mirror of https://github.com/commaai/cereal.git
Convert tests to pytests (#626)
* make test pass * linter --------- Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
This commit is contained in:
Uku Loskit
GitHub
parent
74074d650f
commit
d7b99c4296
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@ -43,7 +43,7 @@ jobs:
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msgq/test_runner && \
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msgq/visionipc/test_runner"
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- name: python tests
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run: $RUN_NAMED "${{ matrix.backend }}=1 coverage run -m unittest discover ."
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run: $RUN_NAMED "${{ matrix.backend }}=1 coverage run -m pytest"
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- name: Upload coverage
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run: |
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docker commit msgq msgqci
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@ -35,7 +35,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
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zlib1g-dev \
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&& rm -rf /var/lib/apt/lists/*
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RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy
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RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy pytest
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WORKDIR /project/msgq/
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RUN cd /tmp/ && \
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@ -1,5 +1,5 @@
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import pytest
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import os
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import unittest
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import multiprocessing
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import platform
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import msgq
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@ -9,18 +9,18 @@ from typing import Optional
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WAIT_TIMEOUT = 5
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@unittest.skipIf(platform.system() == "Darwin", "Events not supported on macOS")
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class TestEvents(unittest.TestCase):
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@pytest.mark.skipif(condition=platform.system() == "Darwin", reason="Events not supported on macOS")
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class TestEvents:
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def test_mutation(self):
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handle = msgq.fake_event_handle("carState")
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event = handle.recv_called_event
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self.assertFalse(event.peek())
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assert not event.peek()
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event.set()
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self.assertTrue(event.peek())
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assert event.peek()
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event.clear()
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self.assertFalse(event.peek())
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assert not event.peek()
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del event
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@ -31,9 +31,9 @@ class TestEvents(unittest.TestCase):
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event.set()
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try:
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event.wait(WAIT_TIMEOUT)
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self.assertTrue(event.peek())
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assert event.peek()
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except RuntimeError:
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self.fail("event.wait() timed out")
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pytest.fail("event.wait() timed out")
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def test_wait_multiprocess(self):
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handle = msgq.fake_event_handle("carState")
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@ -46,9 +46,9 @@ class TestEvents(unittest.TestCase):
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p = multiprocessing.Process(target=set_event_run)
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p.start()
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event.wait(WAIT_TIMEOUT)
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self.assertTrue(event.peek())
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assert event.peek()
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except RuntimeError:
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self.fail("event.wait() timed out")
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pytest.fail("event.wait() timed out")
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p.kill()
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@ -58,34 +58,34 @@ class TestEvents(unittest.TestCase):
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try:
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event.wait(0)
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self.fail("event.wait() did not time out")
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pytest.fail("event.wait() did not time out")
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except RuntimeError:
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self.assertFalse(event.peek())
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assert not event.peek()
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@unittest.skipIf(platform.system() == "Darwin", "FakeSockets not supported on macOS")
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@unittest.skipIf("ZMQ" in os.environ, "FakeSockets not supported on ZMQ")
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@pytest.mark.skipif(condition=platform.system() == "Darwin", reason="FakeSockets not supported on macOS")
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@pytest.mark.skipif(condition="ZMQ" in os.environ, reason="FakeSockets not supported on ZMQ")
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@parameterized_class([{"prefix": None}, {"prefix": "test"}])
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class TestFakeSockets(unittest.TestCase):
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class TestFakeSockets:
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prefix: Optional[str] = None
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def setUp(self):
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def setup_method(self):
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msgq.toggle_fake_events(True)
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if self.prefix is not None:
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msgq.set_fake_prefix(self.prefix)
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else:
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msgq.delete_fake_prefix()
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def tearDown(self):
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def teardown_method(self):
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msgq.toggle_fake_events(False)
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msgq.delete_fake_prefix()
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def test_event_handle_init(self):
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handle = msgq.fake_event_handle("controlsState", override=True)
