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71 lines
2.0 KiB
71 lines
2.0 KiB
#!/usr/bin/env python3
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import os
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import signal
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import time
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import unittest
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from common.params import Params
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import selfdrive.manager.manager as manager
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from selfdrive.manager.process import DaemonProcess
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from selfdrive.manager.process_config import managed_processes
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from system.hardware import HARDWARE
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os.environ['FAKEUPLOAD'] = "1"
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MAX_STARTUP_TIME = 3
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ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['pandad', ])]
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class TestManager(unittest.TestCase):
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def setUp(self):
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os.environ['PASSIVE'] = '0'
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HARDWARE.set_power_save(False)
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# ensure clean CarParams
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params = Params()
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params.clear_all()
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def tearDown(self):
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manager.manager_cleanup()
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def test_manager_prepare(self):
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os.environ['PREPAREONLY'] = '1'
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manager.main()
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def test_startup_time(self):
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for _ in range(10):
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start = time.monotonic()
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os.environ['PREPAREONLY'] = '1'
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manager.main()
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t = time.monotonic() - start
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assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
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def test_clean_exit(self):
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"""
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Ensure all processes exit cleanly when stopped.
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"""
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HARDWARE.set_power_save(False)
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manager.manager_init()
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manager.manager_prepare()
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for p in ALL_PROCESSES:
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managed_processes[p].start()
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time.sleep(10)
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for p in reversed(ALL_PROCESSES):
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with self.subTest(proc=p):
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state = managed_processes[p].get_process_state_msg()
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self.assertTrue(state.running, f"{p} not running")
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exit_code = managed_processes[p].stop(retry=False)
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self.assertTrue(exit_code is not None, f"{p} failed to exit")
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# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
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exit_codes = [0, 1]
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if managed_processes[p].sigkill:
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exit_codes = [-signal.SIGKILL]
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self.assertIn(exit_code, exit_codes, f"{p} died with {exit_code}")
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if __name__ == "__main__":
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unittest.main()
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