openpilot_comma/system/manager/test/test_manager.py

import os
import pytest
import signal
import time

from parameterized import parameterized

from cereal import car
from openpilot.common.params import Params
import openpilot.system.manager.manager as manager
from openpilot.system.manager.process import ensure_running
from openpilot.system.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:
  def setup_method(self):
    HARDWARE.set_power_save(False)

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

  def teardown_method(self):
    manager.manager_cleanup()

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

  def test_blacklisted_procs(self):
    # TODO: ensure there are blacklisted procs until we have a dedicated test
    assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"

  @parameterized.expand([(i,) for i in range(10)])
  def test_startup_time(self, index):
    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"

  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
  def test_clean_exit(self, subtests):
    """
      Ensure all processes exit cleanly when stopped.
    """
    HARDWARE.set_power_save(False)
    manager.manager_init()

    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 subtests.test(proc=p.name):
        state = p.get_process_state_msg()
        assert state.running, f"{p.name} not running"
        exit_code = p.stop(retry=False)

        assert p.name not in BLACKLIST_PROCS, f"{p.name} was started"

        assert 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]
        assert exit_code in exit_codes, f"{p.name} died with {exit_code}"