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57 lines
1.8 KiB
57 lines
1.8 KiB
#!/usr/bin/env python3
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import os
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import pytest
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import time
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import subprocess
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import cereal.messaging as messaging
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.timeout import Timeout
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from openpilot.selfdrive.test.helpers import set_params_enabled
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@pytest.mark.tici
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def test_time_to_onroad():
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# launch
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set_params_enabled()
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manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
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proc = subprocess.Popen(["python", manager_path])
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start_time = time.monotonic()
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sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan'])
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try:
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# wait for onroad. timeout assumes panda is up to date
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with Timeout(10, "timed out waiting to go onroad"):
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while not sm['deviceState'].started:
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sm.update(100)
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# wait for engageability
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try:
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with Timeout(10, "timed out waiting for engageable"):
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sendcan_frame = None
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while True:
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sm.update(100)
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# sendcan is only sent once we're initialized
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if sm.seen['controlsState'] and sendcan_frame is None:
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sendcan_frame = sm.frame
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if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame:
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sm.update(100)
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assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
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break
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finally:
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print(f"onroad events: {sm['onroadEvents']}")
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print(f"engageable after {time.monotonic() - start_time:.2f}s")
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# once we're enageable, must stay for the next few seconds
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st = time.monotonic()
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while (time.monotonic() - st) < 10.:
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sm.update(100)
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assert sm.all_alive(), sm.alive
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assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
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assert sm['controlsState'].cumLagMs < 10.
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finally:
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proc.terminate()
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if proc.wait(20) is None:
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proc.kill()
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