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.
72 lines
2.0 KiB
72 lines
2.0 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import signal
|
|
import time
|
|
import unittest
|
|
|
|
from cereal import car
|
|
from common.params import Params
|
|
import selfdrive.manager.manager as manager
|
|
from selfdrive.manager.process import ensure_running
|
|
from selfdrive.manager.process_config import managed_processes
|
|
from system.hardware import HARDWARE
|
|
|
|
os.environ['FAKEUPLOAD'] = "1"
|
|
|
|
MAX_STARTUP_TIME = 3
|
|
BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
|
|
|
|
class TestManager(unittest.TestCase):
|
|
def setUp(self):
|
|
os.environ['PASSIVE'] = '0'
|
|
HARDWARE.set_power_save(False)
|
|
|
|
# ensure clean CarParams
|
|
params = Params()
|
|
params.clear_all()
|
|
|
|
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"
|
|
|
|
def test_clean_exit(self):
|
|
"""
|
|
Ensure all processes exit cleanly when stopped.
|
|
"""
|
|
HARDWARE.set_power_save(False)
|
|
manager.manager_init()
|
|
manager.manager_prepare()
|
|
|
|
CP = car.CarParams.new_message()
|
|
procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
|
|
|
|
time.sleep(10)
|
|
|
|
for p in procs:
|
|
with self.subTest(proc=p.name):
|
|
state = p.get_process_state_msg()
|
|
self.assertTrue(state.running, f"{p.name} not running")
|
|
exit_code = p.stop(retry=False)
|
|
|
|
self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
|
|
|
|
# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
|
|
exit_codes = [0, 1]
|
|
if p.sigkill:
|
|
exit_codes = [-signal.SIGKILL]
|
|
self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|