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108 lines
3.5 KiB
108 lines
3.5 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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import os
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from multiprocessing import Queue
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from cereal import messaging
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from common.basedir import BASEDIR
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from selfdrive.manager.helpers import unblock_stdout
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from tools.sim import bridge
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from tools.sim.bridge import CarlaBridge
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CI = "CI" in os.environ
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SIM_DIR = os.path.join(BASEDIR, "tools/sim")
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class TestCarlaIntegration(unittest.TestCase):
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"""
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Tests need Carla simulator to run
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"""
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processes = None
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carla_process = None
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def setUp(self):
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self.processes = []
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if not CI:
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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 test_engage(self):
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# Startup manager and bridge.py. Check processes are running, then engage and verify.
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p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
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self.processes.append(p_manager)
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sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
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q = Queue()
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carla_bridge = CarlaBridge(bridge.parse_args([]))
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p_bridge = carla_bridge.run(q, retries=10)
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self.processes.append(p_bridge)
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max_time_per_step = 60
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# Wait for bridge to startup
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start_waiting = time.monotonic()
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while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step:
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time.sleep(0.1)
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self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")
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start_time = time.monotonic()
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no_car_events_issues_once = False
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car_event_issues = []
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not_running = []
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while time.monotonic() < start_time + max_time_per_step:
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sm.update()
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not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
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car_event_issues = [event.name for event in sm['carEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])]
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if sm.all_alive() and len(car_event_issues) == 0 and len(not_running) == 0:
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no_car_events_issues_once = True
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break
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self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
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start_time = time.monotonic()
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min_counts_control_active = 100
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control_active = 0
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while time.monotonic() < start_time + max_time_per_step:
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sm.update()
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q.put("cruise_down") # Try engaging
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if sm.all_alive() and sm['controlsState'].active:
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control_active += 1
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if control_active == min_counts_control_active:
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break
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self.assertEqual(min_counts_control_active, control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}")
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def tearDown(self):
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print("Test shutting down. CommIssues are acceptable")
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for p in reversed(self.processes):
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p.terminate()
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for p in reversed(self.processes):
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if isinstance(p, subprocess.Popen):
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p.wait(15)
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else:
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p.join(15)
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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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