deduplicate visionipc tests (#687)

Author: adeebshihadeh

SConscript

@@ -32,8 +32,5 @@ envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.
 
 if GetOption('extras'):
   env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
-  env.Program(f'{visionipc_dir.abspath}/test_runner',
-             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
-              LIBS=['pthread'] + vipc_libs)
 
 Export('visionipc', 'msgq', 'msgq_python')

msgq/visionipc/test_runner.cc

@@ -1,14 +1,21 @@
-import random
 import unittest
 from typing import Optional
 import numpy as np
 from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
 
 
 class TestVisionIpc(unittest.TestCase):
-  server: VisionIpcServer
+  server: Optional[VisionIpcServer]
   client: Optional[VisionIpcClient]
 
+  def setUp(self):
+    self.server = None
+    self.client = None
+
+  def tearDown(self):
+    self.client = None
+    self.server = None
+
   def setup_vipc(self, name, *stream_types, num_buffers=1, width=100, height=100, conflate=False):
     self.server = VisionIpcServer(name)
     for stream_type in stream_types:
@@ -26,18 +33,13 @@ def setup_vipc(self, name, *stream_types, num_buffers=1, width=100, height=100,
   def test_connect(self):
     self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
     assert self.client is not None
-    assert self.client.is_connected
-    del self.client
-    del self.server
+    assert self.client.is_connected()
 
   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)
-      assert available_streams == stream_types
-      del self.client
-      del self.server
+    stream_types = (VisionStreamType.VISION_STREAM_ROAD, VisionStreamType.VISION_STREAM_WIDE_ROAD)
+    self.setup_vipc("camerad", *stream_types)
+    available_streams = VisionIpcClient.available_streams("camerad", True)
+    assert available_streams == {stream.value for stream in stream_types}
 
   def test_buffers(self):
     width, height, num_buffers = 100, 200, 5
@@ -47,26 +49,25 @@ def test_buffers(self):
     assert self.client.height == height
     assert self.client.buffer_len is not None and self.client.buffer_len > 0
     assert self.client.num_buffers == num_buffers
-    del self.client
-    del self.server
 
   def test_send_single_buffer(self):
     self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+    assert self.server is not None
     assert self.client is not None
     assert self.client.buffer_len is not None
     buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
-    buf.view('<i4')[0] = 1234
+    buf.view('<u8')[0] = 1234
     self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
 
     recv_buf = self.client.recv()
     assert recv_buf is not None
-    assert recv_buf.data.view('<i4')[0] == 1234
+    assert recv_buf.data.view('<u8')[0] == 1234
     assert self.client.frame_id == 1337
-    del self.client
-    del self.server
+    assert recv_buf.frame_id == 1337
 
   def test_no_conflate(self):
     self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
+    assert self.server is not None
     assert self.client is not None
     assert self.client.buffer_len is not None
     buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
@@ -80,11 +81,10 @@ def test_no_conflate(self):
     recv_buf = self.client.recv()
     assert recv_buf is not None
     assert self.client.frame_id == 2
-    del self.client
-    del self.server
 
   def test_conflate(self):
     self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
+    assert self.server is not None
     assert self.client is not None
     assert self.client.buffer_len is not None
     buf = np.zeros(self.client.buffer_len, dtype=np.uint8)
@@ -97,5 +97,3 @@ def test_conflate(self):
 
     recv_buf = self.client.recv()
     assert recv_buf is None
-    del self.client
-    del self.server

msgq/visionipc/tests/test_visionipc.py

@@ -21,6 +21,7 @@ cdef extern from "msgq/visionipc/visionbuf.h":
     size_t uv_offset
     size_t idx
     void set_frame_id(uint64_t id)
+    uint64_t get_frame_id()
 
 cdef extern from "msgq/visionipc/visionipc.h":
   struct VisionIpcBufExtra:

msgq/visionipc/visionipc.pxd

@@ -63,6 +63,10 @@ cdef class VisionBuf:
   def fd(self):
     return self.buf.fd
 
+  @property
+  def frame_id(self):
+    return self.buf.get_frame_id()
+
 
 cdef class VisionIpcServer:
   cdef cppVisionIpcServer * server
@@ -88,6 +92,7 @@ cdef class VisionIpcServer:
     extra.frame_id = frame_id
     extra.timestamp_sof = timestamp_sof
     extra.timestamp_eof = timestamp_eof
+    extra.valid = False
 
     self.server.send(buf, &extra, False)