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92 lines
3.1 KiB
92 lines
3.1 KiB
import os
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import subprocess
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import time
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import pytest
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from multiprocessing import Queue
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from cereal import messaging
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from openpilot.common.basedir import BASEDIR
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from openpilot.tools.sim.bridge.common import QueueMessageType
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SIM_DIR = os.path.join(BASEDIR, "tools/sim")
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class TestSimBridgeBase:
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@classmethod
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def setup_class(cls):
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if cls is TestSimBridgeBase:
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raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead")
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def setup_method(self):
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self.processes = []
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def test_driving(self):
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# Startup manager and bridge.py. Check processes are running, then engage and verify.
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p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
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self.processes.append(p_manager)
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sm = messaging.SubMaster(['selfdriveState', 'onroadEvents', 'managerState'])
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q = Queue()
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bridge = self.create_bridge()
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p_bridge = bridge.run(q, retries=10)
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self.processes.append(p_bridge)
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max_time_per_step = 60
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# Wait for bridge to startup
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start_waiting = time.monotonic()
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while not bridge.started.value and time.monotonic() < start_waiting + max_time_per_step:
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time.sleep(0.1)
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assert p_bridge.exitcode is None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}"
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start_time = time.monotonic()
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no_car_events_issues_once = False
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car_event_issues = []
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not_running = []
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while time.monotonic() < start_time + max_time_per_step:
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sm.update()
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not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
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car_event_issues = [event.name for event in sm['onroadEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])]
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if sm.all_alive() and len(car_event_issues) == 0 and len(not_running) == 0:
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no_car_events_issues_once = True
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break
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assert no_car_events_issues_once, \
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f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'"
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start_time = time.monotonic()
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min_counts_control_active = 100
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control_active = 0
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while time.monotonic() < start_time + max_time_per_step:
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sm.update()
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if sm.all_alive() and sm['selfdriveState'].active:
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control_active += 1
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if control_active == min_counts_control_active:
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break
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assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}"
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failure_states = []
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while bridge.started.value:
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continue
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while not q.empty():
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state = q.get()
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if state.type == QueueMessageType.TERMINATION_INFO:
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done_info = state.info
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failure_states = [done_state for done_state in done_info if done_state != "timeout" and done_info[done_state]]
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break
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assert len(failure_states) == 0, f"Simulator fails to finish a loop. Failure states: {failure_states}"
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def teardown_method(self):
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print("Test shutting down. CommIssues are acceptable")
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for p in reversed(self.processes):
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p.terminate()
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for p in reversed(self.processes):
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p.kill()
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