IQ.Pilot Release Commit @ 3fe374f

iqpilot/system/webrtc/tests/test_stream_session.py

@@ -1,19 +1,14 @@
 import asyncio
+import gc
 import json
-import time
-# for aiortc and its dependencies
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
-from aiortc import RTCDataChannel
-from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
 from iqpilot.cereal import messaging, log
 
 from iqpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
-from iqpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from iqpilot.system.webrtc.device.audio import AudioInputStreamTrack
+from iqpilot.system.webrtc.device.native_audio import AudioInputOpusProducer, DebugAudioOpusProducer
+from iqpilot.system.webrtc.device.native_video import DebugVideoStreamTrack, LiveStreamVideoStreamTrack
+from iqpilot.system.webrtc.rtc.tracks import VIDEO_TIME_BASE
 
 
 class TestStreamSession:
@@ -23,6 +18,7 @@ class TestStreamSession:
   def teardown_method(self):
     self.loop.stop()
     self.loop.close()
+    gc.collect()
 
   def test_outgoing_proxy(self, mocker):
     test_msg = log.Event.new_message()
@@ -32,12 +28,12 @@ class TestStreamSession:
     expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
     expected_json = json.dumps(expected_dict).encode()
 
-    channel = mocker.Mock(spec=RTCDataChannel)
-    mocked_submaster = messaging.SubMaster(["customReservedRawData0"])
-    def mocked_update(t):
-      mocked_submaster.update_msgs(0, [test_msg])
-
-    mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
+    channel = mocker.Mock()
+    mocked_submaster = mocker.MagicMock()
+    mocked_submaster.updated = {"customReservedRawData0": True}
+    mocked_submaster.logMonoTime = {"customReservedRawData0": 123}
+    mocked_submaster.valid = {"customReservedRawData0": True}
+    mocked_submaster.__getitem__.return_value = test_msg.customReservedRawData0
     proxy = CerealOutgoingMessageProxy(mocked_submaster)
     proxy.add_channel(channel)
 
@@ -47,9 +43,9 @@ class TestStreamSession:
 
   def test_incoming_proxy(self, mocker):
     tested_msgs = [
-      {"type": "customReservedRawData0", "data": "test"}, # primitive
-      {"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]}, # list
-      {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict
+      {"type": "customReservedRawData0", "data": "test"},
+      {"type": "can", "data": [{"address": 0, "dat": "", "src": 0}]},
+      {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}},
     ]
 
     mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster)
@@ -72,20 +68,15 @@ class TestStreamSession:
     fake_msg.livestreamDriverEncodeData.header = b"header"
     fake_msg.livestreamDriverEncodeData.data = b"\x00\x00\x00\x01\x65"
 
-    mocker.patch("iqpilot.system.webrtc.device.video.messaging.recv_one_or_none", return_value=fake_msg)
+    mocker.patch("iqpilot.system.webrtc.device.native_video.messaging.sub_sock", return_value=mocker.Mock())
+    mocker.patch("iqpilot.system.webrtc.device.native_video.messaging.recv_one_or_none", return_value=fake_msg)
     track = LiveStreamVideoStreamTrack("driver")
 
     assert track.id.startswith("driver")
-    assert track.codec_preference() == "H264"
-
-    for i in range(5):
-      packet = self.loop.run_until_complete(track.recv())
-      assert packet.time_base == VIDEO_TIME_BASE
-      if i == 0:
-        start_ns = time.monotonic_ns()
-        start_pts = packet.pts
-      assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
-      assert packet.size == len(b"header\x00\x00\x00\x01\x65")
+    packet = self.loop.run_until_complete(track.recv())
+    assert packet.time_base == VIDEO_TIME_BASE
+    assert packet.pts is not None
+    assert packet.size == len(b"header\x00\x00\x00\x01\x65")
 
   def test_input_audio_track(self, mocker):
     packet_time, rate = 0.02, 16000
@@ -93,11 +84,27 @@ class TestStreamSession:
     fake_msg = messaging.new_message("rawAudioData")
     fake_msg.rawAudioData.data = b"\x00" * 2 * sample_count
     fake_msg.rawAudioData.sampleRate = rate
-    mocker.patch("iqpilot.system.webrtc.device.audio.messaging.recv_one_or_none", return_value=fake_msg)
-    track = AudioInputStreamTrack(rate=rate)
+    mocker.patch("iqpilot.system.webrtc.device.native_audio.messaging.sub_sock", return_value=mocker.Mock())
+    track = AudioInputOpusProducer()
+    track._source_rate = rate
+    mocker.patch("iqpilot.system.webrtc.device.native_audio.messaging.recv_one_or_none", return_value=fake_msg)
 
-    for i in range(5):
-      frame = self.loop.run_until_complete(track.recv())
-      assert frame.rate == rate
-      assert frame.samples == sample_count
-      assert frame.pts == i * sample_count
+    packet = self.loop.run_until_complete(track.recv())
+    assert packet is not None
+    payload, pts = packet
+    assert payload
+    assert pts >= 0
+
+  def test_debug_video_track(self):
+    track = DebugVideoStreamTrack("road")
+    packet = self.loop.run_until_complete(track.recv())
+    assert packet.size > 0
+    assert packet.pts == 0
+
+  def test_debug_audio_track(self):
+    track = DebugAudioOpusProducer()
+    packet = self.loop.run_until_complete(track.recv())
+    assert packet is not None
+    payload, pts = packet
+    assert payload
+    assert pts == 0