IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/common/tests/test_realtime.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+import pytest
+
+from iqpilot.common.realtime import config_background_thread, Ratekeeper
+
+
+class MonotonicClock:
+  def __init__(self) -> None:
+    self.now = 0.
+
+  def advance(self, seconds: float) -> None:
+    self.now += seconds
+
+  def __call__(self) -> float:
+    return self.now
+
+
+def test_ratekeeper_reset_discards_accumulated_lag(monkeypatch):
+  clock = MonotonicClock()
+  monkeypatch.setattr("iqpilot.common.realtime.time.monotonic", clock)
+  rk = Ratekeeper(100)
+
+  rk.monitor_time()
+  clock.advance(0.075)
+  rk.monitor_time()
+  assert rk.remaining == pytest.approx(-0.055)
+  assert rk.lag == pytest.approx(0.055)
+
+  rk.reset()
+  assert rk.remaining == 0.
+  assert rk.lag == 0.
+
+  rk.monitor_time()
+  assert rk.remaining == pytest.approx(0.01)
+  assert rk.lag == 0.
+
+
+def test_ratekeeper_reset_preserves_frame_count(monkeypatch):
+  clock = MonotonicClock()
+  monkeypatch.setattr("iqpilot.common.realtime.time.monotonic", clock)
+  rk = Ratekeeper(100)
+
+  rk.monitor_time()
+  clock.advance(0.01)
+  rk.monitor_time()
+  frame = rk.frame
+
+  rk.reset()
+  assert rk.frame == frame
+
+
+def test_config_background_thread_restores_normal_scheduling(monkeypatch):
+  calls = []
+  monkeypatch.setattr("iqpilot.common.realtime.sys.platform", "linux")
+  monkeypatch.setattr("iqpilot.common.realtime.PC", False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.cpu_count", lambda: 8)
+  monkeypatch.setattr("iqpilot.common.realtime.os.SCHED_OTHER", 0, raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_param", lambda priority: priority, raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_setscheduler", lambda pid, policy, param: calls.append((pid, policy, param)), raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_setaffinity", lambda pid, cores: calls.append((pid, set(cores))), raising=False)
+
+  config_background_thread()
+
+  assert calls == [(0, 0, 0), (0, set(range(8)))]