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43 lines
1.2 KiB
43 lines
1.2 KiB
#!/usr/bin/env python3
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import subprocess
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import time
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import unittest
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from openpilot.selfdrive.manager.helpers import unblock_stdout
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from openpilot.tools.sim.run_bridge import parse_args
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from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
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from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
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class TestCarlaBridge(TestSimBridgeBase):
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"""
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Tests need Carla simulator to run
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"""
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carla_process = None
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def setUp(self):
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super().setUp()
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# We want to make sure that carla_sim docker isn't still running.
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subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
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self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
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# Too many lagging messages in bridge.py can cause a crash. This prevents it.
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unblock_stdout()
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# Wait 10 seconds to startup carla
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time.sleep(10)
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def create_bridge(self):
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return CarlaBridge(parse_args([]))
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def tearDown(self):
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super().tearDown()
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# Stop carla simulator by removing docker container
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subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
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if self.carla_process is not None:
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self.carla_process.wait()
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if __name__ == "__main__":
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unittest.main()
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