carrot/msgq_repo/msgq/tests/test_messaging.py
Vehicle Researcher 4fca6dec8e openpilot v0.9.8 release
date: 2025-01-29T09:09:56
master commit: 227bb68e1891619b360b89809e6822d50d34228f
2025-01-29 09:09:58 +00:00

70 lines
1.8 KiB
Python

import os
import random
import time
import string
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)
class TestPubSubSockets:
def setup_method(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()
assert 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:
assert len(recvd_msgs) == 1
else:
# TODO: compare actual data
assert 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()
assert (time.monotonic() - start_time) < 0.2
assert recvd is None