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69 lines
2.0 KiB
69 lines
2.0 KiB
import os
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import time
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from functools import wraps
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import cereal.messaging as messaging
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from common.params import Params
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from selfdrive.manager.process_config import managed_processes
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from system.hardware import PC
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from system.version import training_version, terms_version
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def set_params_enabled():
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os.environ['PASSIVE'] = "0"
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os.environ['REPLAY'] = "1"
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os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
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os.environ['LOGPRINT'] = "debug"
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params = Params()
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params.put("HasAcceptedTerms", terms_version)
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params.put("CompletedTrainingVersion", training_version)
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("Passive", False)
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# valid calib
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msg = messaging.new_message('liveCalibration')
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msg.liveCalibration.validBlocks = 20
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msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
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params.put("CalibrationParams", msg.to_bytes())
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def phone_only(f):
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@wraps(f)
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def wrap(self, *args, **kwargs):
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if PC:
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self.skipTest("This test is not meant to run on PC")
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f(self, *args, **kwargs)
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return wrap
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def release_only(f):
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@wraps(f)
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def wrap(self, *args, **kwargs):
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if "RELEASE" not in os.environ:
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self.skipTest("This test is only for release branches")
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f(self, *args, **kwargs)
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return wrap
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def with_processes(processes, init_time=0, ignore_stopped=None):
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ignore_stopped = [] if ignore_stopped is None else ignore_stopped
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def wrapper(func):
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@wraps(func)
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def wrap(*args, **kwargs):
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# start and assert started
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for n, p in enumerate(processes):
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managed_processes[p].start()
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if n < len(processes) - 1:
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time.sleep(init_time)
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assert all(managed_processes[name].proc.exitcode is None for name in processes)
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# call the function
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try:
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func(*args, **kwargs)
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# assert processes are still started
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assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped)
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finally:
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for p in processes:
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managed_processes[p].stop()
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return wrap
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return wrapper
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