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self.assertFalse(handle.enabled)
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self.assertGreaterEqual(handle.recv_called_event.fd, 0)
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self.assertGreaterEqual(handle.recv_ready_event.fd, 0)
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assert not handle.enabled
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assert handle.recv_called_event.fd >= 0
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assert handle.recv_ready_event.fd >= 0
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def test_non_managed_socket_state(self):
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# non managed socket should have zero state
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@ -93,9 +93,9 @@ class TestFakeSockets(unittest.TestCase):
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handle = msgq.fake_event_handle("ubloxGnss", override=False)
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self.assertFalse(handle.enabled)
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self.assertEqual(handle.recv_called_event.fd, 0)
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self.assertEqual(handle.recv_ready_event.fd, 0)
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assert not handle.enabled
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assert handle.recv_called_event.fd == 0
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assert handle.recv_ready_event.fd == 0
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def test_managed_socket_state(self):
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# managed socket should not change anything about the state
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@ -108,9 +108,9 @@ class TestFakeSockets(unittest.TestCase):
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_ = msgq.pub_sock("ubloxGnss")
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self.assertEqual(handle.enabled, expected_enabled)
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self.assertEqual(handle.recv_called_event.fd, expected_recv_called_fd)
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self.assertEqual(handle.recv_ready_event.fd, expected_recv_ready_fd)
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assert handle.enabled == expected_enabled
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assert handle.recv_called_event.fd == expected_recv_called_fd
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assert handle.recv_ready_event.fd == expected_recv_ready_fd
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def test_sockets_enable_disable(self):
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carState_handle = msgq.fake_event_handle("ubloxGnss", enable=True)
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@ -125,16 +125,16 @@ class TestFakeSockets(unittest.TestCase):
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recv_ready.set()
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pub_sock.send(b"test")
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_ = sub_sock.receive()
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self.assertTrue(recv_called.peek())
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assert recv_called.peek()
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recv_called.clear()
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carState_handle.enabled = False
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recv_ready.set()
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pub_sock.send(b"test")
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_ = sub_sock.receive()
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self.assertFalse(recv_called.peek())
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assert not recv_called.peek()
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except RuntimeError:
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self.fail("event.wait() timed out")
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pytest.fail("event.wait() timed out")
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def test_synced_pub_sub(self):
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def daemon_repub_process_run():
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@ -177,16 +177,12 @@ class TestFakeSockets(unittest.TestCase):
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recv_called.wait(WAIT_TIMEOUT)
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msg = sub_sock.receive(non_blocking=True)
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self.assertIsNotNone(msg)
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self.assertEqual(len(msg), 8)
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assert msg is not None
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assert len(msg) == 8
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frame = int.from_bytes(msg, 'little')
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self.assertEqual(frame, i)
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assert frame == i
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except RuntimeError:
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self.fail("event.wait() timed out")
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pytest.fail("event.wait() timed out")
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finally:
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p.kill()
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if __name__ == "__main__":
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unittest.main()
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@ -1,10 +1,7 @@
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#!/usr/bin/env python3
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import os
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import random
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import threading
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import time
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import string
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import unittest
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import msgq
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@ -18,20 +15,9 @@ def zmq_sleep(t=1):
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if "ZMQ" in os.environ:
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time.sleep(t)
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def zmq_expected_failure(func):
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if "ZMQ" in os.environ:
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return unittest.expectedFailure(func)
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else:
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return func
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class TestPubSubSockets:
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def delayed_send(delay, sock, dat):
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def send_func():
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sock.send(dat)
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threading.Timer(delay, send_func).start()
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class TestPubSubSockets(unittest.TestCase):
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def setUp(self):
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def setup_method(self):
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# ZMQ pub socket takes too long to die
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# sleep to prevent multiple publishers error between tests
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zmq_sleep()
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@ -46,7 +32,7 @@ class TestPubSubSockets(unittest.TestCase):
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msg = random_bytes()
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pub_sock.send(msg)
