.assertTrue(self.client.is_connected)
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def test_available_streams(self):
for k in range(4):
stream_types = set(random.choices([x.value for x in VisionStreamType], k=k))
self.setup_vipc("camerad", *stream_types)
available_streams = VisionIpcClient.available_streams("camerad", True)
self.assertEqual(available_streams, stream_types)
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def test_buffers(self):
width, height, num_buffers = 100, 200, 5
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height)
self.assertEqual(self.client.width, width)
self.assertEqual(self.client.height, height)
self.assertGreater(self.client.buffer_len, 0)
self.assertEqual(self.client.num_buffers, num_buffers)
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def test_yuv_rgb(self):
_, client_yuv = self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, rgb=False)
_, client_rgb = self.setup_vipc("navd", VisionStreamType.VISION_STREAM_MAP, rgb=True)
self.assertTrue(client_rgb.rgb)
self.assertFalse(client_yuv.rgb)
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def test_send_single_buffer(self):
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
buf.view('<i4')[0] = 1234
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
recv_buf = self.client.recv()
self.assertIsNot(recv_buf, None)
self.assertEqual(recv_buf.data.view('<i4')[0], 1234)
self.assertEqual(self.client.frame_id, 1337)
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def test_no_conflate(self):
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
recv_buf = self.client.recv()
self.assertIsNot(recv_buf, None)
self.assertEqual(self.client.frame_id, 1)
recv_buf = self.client.recv()
self.assertIsNot(recv_buf, None)
self.assertEqual(self.client.frame_id, 2)
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def test_conflate(self):
self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1)
self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
recv_buf = self.client.recv()
self.assertIsNot(recv_buf, None)
self.assertEqual(self.client.frame_id, 2)
recv_buf = self.client.recv()
self.assertIs(recv_buf, None)
if __name__ == "__main__":
unittest.main()