Minimal pycapnp

test/test_openpilot.py

@@ -0,0 +1,97 @@
+"""Optional integration checks against a local openpilot checkout.
+
+Set OPENPILOT_PATH and run with openpilot's dependencies available. These tests
+use the checkout's real schemas; they never copy or modify them.
+"""
+
+import os
+import pickle
+import sys
+from pathlib import Path
+
+import capnp
+import pytest
+
+
+@pytest.fixture(scope="module")
+def openpilot():
+    path = os.environ.get("OPENPILOT_PATH")
+    if path is None:
+        pytest.skip("set OPENPILOT_PATH to run openpilot integration tests")
+    sys.path.insert(0, str(Path(path).resolve()))
+    from openpilot.cereal import log
+
+    return log
+
+
+def test_event_types(openpilot):
+    from openpilot.cereal import messaging
+    from openpilot.cereal.services import SERVICE_LIST
+
+    for event in openpilot.Event.schema.union_fields:
+        if event not in SERVICE_LIST:
+            continue
+        try:
+            msg = messaging.new_message(event)
+        except capnp.KjException:
+            msg = messaging.new_message(event, 2)
+        with openpilot.Event.from_bytes(msg.to_bytes()) as reader:
+            assert reader.which() == event
+            assert reader.logMonoTime == msg.logMonoTime
+            assert reader.valid == msg.valid
+
+
+def test_can_fields(openpilot):
+    from openpilot.selfdrive.pandad.pandad_api_impl import can_capnp_to_list, can_list_to_can_capnp
+
+    frames = [(0x123, b"\x00\xff\x01", 0), (0x456, b"\x02\x03", 1)]
+    raw = can_list_to_can_capnp(frames)
+    # Exercise both the writer's and reader's cached schema field paths.
+    decoded = can_capnp_to_list([raw])
+    assert decoded[0][1] == frames
+    with openpilot.Event.from_bytes(raw) as reader:
+        assert [(f.address, f.dat, f.src) for f in reader.can] == frames
+
+
+def test_schema_reflection(openpilot):
+    from openpilot.system.webrtc.schema import generate_struct
+
+    from opendbc.car.structs import car
+
+    schema = generate_struct(car.CarState.schema)
+    assert schema["vEgo"] == "float32"
+    assert schema["gearShifter"] == "text"
+    assert isinstance(schema["wheelSpeeds"], dict)
+    assert (
+        car.CarParams.schema.fields["safetyConfigs"].schema.elementType.node.id
+        == car.CarParams.SafetyConfig.schema.node.id
+    )
+
+
+def test_logreader_and_pickle(openpilot):
+    from openpilot.cereal import messaging
+    from openpilot.tools.lib.logreader import LogReader
+
+    msgs = []
+    for i in range(20):
+        msg = messaging.new_message("carState")
+        msg.carState.vEgo = float(i)
+        msgs.append(msg.to_bytes())
+    readers = list(LogReader.from_bytes(b"".join(msgs)))
+    assert [msg.carState.vEgo for msg in readers] == list(range(20))
+    restored = pickle.loads(pickle.dumps(readers[3]))
+    assert restored.which() == "carState"
+    assert restored.carState.vEgo == 3.0
+
+
+def test_fuzzy_messages_and_replay_comparison(openpilot):
+    from openpilot.common.fuzzy import Fuzzy, capnp_random_dict
+    from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+
+    for event in ("carState", "carControl", "carParams", "modelV2", "can", "extrinsicsCalibration"):
+        data = capnp_random_dict(Fuzzy(42, 51), openpilot.Event.schema, event, real_floats=True)
+        builder = openpilot.Event.new_message(**data)
+        with openpilot.Event.from_bytes(builder.to_bytes()) as reader:
+            assert reader.which() == event
+            assert reader.to_dict() == builder.to_dict()
+            assert compare_logs([reader], [reader.as_builder().as_reader()]) == []