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101 lines
2.3 KiB
101 lines
2.3 KiB
import os
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os.environ['FAKEUPLOAD'] = "1"
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from common.testing import phone_only
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from selfdrive.manager import manager_init, manager_prepare
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from selfdrive.manager import start_managed_process, kill_managed_process, get_running
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from selfdrive.manager import manage_baseui
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from selfdrive.config import CruiseButtons
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from selfdrive.test.plant.plant import Plant
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from functools import wraps
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import time
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DID_INIT = False
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# must run first
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@phone_only
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def test_manager_prepare():
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global DID_INIT
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manager_init()
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manager_prepare()
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DID_INIT = True
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def with_processes(processes):
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def wrapper(func):
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@wraps(func)
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def wrap():
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if not DID_INIT:
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test_manager_prepare()
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# start and assert started
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[start_managed_process(p) for p in processes]
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assert all(get_running()[name].exitcode is None for name in processes)
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# call the function
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func()
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# assert processes are still started
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assert all(get_running()[name].exitcode is None for name in processes)
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# kill and assert all stopped
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[kill_managed_process(p) for p in processes]
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assert len(get_running()) == 0
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return wrap
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return wrapper
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@phone_only
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@with_processes(['controlsd', 'radard', 'plannerd'])
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def test_controls():
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# start the fake car for 2 seconds
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plant = Plant(100)
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for i in range(200):
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if plant.rk.frame >= 20 and plant.rk.frame <= 25:
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cruise_buttons = CruiseButtons.RES_ACCEL
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# rolling forward
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assert plant.speed > 0
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else:
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cruise_buttons = 0
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plant.step(cruise_buttons = cruise_buttons)
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plant.close()
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# assert that we stopped
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assert plant.speed == 0.0
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@phone_only
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@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
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def test_logging():
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print "LOGGING IS SET UP"
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time.sleep(1.0)
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@phone_only
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@with_processes(['visiond'])
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def test_visiond():
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print "VISIOND IS SET UP"
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time.sleep(5.0)
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@phone_only
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@with_processes(['sensord'])
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def test_sensord():
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print "SENSORS ARE SET UP"
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time.sleep(1.0)
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@phone_only
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@with_processes(['ui'])
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def test_ui():
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print "RUNNING UI"
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time.sleep(1.0)
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# will have one thing to upload if loggerd ran
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# TODO: assert it actually uploaded
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@phone_only
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@with_processes(['uploader'])
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def test_uploader():
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print "UPLOADER"
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time.sleep(10.0)
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@phone_only
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def test_baseui():
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manage_baseui(True)
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time.sleep(10.0)
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manage_baseui(False)
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