logcatd bugfix + tests (#19689)

* hack to exit cleanly

* move the hack

* add test

* run in ci

* unused

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

Jenkinsfile

@@ -153,6 +153,7 @@ pipeline {
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
                       ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                       //["test updater", "python installer/updater/test_updater.py"],
                     ])
                   }

selfdrive/logcatd/logcatd_android.cc

@@ -18,7 +18,7 @@ int main() {
   ExitHandler do_exit;
 
   // setup android logging
-  struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, 0, 0);
+  struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY, 0, 0);
   assert(logger_list);
   struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);
   assert(main_logger);

selfdrive/logcatd/tests/test_logcatd_android.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+import os
+import random
+import string
+import time
+import unittest
+
+import cereal.messaging as messaging
+from selfdrive.test.helpers import with_processes
+
+class TestLogcatdAndroid(unittest.TestCase):
+
+  @with_processes(['logcatd'])
+  def test_log(self):
+    sock = messaging.sub_sock("androidLog", conflate=False)
+
+    # make sure sockets are ready
+    time.sleep(1)
+    messaging.drain_sock(sock)
+
+    # write some log messages
+    sent_msgs = {}
+    for _ in range(random.randint(5, 50)):
+      msg = ''.join([random.choice(string.ascii_letters) for _ in range(random.randrange(2, 200))])
+      sent_msgs[msg] = ''.join([random.choice(string.ascii_letters) for _ in range(random.randrange(2, 20))])
+      os.system(f"log -t {sent_msgs[msg]} {msg}")
+
+    time.sleep(1)
+    msgs = messaging.drain_sock(sock)
+    for m in msgs:
+      self.assertTrue(m.valid)
+      self.assertLess(time.monotonic() - (m.logMonoTime / 1e9), 30)
+
+      recv_msg = m.androidLog.message.strip()
+      if recv_msg not in sent_msgs:
+        continue
+
+      self.assertEqual(m.androidLog.tag, sent_msgs[recv_msg])
+      del sent_msgs[recv_msg]
+
+    # ensure we received all the logs we sent
+    self.assertEqual(len(sent_msgs), 0)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/test/test_manager.py

@@ -38,12 +38,12 @@ class TestManager(unittest.TestCase):
     manager.manager_prepare()
     for p in ALL_PROCESSES:
       manager.start_managed_process(p)
-    
+
     time.sleep(10)
 
     for p in reversed(ALL_PROCESSES):
       exit_code = manager.kill_managed_process(p, retry=False)
-      if not EON and (p == 'ui'or p == 'loggerd'):
+      if (not EON and p == 'ui') or (EON and p == 'logcatd'):
         # TODO: make Qt UI exit gracefully and fix OMX encoder exiting
         continue