From 822ea1fbd9ee761c8dce59d727eebe943e640502 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 13 May 2022 15:48:38 +0200
Subject: [PATCH] Add sensord test to Jenkins (#24524)

* Add sensord test to Jenkins

* add second configuration

* add other configs too

* rename

* move into existing HW tests
---
 Jenkinsfile                            |  1 +
 selfdrive/sensord/test/__init__.py     |  0
 selfdrive/sensord/test/test_sensord.py | 78 ++++++++++++++++++++++++++
 3 files changed, 79 insertions(+)
 create mode 100644 selfdrive/sensord/test/__init__.py
 create mode 100755 selfdrive/sensord/test/test_sensord.py

diff --git a/Jenkinsfile b/Jenkinsfile
index c5edda56fd..0c816cbb82 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -124,6 +124,7 @@ pipeline {
                       ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
                     ])
                   }
                 }
diff --git a/selfdrive/sensord/test/__init__.py b/selfdrive/sensord/test/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/sensord/test/test_sensord.py b/selfdrive/sensord/test/test_sensord.py
new file mode 100755
index 0000000000..96d8891265
--- /dev/null
+++ b/selfdrive/sensord/test/test_sensord.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+import time
+import unittest
+
+import cereal.messaging as messaging
+from selfdrive.hardware import TICI
+from selfdrive.test.helpers import with_processes
+
+TEST_TIMESPAN = 10
+
+SENSOR_CONFIGURATIONS = (
+  {
+    ('bmx055', 'acceleration'),
+    ('bmx055', 'gyroUncalibrated'),
+    ('bmx055', 'magneticUncalibrated'),
+    ('bmx055', 'temperature'),
+    ('lsm6ds3', 'acceleration'),
+    ('lsm6ds3', 'gyroUncalibrated'),
+    ('lsm6ds3', 'temperature'),
+    ('rpr0521', 'light'),
+  },
+  {
+    ('lsm6ds3', 'acceleration'),
+    ('lsm6ds3', 'gyroUncalibrated'),
+    ('lsm6ds3', 'temperature'),
+    ('mmc5603nj', 'magneticUncalibrated'),
+    ('rpr0521', 'light'),
+  },
+  {
+    ('bmx055', 'acceleration'),
+    ('bmx055', 'gyroUncalibrated'),
+    ('bmx055', 'magneticUncalibrated'),
+    ('bmx055', 'temperature'),
+    ('lsm6ds3trc', 'acceleration'),
+    ('lsm6ds3trc', 'gyroUncalibrated'),
+    ('lsm6ds3trc', 'temperature'),
+    ('rpr0521', 'light'),
+  },
+  {
+    ('lsm6ds3trc', 'acceleration'),
+    ('lsm6ds3trc', 'gyroUncalibrated'),
+    ('lsm6ds3trc', 'temperature'),
+    ('mmc5603nj', 'magneticUncalibrated'),
+    ('rpr0521', 'light'),
+  },
+)
+
+
+class TestSensord(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  @with_processes(['sensord'])
+  def test_sensors_present(self):
+    sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1)
+
+    start_time_sec = time.time()
+    events = []
+    while time.time() - start_time_sec < TEST_TIMESPAN:
+      events += messaging.drain_sock(sensor_events)
+      time.sleep(0.01)
+
+    seen = set()
+    for event in events:
+      for measurement in event.sensorEvents:
+        # Filter out unset events
+        if measurement.version == 0:
+          continue
+        seen.add((str(measurement.source), measurement.which()))
+
+    self.assertIn(seen, SENSOR_CONFIGURATIONS)
+
+
+if __name__ == "__main__":
+  unittest.main()