105 lines
3.7 KiB
Python
105 lines
3.7 KiB
Python
import asyncio
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import json
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import time
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# for aiortc and its dependencies
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import warnings
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warnings.filterwarnings("ignore", category=DeprecationWarning)
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warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
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from aiortc import RTCDataChannel
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from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
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import capnp
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import pyaudio
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from cereal import messaging, log
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from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
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from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
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from openpilot.system.webrtc.device.audio import AudioInputStreamTrack
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class TestStreamSession:
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def setup_method(self):
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self.loop = asyncio.new_event_loop()
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def teardown_method(self):
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self.loop.stop()
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self.loop.close()
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def test_outgoing_proxy(self, mocker):
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test_msg = log.Event.new_message()
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test_msg.logMonoTime = 123
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test_msg.valid = True
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test_msg.customReservedRawData0 = b"test"
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expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
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expected_json = json.dumps(expected_dict).encode()
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channel = mocker.Mock(spec=RTCDataChannel)
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mocked_submaster = messaging.SubMaster(["customReservedRawData0"])
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def mocked_update(t):
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mocked_submaster.update_msgs(0, [test_msg])
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mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
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proxy = CerealOutgoingMessageProxy(mocked_submaster)
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proxy.add_channel(channel)
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proxy.update()
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channel.send.assert_called_once_with(expected_json)
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def test_incoming_proxy(self, mocker):
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tested_msgs = [
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{"type": "customReservedRawData0", "data": "test"}, # primitive
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{"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
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{"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
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]
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mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)
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proxy = CerealIncomingMessageProxy(mocked_pubmaster)
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for msg in tested_msgs:
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proxy.send(json.dumps(msg).encode())
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mocked_pubmaster.send.assert_called_once()
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mt, md = mocked_pubmaster.send.call_args.args
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assert mt == msg["type"]
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assert isinstance(md, capnp._DynamicStructBuilder)
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assert hasattr(md, msg["type"])
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mocked_pubmaster.reset_mock()
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def test_livestream_track(self, mocker):
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fake_msg = messaging.new_message("livestreamDriverEncodeData")
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config = {"receive.return_value": fake_msg.to_bytes()}
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mocker.patch("msgq.SubSocket", spec=True, **config)
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track = LiveStreamVideoStreamTrack("driver")
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assert track.id.startswith("driver")
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assert track.codec_preference() == "H264"
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for i in range(5):
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packet = self.loop.run_until_complete(track.recv())
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assert packet.time_base == VIDEO_TIME_BASE
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if i == 0:
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start_ns = time.monotonic_ns()
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start_pts = packet.pts
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assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
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assert packet.size == 0
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def test_input_audio_track(self, mocker):
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packet_time, rate = 0.02, 16000
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sample_count = int(packet_time * rate)
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mocked_stream = mocker.MagicMock(spec=pyaudio.Stream)
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mocked_stream.read.return_value = b"\x00" * 2 * sample_count
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config = {"open.side_effect": lambda *args, **kwargs: mocked_stream}
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mocker.patch("pyaudio.PyAudio", spec=True, **config)
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track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate)
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for i in range(5):
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frame = self.loop.run_until_complete(track.recv())
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assert frame.rate == rate
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assert frame.samples == sample_count
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assert frame.pts == i * sample_count
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