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81 lines
2.3 KiB
81 lines
2.3 KiB
#!/usr/bin/env python3
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import os
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import pytest
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import signal
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import time
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import unittest
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from cereal import car
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from openpilot.common.params import Params
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import openpilot.selfdrive.manager.manager as manager
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from openpilot.selfdrive.manager.process import ensure_running
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from openpilot.selfdrive.manager.process_config import managed_processes
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from openpilot.system.hardware import HARDWARE
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os.environ['FAKEUPLOAD'] = "1"
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MAX_STARTUP_TIME = 3
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BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
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@pytest.mark.tici
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class TestManager(unittest.TestCase):
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def setUp(self):
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os.environ['PASSIVE'] = '0'
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HARDWARE.set_power_save(False)
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# ensure clean CarParams
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params = Params()
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params.clear_all()
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def tearDown(self):
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manager.manager_cleanup()
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def test_manager_prepare(self):
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os.environ['PREPAREONLY'] = '1'
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manager.main()
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def test_blacklisted_procs(self):
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# TODO: ensure there are blacklisted procs until we have a dedicated test
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self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run")
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def test_startup_time(self):
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for _ in range(10):
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start = time.monotonic()
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os.environ['PREPAREONLY'] = '1'
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manager.main()
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t = time.monotonic() - start
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assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
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def test_clean_exit(self):
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"""
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Ensure all processes exit cleanly when stopped.
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"""
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HARDWARE.set_power_save(False)
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manager.manager_init()
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manager.manager_prepare()
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CP = car.CarParams.new_message()
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procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
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time.sleep(10)
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for p in procs:
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with self.subTest(proc=p.name):
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state = p.get_process_state_msg()
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self.assertTrue(state.running, f"{p.name} not running")
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exit_code = p.stop(retry=False)
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self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
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self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
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# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
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exit_codes = [0, 1]
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if p.sigkill:
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exit_codes = [-signal.SIGKILL]
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self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")
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if __name__ == "__main__":
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unittest.main()
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