openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

cereal/visionipc/visionipc_tests.cc

@@ -0,0 +1,148 @@
+#include <thread>
+#include <chrono>
+
+#include "catch2/catch.hpp"
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/visionipc/visionipc_client.h"
+
+static void zmq_sleep(int milliseconds=1000){
+  if (messaging_use_zmq()){
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+  }
+}
+
+TEST_CASE("Connecting"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.connected);
+}
+
+TEST_CASE("getAvailableStreams"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_WIDE_ROAD, 1, false, 100, 100);
+  server.start_listener();
+  auto available_streams = VisionIpcClient::getAvailableStreams("camerad");
+  REQUIRE(available_streams.size() == 2);
+  REQUIRE(available_streams.count(VISION_STREAM_ROAD) == 1);
+  REQUIRE(available_streams.count(VISION_STREAM_WIDE_ROAD) == 1);
+}
+
+TEST_CASE("Check buffers"){
+  size_t width = 100, height = 200, num_buffers = 5;
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
+  REQUIRE(client.connect());
+
+  REQUIRE(client.buffers[0].width == width);
+  REQUIRE(client.buffers[0].height == height);
+  REQUIRE(client.buffers[0].len);
+  REQUIRE(client.num_buffers == num_buffers);
+}
+
+TEST_CASE("Check yuv/rgb"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_MAP, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
+  VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_MAP, false);
+  client_yuv.connect();
+  client_rgb.connect();
+
+  REQUIRE(client_rgb.buffers[0].rgb == true);
+  REQUIRE(client_yuv.buffers[0].rgb == false);
+}
+
+TEST_CASE("Send single buffer"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
+  REQUIRE(buf != nullptr);
+
+  *((uint64_t*)buf->addr) = 1234;
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1337;
+  buf->set_frame_id(extra.frame_id);
+
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
+  REQUIRE(extra_recv.frame_id == extra.frame_id);
+  REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
+}
+
+
+TEST_CASE("Test no conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 1);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+}
+
+TEST_CASE("Test conflate"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
+  server.start_listener();
+
+  VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
+  REQUIRE(client.connect());
+  zmq_sleep();
+
+  VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
+  REQUIRE(buf != nullptr);
+
+  VisionIpcBufExtra extra = {0};
+  extra.frame_id = 1;
+  server.send(buf, &extra);
+  extra.frame_id = 2;
+  server.send(buf, &extra);
+
+  VisionIpcBufExtra extra_recv = {0};
+  VisionBuf * recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf != nullptr);
+  REQUIRE(extra_recv.frame_id == 2);
+
+  recv_buf = client.recv(&extra_recv);
+  REQUIRE(recv_buf == nullptr);
+}