Sound test (#1820)

* WIP sound test

* it does something

* refactor

* phone only

* update release files

* test sound card init

* add to CI

* check writes

* increase time

* unused

* only build cereal

* small tolerance

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: f1afb3e3ae

Jenkinsfile

@@ -40,6 +40,19 @@ pipeline {
           }
         }
 
+        stage('Sound Test') {
+          steps {
+            lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
+              timeout(time: 30, unit: 'MINUTES') {
+                dir(path: 'selfdrive/test') {
+                  sh 'pip install paramiko'
+                  sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && cd selfdrive/test && nosetests -s test_sounds.py"'
+                }
+              }
+            }
+          }
+        }
+
       }
     }
   }

common/android.py

@@ -12,6 +12,10 @@ NetworkStrength = log.ThermalData.NetworkStrength
 
 ANDROID = os.path.isfile('/EON')
 
+def get_sound_card_online():
+  return (os.path.isfile('/proc/asound/card0/state') and
+          open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+
 def getprop(key):
   if not ANDROID:
     return ""

common/testing.py

@@ -1,8 +0,0 @@
-import os
-from nose.tools import nottest
-
-def phone_only(x):
-  if os.path.isfile("/init.qcom.rc"):
-    return x
-  else:
-    return nottest(x)

release/files_common

@@ -26,7 +26,6 @@ common/numpy_fast.py
 common/params.py
 common/xattr.py
 common/profiler.py
-common/testing.py
 common/basedir.py
 common/filter_simple.py
 common/stat_live.py
@@ -316,6 +315,7 @@ selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
 
 selfdrive/test/__init__.py
+selfdrive/test/helpers.py
 selfdrive/test/test_openpilot.py
 selfdrive/test/test_fingerprints.py
 selfdrive/test/test_car_models.py

selfdrive/controls/controlsd.py

@@ -2,7 +2,7 @@
 import os
 import gc
 from cereal import car, log
-from common.android import ANDROID
+from common.android import ANDROID, get_sound_card_online
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, set_core_affinity, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
@@ -79,8 +79,7 @@ class Controls:
               internet_needed or not openpilot_enabled_toggle
 
     # detect sound card presence and ensure successful init
-    sounds_available = (not ANDROID or (os.path.isfile('/proc/asound/card0/state') and
-                        open('/proc/asound/card0/state').read().strip() == 'ONLINE'))
+    sounds_available = not ANDROID or get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
     # If stock camera is disconnected, we loaded car controls and it's not dashcam mode

selfdrive/test/helpers.py

@@ -0,0 +1,56 @@
+import subprocess
+from functools import wraps
+from nose.tools import nottest
+
+from common.android import ANDROID
+from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
+from selfdrive.manager import start_managed_process, kill_managed_process, get_running
+
+def phone_only(x):
+  if ANDROID:
+    return x
+  else:
+    return nottest(x)
+
+def with_processes(processes):
+  def wrapper(func):
+    @wraps(func)
+    def wrap():
+      # start and assert started
+      [start_managed_process(p) for p in processes]
+      assert all(get_running()[name].exitcode is None for name in processes)
+
+      # call the function
+      try:
+        func()
+        # assert processes are still started
+        assert all(get_running()[name].exitcode is None for name in processes)
+      finally:
+        # kill and assert all stopped
+        [kill_managed_process(p) for p in processes]
+        assert len(get_running()) == 0
+    return wrap
+  return wrapper
+
+def with_apks():
+  def wrapper(func):
+    @wraps(func)
+    def wrap():
+      update_apks()
+      pm_apply_packages('enable')
+      start_offroad()
+
+      func()
+
+      try:
+        for package in android_packages:
+          apk_is_running = (subprocess.call(["pidof", package]) == 0)
+          assert apk_is_running, package
+      finally:
+        pm_apply_packages('disable')
+        for package in android_packages:
+          apk_is_not_running = (subprocess.call(["pidof", package]) == 1)
+          assert apk_is_not_running, package
+    return wrap
+  return wrapper
+

selfdrive/test/phone_ci.py

@@ -69,7 +69,7 @@ def run_on_phone(test_cmd):
   conn.send("exit\n")
 
   dat = b""
-  conn.settimeout(150)
+  conn.settimeout(240)
 
   while True:
     try:

selfdrive/test/test_openpilot.py

@@ -2,77 +2,22 @@
 import os
 os.environ['FAKEUPLOAD'] = "1"
 
