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.
68 lines
1.9 KiB
68 lines
1.9 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import signal
|
|
import time
|
|
import unittest
|
|
|
|
import selfdrive.manager.manager as manager
|
|
from selfdrive.hardware import TICI, HARDWARE
|
|
from selfdrive.manager.process import DaemonProcess
|
|
from selfdrive.manager.process_config import managed_processes
|
|
|
|
os.environ['FAKEUPLOAD'] = "1"
|
|
|
|
# TODO: make eon fast
|
|
MAX_STARTUP_TIME = 15
|
|
ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])]
|
|
|
|
|
|
class TestManager(unittest.TestCase):
|
|
def setUp(self):
|
|
os.environ['PASSIVE'] = '0'
|
|
HARDWARE.set_power_save(False)
|
|
|
|
def tearDown(self):
|
|
manager.manager_cleanup()
|
|
|
|
def test_manager_prepare(self):
|
|
os.environ['PREPAREONLY'] = '1'
|
|
manager.main()
|
|
|
|
def test_startup_time(self):
|
|
for _ in range(10):
|
|
start = time.monotonic()
|
|
os.environ['PREPAREONLY'] = '1'
|
|
manager.main()
|
|
t = time.monotonic() - start
|
|
assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
|
|
|
|
# ensure all processes exit cleanly
|
|
def test_clean_exit(self):
|
|
HARDWARE.set_power_save(False)
|
|
manager.manager_prepare()
|
|
for p in ALL_PROCESSES:
|
|
managed_processes[p].start()
|
|
|
|
time.sleep(10)
|
|
|
|
for p in reversed(ALL_PROCESSES):
|
|
state = managed_processes[p].get_process_state_msg()
|
|
self.assertTrue(state.running, f"{p} not running")
|
|
|
|
exit_code = managed_processes[p].stop(retry=False)
|
|
if (TICI and p in ['ui', 'navd']):
|
|
# TODO: make Qt UI exit gracefully
|
|
continue
|
|
|
|
# Make sure the process is actually dead
|
|
managed_processes[p].stop()
|
|
|
|
# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
|
|
exit_codes = [0, 1]
|
|
if managed_processes[p].sigkill:
|
|
exit_codes = [-signal.SIGKILL]
|
|
assert exit_code in exit_codes, f"{p} died with {exit_code}"
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|