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recvd = sub_sock.receive()
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self.assertEqual(msg, recvd)
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assert msg == recvd
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def test_conflate(self):
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sock = random_sock()
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@ -65,10 +51,10 @@ class TestPubSubSockets(unittest.TestCase):
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time.sleep(0.1)
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recvd_msgs = msgq.drain_sock_raw(sub_sock)
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if conflate:
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self.assertEqual(len(recvd_msgs), 1)
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assert len(recvd_msgs) == 1
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else:
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# TODO: compare actual data
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self.assertEqual(len(recvd_msgs), len(sent_msgs))
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assert len(recvd_msgs) == len(sent_msgs)
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def test_receive_timeout(self):
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sock = random_sock()
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@ -79,9 +65,5 @@ class TestPubSubSockets(unittest.TestCase):
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start_time = time.monotonic()
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recvd = sub_sock.receive()
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self.assertLess(time.monotonic() - start_time, 0.2)
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assert (time.monotonic() - start_time) < 0.2
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assert recvd is None
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if __name__ == "__main__":
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unittest.main()
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@ -1,4 +1,4 @@
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import unittest
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import pytest
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import time
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import msgq
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import concurrent.futures
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@ -20,7 +20,7 @@ def poller():
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return r
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class TestPoller(unittest.TestCase):
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class TestPoller:
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def test_poll_once(self):
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context = msgq.Context()
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@ -41,7 +41,7 @@ class TestPoller(unittest.TestCase):
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del pub
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context.term()
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self.assertEqual(result, [b"a"])
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assert result == [b"a"]
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def test_poll_and_create_many_subscribers(self):
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context = msgq.Context()
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@ -68,12 +68,12 @@ class TestPoller(unittest.TestCase):
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del pub
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context.term()
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self.assertEqual(result, [b"a"])
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assert result == [b"a"]
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def test_multiple_publishers_exception(self):
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context = msgq.Context()
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with self.assertRaises(msgq.MultiplePublishersError):
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with pytest.raises(msgq.MultiplePublishersError):
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pub1 = msgq.PubSocket()
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pub1.connect(context, SERVICE_NAME)
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@ -106,7 +106,7 @@ class TestPoller(unittest.TestCase):
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r = sub.receive(non_blocking=True)
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if r is not None:
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self.assertEqual(b'a'*i, r)
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assert b'a'*i == r
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msg_seen = True
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i += 1
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@ -131,12 +131,8 @@ class TestPoller(unittest.TestCase):
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pub.send(b'a')
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pub.send(b'b')
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self.assertEqual(b'b', sub.receive())
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assert b'b' == sub.receive()
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del pub
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del sub
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context.term()
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if __name__ == "__main__":
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unittest.main()
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@ -1,8 +1,6 @@
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#!/usr/bin/env python3
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import os
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import time
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import random
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import unittest
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import numpy as np
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from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType
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@ -11,7 +9,7 @@ def zmq_sleep(t=1):
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time.sleep(t)
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class TestVisionIpc(unittest.TestCase):
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class TestVisionIpc:
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def setup_vipc(self, name, *stream_types, num_buffers=1, rgb=False, width=100, height=100, conflate=False):
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self.server = VisionIpcServer(name)
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@ -21,7 +19,7 @@ class TestVisionIpc(unittest.TestCase):
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if len(stream_types):
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self.client = VisionIpcClient(name, stream_types[0], conflate)
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self.assertTrue(self.client.connect(True))
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assert self.client.connect(True)
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else:
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self.client = None
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@ -30,28 +28,37 @@ class TestVisionIpc(unittest.TestCase):
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def test_connect(self):
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self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
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self.assertTrue(self.client.is_connected)
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assert self.client.is_connected
