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124 lines
3.4 KiB
124 lines
3.4 KiB
import contextlib
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import http.server
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import os
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import threading
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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 openpilot.common.params import Params
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from openpilot.selfdrive.manager.process_config import managed_processes
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from openpilot.system.hardware import PC
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from openpilot.system.version import training_version, terms_version
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def set_params_enabled():
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os.environ['FINGERPRINT'] = "TOYOTA_COROLLA_TSS2"
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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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# 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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@contextlib.contextmanager
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def processes_context(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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# 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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try:
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yield [managed_processes[name] for name in processes]
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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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def with_processes(processes, init_time=0, ignore_stopped=None):
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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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with processes_context(processes, init_time, ignore_stopped):
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return func(*args, **kwargs)
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return wrap
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return wrapper
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def noop(*args, **kwargs):
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pass
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def read_segment_list(segment_list_path):
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with open(segment_list_path) as f:
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seg_list = f.read().splitlines()
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return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
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@contextlib.contextmanager
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def http_server_context(handler, setup=None):
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host = '127.0.0.1'
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server = http.server.HTTPServer((host, 0), handler)
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port = server.server_port
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t = threading.Thread(target=server.serve_forever)
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t.start()
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if setup is not None:
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setup(host, port)
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try:
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yield (host, port)
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finally:
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server.shutdown()
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server.server_close()
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t.join()
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def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
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@wraps(func)
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def inner(*args, **kwargs):
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with http_server_context(handler, setup) as (host, port):
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return func(*args, f"http://{host}:{port}", **kwargs)
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return inner
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def DirectoryHttpServer(directory) -> type[http.server.SimpleHTTPRequestHandler]:
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# creates an http server that serves files from directory
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class Handler(http.server.SimpleHTTPRequestHandler):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, directory=str(directory), **kwargs)
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return Handler
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