Pytest: consistent hardware state for tici tests (#31279)

* consistent hardware

* consistent hardware

* moved

* this too

* ruff

* s

* duplicated

---------

Co-authored-by: Comma Device <device@comma.ai>

Jenkinsfile

@@ -208,7 +208,7 @@ node {
         deviceStage("tici", "tici-common", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
-          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
           ["test manager", "pytest selfdrive/manager/test/test_manager.py"],

conftest.py

@@ -4,7 +4,7 @@ import random
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.manager import manager
-from openpilot.system.hardware import TICI
+from openpilot.system.hardware import TICI, HARDWARE
 
 
 def pytest_sessionstart(session):
@@ -57,12 +57,24 @@ def openpilot_class_fixture():
   os.environ.update(starting_env)
 
 
+@pytest.fixture(scope="class")
+def tici_setup_fixture():
+  """Ensure a consistent state for tests on-device"""
+  HARDWARE.initialize_hardware()
+  HARDWARE.set_power_save(False)
+  os.system("pkill -9 -f athena")
+  os.system("rm /dev/shm/*")
+
+
 @pytest.hookimpl(tryfirst=True)
 def pytest_collection_modifyitems(config, items):
   skipper = pytest.mark.skip(reason="Skipping tici test on PC")
   for item in items:
-    if not TICI and "tici" in item.keywords:
+    if "tici" in item.keywords:
+      if not TICI:
         item.add_marker(skipper)
+      else:
+        item.fixturenames.append('tici_setup_fixture')
 
     if "xdist_group_class_property" in item.keywords:
       class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]

selfdrive/test/test_onroad.py

@@ -112,17 +112,11 @@ class TestOnroad(unittest.TestCase):
 
     # setup env
     params = Params()
-    if "CI" in os.environ:
-      params.clear_all()
     params.remove("CurrentRoute")
     set_params_enabled()
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
-    os.system("rm /dev/shm/*")
-
-    # Make sure athena isn't running
-    os.system("pkill -9 -f athena")
 
     # start manager and run openpilot for a minute
     proc = None
@@ -429,4 +423,4 @@ class TestOnroad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main()

system/hardware/tici/tests/test_hardware.py

@@ -12,11 +12,6 @@ HARDWARE = Tici()
 @pytest.mark.tici
 class TestHardware(unittest.TestCase):
 
-  @classmethod
-  def setUpClass(cls):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
-
   def test_power_save_time(self):
     ts = []
     for _ in range(5):
@@ -30,4 +25,4 @@ class TestHardware(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main()

system/hardware/tici/tests/test_power_draw.py

@@ -11,7 +11,6 @@ import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.mock import mock_messages
 from openpilot.selfdrive.car.car_helpers import write_car_param
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.manager.manager import manager_cleanup
@@ -41,8 +40,6 @@ PROCS = [
 class TestPowerDraw(unittest.TestCase):
 
   def setUp(self):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
     write_car_param()
 
     # wait a bit for power save to disable
@@ -88,4 +85,4 @@ class TestPowerDraw(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main()