-from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
 from common.params import Params
 from common.realtime import sec_since_boot
-from common.testing import phone_only
-from selfdrive.manager import manager_init, manager_prepare
-from selfdrive.manager import start_managed_process, kill_managed_process, get_running
-from selfdrive.manager import start_daemon_process
-from functools import wraps
+from selfdrive.manager import manager_init, manager_prepare, start_daemon_process
+from selfdrive.test.helpers import phone_only, with_processes
 import json
 import requests
 import signal
 import subprocess
 import time
 
-DID_INIT = False
 
 # must run first
 @phone_only
 def test_manager_prepare():
-  global DID_INIT
   manager_init()
   manager_prepare()
-  DID_INIT = True
-
-def with_processes(processes):
-  def wrapper(func):
-    @wraps(func)
-    def wrap():
-      if not DID_INIT:
-        test_manager_prepare()
-
-      # start and assert started
-      [start_managed_process(p) for p in processes]
-      assert all(get_running()[name].exitcode is None for name in processes)
-
-      # call the function
-      try:
-        func()
-        # assert processes are still started
-        assert all(get_running()[name].exitcode is None for name in processes)
-      finally:
-        # kill and assert all stopped
-        [kill_managed_process(p) for p in processes]
-        assert len(get_running()) == 0
-    return wrap
-  return wrapper
-
-def with_apks():
-  def wrapper(func):
-    @wraps(func)
-    def wrap():
-      if not DID_INIT:
-        test_manager_prepare()
-
-      update_apks()
-      pm_apply_packages('enable')
-      start_offroad()
-
-      func()
-
-      try:
-        for package in android_packages:
-          apk_is_running = (subprocess.call(["pidof", package]) == 0)
-          assert apk_is_running, package
-      finally:
-        pm_apply_packages('disable')
-        for package in android_packages:
-          apk_is_not_running = (subprocess.call(["pidof", package]) == 1)
-          assert apk_is_not_running, package
-    return wrap
-  return wrapper
 
 @phone_only
 @with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])

selfdrive/test/test_sounds.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+import time
+import subprocess
+
+from cereal import car
+import cereal.messaging as messaging
+from selfdrive.test.helpers import phone_only, with_processes
+from common.android import get_sound_card_online
+from common.realtime import DT_CTRL
+
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+SOUNDS = {
+  # sound: total writes
+  AudibleAlert.none: 0,
+  AudibleAlert.chimeEngage: 85,
+  AudibleAlert.chimeDisengage: 85,
+  AudibleAlert.chimeError: 85,
+  AudibleAlert.chimePrompt: 85,
+  AudibleAlert.chimeWarning1: 80,
+  AudibleAlert.chimeWarning2: 107,
+  AudibleAlert.chimeWarningRepeat: 134,
+  AudibleAlert.chimeWarning2Repeat: 177,
+}
+
+def get_total_writes():
+  audio_flinger = subprocess.check_output('dumpsys media.audio_flinger', shell=True, encoding='utf-8').strip()
+  write_lines = [l for l in audio_flinger.split('\n') if l.strip().startswith('Total writes')]
+  return sum([int(l.split(':')[1]) for l in write_lines])
+
+@phone_only
+def test_sound_card_init():
+  assert get_sound_card_online()
+
+
+@phone_only
+@with_processes(['ui', 'camerad'])
+def test_alert_sounds():
+
+  pm = messaging.PubMaster(['thermal', 'controlsState'])
+
+  # make sure they're all defined
+  alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()}
+  diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys())
+  assert len(diff) == 0, f"not all sounds defined in test: {diff}"
+
+  # wait for procs to init
+  time.sleep(5)
+
+  msg = messaging.new_message('thermal')
+  msg.thermal.started = True
+  pm.send('thermal', msg)
+
+  for sound, expected_writes in SOUNDS.items():
+    print(f"testing {alert_sounds[sound]}")
+    start_writes = get_total_writes()
+
+    for _ in range(int(9 / DT_CTRL)):
+      msg = messaging.new_message('controlsState')
+      msg.controlsState.enabled = True
+      msg.controlsState.active = True
+      msg.controlsState.alertSound = sound
+      msg.controlsState.alertType = str(sound)
+      pm.send('controlsState', msg)
+      time.sleep(DT_CTRL)
+
+    actual_writes = get_total_writes() - start_writes
+    assert abs(expected_writes - actual_writes) <= 2, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}"