openpilot_comma/system/athena/tests/test_athenad_ping.py

#!/usr/bin/env python3
import pytest
import subprocess
import threading
import time
from typing import cast

from openpilot.common.params import Params
from openpilot.common.timeout import Timeout
from openpilot.system.athena import athenad
from openpilot.selfdrive.manager.helpers import write_onroad_params
from openpilot.system.hardware import TICI

TIMEOUT_TOLERANCE = 20  # seconds


def wifi_radio(on: bool) -> None:
  if not TICI:
    return
  print(f"wifi {'on' if on else 'off'}")
  subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)


class TestAthenadPing:
  params: Params
  dongle_id: str

  athenad: threading.Thread
  exit_event: threading.Event

  def _get_ping_time(self) -> str | None:
    return cast(str | None, self.params.get("LastAthenaPingTime", encoding="utf-8"))

  def _clear_ping_time(self) -> None:
    self.params.remove("LastAthenaPingTime")

  def _received_ping(self) -> bool:
    return self._get_ping_time() is not None

  @classmethod
  def teardown_class(cls) -> None:
    wifi_radio(True)

  def setup_method(self) -> None:
    self.params = Params()
    self.dongle_id = self.params.get("DongleId", encoding="utf-8")

    wifi_radio(True)
    self._clear_ping_time()

    self.exit_event = threading.Event()
    self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))

  def teardown_method(self) -> None:
    if self.athenad.is_alive():
      self.exit_event.set()
      self.athenad.join()

  def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None:
    self.athenad.start()

    mock_create_connection = mocker.patch('openpilot.system.athena.athenad.create_connection',
                                          new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection))

    time.sleep(1)
    mock_create_connection.assert_called_once()
    mock_create_connection.reset_mock()

    # check normal behaviour, server pings on connection
    with subtests.test("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
      while not self._received_ping():
        time.sleep(0.1)
      print("ping received")

    mock_create_connection.assert_not_called()

    # websocket should attempt reconnect after short time
    with subtests.test("LTE: attempt reconnect"):
      wifi_radio(False)
      print("waiting for reconnect attempt")
      start_time = time.monotonic()
      with Timeout(reconnect_time, "no reconnect attempt"):
        while not mock_create_connection.called:
          time.sleep(0.1)
        print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")

    self._clear_ping_time()

    # check ping received after reconnect
    with subtests.test("LTE: receives ping"), Timeout(70, "no ping received"):
      while not self._received_ping():
        time.sleep(0.1)
      print("ping received")

  @pytest.mark.skipif(not TICI, reason="only run on desk")
  def test_offroad(self, subtests, mocker) -> None:
    write_onroad_params(False, self.params)
    self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings

  @pytest.mark.skipif(not TICI, reason="only run on desk")
  def test_onroad(self, subtests, mocker) -> None:
    write_onroad_params(True, self.params)
    self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)