CI: run unittests in parallel with xdist (#29756)

* parallel tests

* review suggesions

* add to pyproject

* add a bit more buffer on that

* fix rare athena issue

* remove from pypoetry

.github/workflows/selfdrive_tests.yaml

@@ -249,7 +249,7 @@ jobs:
       timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST && \
+                        $PYTEST -n auto --dist=loadscope && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \

selfdrive/athena/athenad.py

@@ -119,12 +119,11 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
-  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +135,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 

selfdrive/car/tests/test_lateral_limits.py

@@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
-@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
+@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
 class TestLateralLimits(unittest.TestCase):
   car_model: str
 

selfdrive/controls/tests/test_cruise_speed.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import itertools
 import numpy as np
 import unittest
 
@@ -31,21 +32,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
   return output[-1, 3]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      log.LongitudinalPersonality.schema.enumerants, # personality
+                      [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
+    params.put("LongitudinalPersonality", str(self.personality))
-                     log.LongitudinalPersonality.standard,
+    print(f'Testing {self.speed} m/s')
-                     log.LongitudinalPersonality.aggressive]
+    cruise_speed = float(self.speed)
-    for personality in personalities:
+
-      params.put("LongitudinalPersonality", str(personality))
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
-      for e2e in [False, True]:
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
-        for speed in [5,35]:
-          print(f'Testing {speed} m/s')
-          cruise_speed = float(speed)
-
-          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
 
 
 # TODO: test pcmCruise

system/tests/test_logmessaged.py

@@ -21,7 +21,7 @@ class TestLogmessaged(unittest.TestCase):
     self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
 
     # ensure sockets are connected
-    time.sleep(0.2)
+    time.sleep(1)
     messaging.drain_sock(self.sock)
     messaging.drain_sock(self.error_sock)