You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
134 lines
3.8 KiB
134 lines
3.8 KiB
#!/usr/bin/env python3
|
|
import json
|
|
import os
|
|
import requests
|
|
import signal
|
|
import subprocess
|
|
import time
|
|
|
|
os.environ['FAKEUPLOAD'] = "1"
|
|
|
|
from common.params import Params
|
|
from common.realtime import sec_since_boot
|
|
import selfdrive.manager as manager
|
|
from selfdrive.test.helpers import with_processes
|
|
|
|
|
|
def test_athena():
|
|
print("ATHENA")
|
|
start = sec_since_boot()
|
|
manager.start_daemon_process("manage_athenad")
|
|
params = Params()
|
|
manage_athenad_pid = params.get("AthenadPid")
|
|
assert manage_athenad_pid is not None
|
|
try:
|
|
os.kill(int(manage_athenad_pid), 0)
|
|
# process is running
|
|
except OSError:
|
|
assert False, "manage_athenad is dead"
|
|
|
|
def expect_athena_starts(timeout=30):
|
|
now = time.time()
|
|
athenad_pid = None
|
|
while athenad_pid is None:
|
|
try:
|
|
athenad_pid = subprocess.check_output(["pgrep", "-P", manage_athenad_pid], encoding="utf-8").strip()
|
|
return athenad_pid
|
|
except subprocess.CalledProcessError:
|
|
if time.time() - now > timeout:
|
|
assert False, f"Athena did not start within {timeout} seconds"
|
|
time.sleep(0.5)
|
|
|
|
def athena_post(payload, max_retries=5, wait=5):
|
|
tries = 0
|
|
while 1:
|
|
try:
|
|
resp = requests.post(
|
|
"https://athena.comma.ai/" + params.get("DongleId", encoding="utf-8"),
|
|
headers={
|
|
"Authorization": "JWT " + os.getenv("COMMA_JWT"),
|
|
"Content-Type": "application/json"
|
|
},
|
|
data=json.dumps(payload),
|
|
timeout=30
|
|
)
|
|
resp_json = resp.json()
|
|
if resp_json.get('error'):
|
|
raise Exception(resp_json['error'])
|
|
return resp_json
|
|
except Exception as e:
|
|
time.sleep(wait)
|
|
tries += 1
|
|
if tries == max_retries:
|
|
raise
|
|
else:
|
|
print(f'athena_post failed {e}. retrying...')
|
|
|
|
def expect_athena_registers(test_t0):
|
|
resp = athena_post({
|
|
"method": "echo",
|
|
"params": ["hello"],
|
|
"id": 0,
|
|
"jsonrpc": "2.0"
|
|
}, max_retries=12, wait=5)
|
|
assert resp.get('result') == "hello", f'Athena failed to register ({resp})'
|
|
|
|
last_pingtime = params.get("LastAthenaPingTime", encoding='utf8')
|
|
assert last_pingtime, last_pingtime
|
|
assert ((int(last_pingtime)/1e9) - test_t0) < (sec_since_boot() - test_t0)
|
|
|
|
try:
|
|
athenad_pid = expect_athena_starts()
|
|
# kill athenad and ensure it is restarted (check_output will throw if it is not)
|
|
os.kill(int(athenad_pid), signal.SIGINT)
|
|
expect_athena_starts()
|
|
|
|
if not os.getenv('COMMA_JWT'):
|
|
print('WARNING: COMMA_JWT env not set, will not test requests to athena.comma.ai')
|
|
return
|
|
|
|
expect_athena_registers(start)
|
|
|
|
print("ATHENA: getSimInfo")
|
|
resp = athena_post({
|
|
"method": "getSimInfo",
|
|
"id": 0,
|
|
"jsonrpc": "2.0"
|
|
})
|
|
assert resp.get('result'), resp
|
|
assert 'sim_id' in resp['result'], resp['result']
|
|
|
|
print("ATHENA: takeSnapshot")
|
|
resp = athena_post({
|
|
"method": "takeSnapshot",
|
|
"id": 0,
|
|
"jsonrpc": "2.0"
|
|
})
|
|
assert resp.get('result'), resp
|
|
assert resp['result']['jpegBack'], resp['result']
|
|
|
|
@with_processes(["deviceStated"])
|
|
def test_athena_deviceState():
|
|
print("ATHENA: getMessage(deviceState)")
|
|
resp = athena_post({
|
|
"method": "getMessage",
|
|
"params": {"service": "deviceState", "timeout": 5000},
|
|
"id": 0,
|
|
"jsonrpc": "2.0"
|
|
})
|
|
assert resp.get('result'), resp
|
|
assert resp['result']['deviceState'], resp['result']
|
|
test_athena_deviceState()
|
|
finally:
|
|
try:
|
|
athenad_pid = subprocess.check_output(["pgrep", "-P", manage_athenad_pid], encoding="utf-8").strip()
|
|
except subprocess.CalledProcessError:
|
|
athenad_pid = None
|
|
|
|
try:
|
|
os.kill(int(manage_athenad_pid), signal.SIGINT)
|
|
os.kill(int(athenad_pid), signal.SIGINT)
|
|
except (OSError, TypeError):
|
|
pass
|
|
|
|
|
|
|