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del self.client
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del self.server
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def test_available_streams(self):
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for k in range(4):
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stream_types = set(random.choices([x.value for x in VisionStreamType], k=k))
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self.setup_vipc("camerad", *stream_types)
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available_streams = VisionIpcClient.available_streams("camerad", True)
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self.assertEqual(available_streams, stream_types)
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assert available_streams == stream_types
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del self.client
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del self.server
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def test_buffers(self):
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width, height, num_buffers = 100, 200, 5
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self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height)
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self.assertEqual(self.client.width, width)
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self.assertEqual(self.client.height, height)
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self.assertGreater(self.client.buffer_len, 0)
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self.assertEqual(self.client.num_buffers, num_buffers)
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assert self.client.width == width
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assert self.client.height == height
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assert self.client.buffer_len > 0
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assert self.client.num_buffers == num_buffers
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del self.client
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del self.server
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def test_yuv_rgb(self):
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_, client_yuv = self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, rgb=False)
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_, client_rgb = self.setup_vipc("navd", VisionStreamType.VISION_STREAM_MAP, rgb=True)
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self.assertTrue(client_rgb.rgb)
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self.assertFalse(client_yuv.rgb)
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assert client_rgb.rgb
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assert not client_yuv.rgb
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del client_yuv
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del client_rgb
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del self.server
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def test_send_single_buffer(self):
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self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
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@ -61,9 +68,11 @@ class TestVisionIpc(unittest.TestCase):
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self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=1337)
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recv_buf = self.client.recv()
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self.assertIsNot(recv_buf, None)
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self.assertEqual(recv_buf.data.view('<i4')[0], 1234)
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self.assertEqual(self.client.frame_id, 1337)
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assert recv_buf is not None
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assert recv_buf.data.view('<i4')[0] == 1234
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assert self.client.frame_id == 1337
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del self.client
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del self.server
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def test_no_conflate(self):
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self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD)
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@ -73,12 +82,14 @@ class TestVisionIpc(unittest.TestCase):
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self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
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recv_buf = self.client.recv()
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self.assertIsNot(recv_buf, None)
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self.assertEqual(self.client.frame_id, 1)
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assert recv_buf is not None
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assert self.client.frame_id == 1
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recv_buf = self.client.recv()
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self.assertIsNot(recv_buf, None)
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self.assertEqual(self.client.frame_id, 2)
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assert recv_buf is not None
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assert self.client.frame_id == 2
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del self.client
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del self.server
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def test_conflate(self):
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self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, conflate=True)
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@ -88,12 +99,10 @@ class TestVisionIpc(unittest.TestCase):
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self.server.send(VisionStreamType.VISION_STREAM_ROAD, buf, frame_id=2)
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recv_buf = self.client.recv()
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self.assertIsNot(recv_buf, None)
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self.assertEqual(self.client.frame_id, 2)
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assert recv_buf is not None
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assert self.client.frame_id == 2
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recv_buf = self.client.recv()
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self.assertIs(recv_buf, None)
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if __name__ == "__main__":
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unittest.main()
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assert recv_buf is None
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del self.client
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del self.server
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|
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|
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@ -7,6 +7,10 @@ lint.flake8-implicit-str-concat.allow-multiline=false
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line-length = 160
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target-version="py311"
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|
||||
[tool.ruff.lint.flake8-tidy-imports.banned-api]
|
||||
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
|
||||
"unittest".msg = "Use pytest"
|
||||
|
||||
[mypy.tool]
|
||||
# third-party packages
|
||||
ignore_missing_imports=true
|
||||
|
|
@ -19,3 +23,10 @@ warn_unused_ignores=true
|
|||
# restrict dynamic typing
|
||||
warn_return_any=true
|
||||
check_untyped_defs=true
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
addopts = "--durations=10"
|
||||
testpaths = [
|
||||
"msgq/tests",
|
||||
"msgq/visionipc/tests",
|
||||
]
|
||||
|
|
|
|||
Loading…
Reference in New Issue