Release 260111

system/webrtc/tests/test_webrtcd.py

@@ -0,0 +1,65 @@
+import pytest
+import asyncio
+import json
+# 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 openpilot.system.webrtc.webrtcd import get_stream
+
+import aiortc
+from teleoprtc import WebRTCOfferBuilder
+from parameterized import parameterized_class
+
+
+@parameterized_class(("in_services", "out_services"), [
+  (["testJoystick"], ["carState"]),
+  ([], ["carState"]),
+  (["testJoystick"], []),
+  ([], []),
+])
+@pytest.mark.asyncio
+class TestWebrtcdProc:
+  async def assertCompletesWithTimeout(self, awaitable, timeout=1):
+    try:
+      async with asyncio.timeout(timeout):
+        await awaitable
+    except TimeoutError:
+      pytest.fail("Timeout while waiting for awaitable to complete")
+
+  async def test_webrtcd(self, mocker):
+    mock_request = mocker.MagicMock()
+    async def connect(offer):
+      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
+      mock_request.json.side_effect = mocker.AsyncMock(return_value=body)
+      response = await get_stream(mock_request)
+      response_json = json.loads(response.text)
+      return aiortc.RTCSessionDescription(**response_json)
+
+    builder = WebRTCOfferBuilder(connect)
+    builder.offer_to_receive_video_stream("road")
+    builder.offer_to_receive_audio_stream()
+    if len(self.in_services) > 0 or len(self.out_services) > 0:
+      builder.add_messaging()
+
+    stream = builder.stream()
+
+    await self.assertCompletesWithTimeout(stream.start())
+    await self.assertCompletesWithTimeout(stream.wait_for_connection())
+
+    assert stream.has_incoming_video_track("road")
+    assert stream.has_incoming_audio_track()
+    assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0)
+
+    video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
+    await self.assertCompletesWithTimeout(video_track.recv())
+    await self.assertCompletesWithTimeout(audio_track.recv())
+
+    await self.assertCompletesWithTimeout(stream.stop())
+
+    # cleanup, very implementation specific, test may break if it changes
+    assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
+    _, session = mock_request.app["streams"].__setitem__.call_args.args
+    await self.assertCompletesWithTimeout(session.post_run_cleanup())
+