openpilot v0.7.8 release

selfdrive/test/test_cpu_usage.py

@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
+import os
 import time
-import threading
-import _thread
-import signal
 import sys
+import subprocess
 
 import cereal.messaging as messaging
-import selfdrive.manager as manager
-
+from common.basedir import BASEDIR
+from common.params import Params
+from selfdrive.test.helpers import set_params_enabled
 
 def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
@@ -15,7 +15,7 @@ def cputime_total(ct):
 
 def print_cpu_usage(first_proc, last_proc):
   procs = [
-    ("selfdrive.controls.controlsd", 59.46),
+    ("selfdrive.controls.controlsd", 66.15),
     ("selfdrive.locationd.locationd", 34.38),
     ("./loggerd", 33.90),
     ("selfdrive.controls.plannerd", 19.77),
@@ -39,7 +39,7 @@ def print_cpu_usage(first_proc, last_proc):
     ("./logcatd", 0),
   ]
 
-  r = 0
+  r = True
   dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
   result = "------------------------------------------------\n"
   for proc_name, normal_cpu_usage in procs:
@@ -50,47 +50,54 @@ def print_cpu_usage(first_proc, last_proc):
       cpu_usage = cpu_time / dt * 100.
       if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
         result += f"Warning {proc_name} using more CPU than normal\n"
-        r = 1
+        r = False
       elif cpu_usage < min(normal_cpu_usage * 0.3, max(normal_cpu_usage - 1.0, 0.0)):
         result += f"Warning {proc_name} using less CPU than normal\n"
-        r = 1
+        r = False
       result += f"{proc_name.ljust(35)}  {cpu_usage:.2f}%\n"
     except IndexError:
       result += f"{proc_name.ljust(35)}  NO METRICS FOUND\n"
-      r = 1
+      r = False
   result += "------------------------------------------------\n"
   print(result)
   return r
 
-return_code = 1
-def test_thread():
-  global return_code
-  proc_sock = messaging.sub_sock('procLog', conflate=True)
+def test_cpu_usage():
+  cpu_ok = False
 
-  # wait until everything's started and get first sample
-  time.sleep(30)
-  first_proc = messaging.recv_sock(proc_sock, wait=True)
+  # start manager
+  manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
+  manager_proc = subprocess.Popen(["python", manager_path])
+  try:
+    proc_sock = messaging.sub_sock('procLog', conflate=True, timeout=2000)
 
-  # run for a minute and get last sample
-  time.sleep(60)
-  last_proc = messaging.recv_sock(proc_sock, wait=True)
+    # wait until everything's started and get first sample
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < 120:
+      if Params().get("CarParams") is not None:
+        break
+      time.sleep(2)
+    first_proc = messaging.recv_sock(proc_sock, wait=True)
+    if first_proc is None:
+      raise Exception("\n\nTEST FAILED: progLog recv timed out\n\n")
 
-  running = manager.get_running()
-  all_running = all(p in running and running[p].is_alive() for p in manager.car_started_processes)
-  return_code = print_cpu_usage(first_proc, last_proc)
-  if not all_running:
-    return_code = 1
-  _thread.interrupt_main()
+    # run for a minute and get last sample
+    time.sleep(60)
+    last_proc = messaging.recv_sock(proc_sock, wait=True)
+    cpu_ok = print_cpu_usage(first_proc, last_proc)
+  finally:
+    manager_proc.terminate()
+    ret = manager_proc.wait(20)
+    if ret is None:
+      manager_proc.kill()
+  return cpu_ok
 
 if __name__ == "__main__":
+  set_params_enabled()
+  Params().delete("CarParams")
 
-  # setup signal handler to exit with test status
-  def handle_exit(sig, frame):
-    sys.exit(return_code)
-  signal.signal(signal.SIGINT, handle_exit)
-
-  # start manager and test thread
-  t = threading.Thread(target=test_thread)
-  t.daemon = True
-  t.start()
-  manager.main()
+  passed = False
+  try:
+    passed = test_cpu_usage()
+  finally:
+    sys.exit(int(not passed))