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45 lines
1.3 KiB
45 lines
1.3 KiB
#!/usr/bin/env python3
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import os
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import time
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import subprocess
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import cereal.messaging as messaging
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.timeout import Timeout
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from openpilot.selfdrive.test.helpers import set_params_enabled
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def test_time_to_onroad():
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# launch
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set_params_enabled()
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manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
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proc = subprocess.Popen(["python", manager_path])
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start_time = time.monotonic()
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sm = messaging.SubMaster(['controlsState', 'deviceState', 'carEvents'])
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try:
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# wait for onroad
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with Timeout(20, "timed out waiting to go onroad"):
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while True:
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sm.update(1000)
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if sm['deviceState'].started:
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break
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time.sleep(1)
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# wait for engageability
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with Timeout(10, "timed out waiting for engageable"):
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while True:
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sm.update(1000)
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if sm['controlsState'].engageable:
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break
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time.sleep(1)
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print(f"engageable after {time.monotonic() - start_time:.2f}s")
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# once we're enageable, must be for the next few seconds
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for _ in range(500):
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sm.update(100)
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assert sm['controlsState'].engageable, f"events: {sm['carEvents']}"
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finally:
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proc.terminate()
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if proc.wait(60) is None:
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proc.kill()
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