openpilot_comma/selfdrive/test/test_openpilot.py

# flake8: noqa
import os
os.environ['FAKEUPLOAD'] = "1"

from common.apk import update_apks, start_frame, pm_apply_packages, android_packages
from common.params import Params
from common.testing import phone_only
from selfdrive.manager import manager_init, manager_prepare
from selfdrive.manager import start_managed_process, kill_managed_process, get_running
from selfdrive.manager import start_daemon_process
from functools import wraps
import json
import requests
import signal
import subprocess
import time

DID_INIT = False

# must run first
@phone_only
def test_manager_prepare():
  global DID_INIT
  manager_init()
  manager_prepare()
  DID_INIT = True

def with_processes(processes):
  def wrapper(func):
    @wraps(func)
    def wrap():
      if not DID_INIT:
        test_manager_prepare()

      # start and assert started
      [start_managed_process(p) for p in processes]
      assert all(get_running()[name].exitcode is None for name in processes)

      # call the function
      try:
        func()
        # assert processes are still started
        assert all(get_running()[name].exitcode is None for name in processes)
      finally:
        # kill and assert all stopped
        [kill_managed_process(p) for p in processes]
        assert len(get_running()) == 0
    return wrap
  return wrapper

def with_apks():
  def wrapper(func):
    @wraps(func)
    def wrap():
      if not DID_INIT:
        test_manager_prepare()

      update_apks()
      pm_apply_packages('enable')
      start_frame()

      func()

      try:
        for package in android_packages:
          apk_is_running = (subprocess.call(["pidof", package]) == 0)
          assert apk_is_running, package
      finally:
        pm_apply_packages('disable')
        for package in android_packages:
          apk_is_not_running = (subprocess.call(["pidof", package]) == 1)
          assert apk_is_not_running, package
    return wrap
  return wrapper

@phone_only
@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
def test_logging():
  print("LOGGING IS SET UP")
  time.sleep(1.0)

@phone_only
@with_processes(['camerad', 'modeld', 'monitoringd'])
def test_visiond():
  print("VISIOND IS SET UP")
  time.sleep(5.0)

@phone_only
@with_processes(['sensord'])
def test_sensord():
  print("SENSORS ARE SET UP")
  time.sleep(1.0)

@phone_only
@with_processes(['ui'])
def test_ui():
  print("RUNNING UI")
  time.sleep(1.0)

# will have one thing to upload if loggerd ran
# TODO: assert it actually uploaded
@phone_only
@with_processes(['uploader'])
def test_uploader():
  print("UPLOADER")
  time.sleep(10.0)

# @phone_only
# def test_athena():
#   print("ATHENA")
#   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():
#     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})'

#   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()

#     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(["thermald"])
#     def test_athena_thermal():
#       print("ATHENA: getMessage(thermal)")
#       resp = athena_post({
#         "method": "getMessage",
#         "params": {"service": "thermal", "timeout": 5000},
#         "id": 0,
#         "jsonrpc": "2.0"
#       })
#       assert resp.get('result'), resp
#       assert resp['result']['thermal'], resp['result']
#     test_athena_thermal()
#   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

# TODO: re-enable when jenkins test has /data/pythonpath -> /data/openpilot
# @phone_only
# @with_apks()
# def test_apks():
#   print("APKS")
#   time.sleep(14.0)