openpilot_comma/selfdrive/manager/test/test_manager.py

#!/usr/bin/env python3
import os
import signal
import time
import unittest

from cereal import car
from openpilot.common.params import Params
import openpilot.selfdrive.manager.manager as manager
from openpilot.selfdrive.manager.process import ensure_running
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.system.hardware import HARDWARE

os.environ['FAKEUPLOAD'] = "1"

MAX_STARTUP_TIME = 3
BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']

class TestManager(unittest.TestCase):
  def setUp(self):
    os.environ['PASSIVE'] = '0'
    HARDWARE.set_power_save(False)

    # ensure clean CarParams
    params = Params()
    params.clear_all()

  def tearDown(self):
    manager.manager_cleanup()

  def test_manager_prepare(self):
    os.environ['PREPAREONLY'] = '1'
    manager.main()

  def test_startup_time(self):
    for _ in range(10):
      start = time.monotonic()
      os.environ['PREPAREONLY'] = '1'
      manager.main()
      t = time.monotonic() - start
      assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"

  def test_clean_exit(self):
    """
      Ensure all processes exit cleanly when stopped.
    """
    HARDWARE.set_power_save(False)
    manager.manager_init()
    manager.manager_prepare()

    CP = car.CarParams.new_message()
    procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)

    time.sleep(10)

    for p in procs:
      with self.subTest(proc=p.name):
        state = p.get_process_state_msg()
        self.assertTrue(state.running, f"{p.name} not running")
        exit_code = p.stop(retry=False)

        # TODO: mapsd should exit cleanly
        if p.name == "mapsd":
          continue

        self.assertTrue(exit_code is not None, f"{p.name} failed to exit")

        # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
        exit_codes = [0, 1]
        if p.sigkill:
          exit_codes = [-signal.SIGKILL]
        self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")


if __name__ == "__main__":
  unittest.main()