mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 22:52:06 +08:00
firestar5683
144 lines
4.4 KiB
Python
144 lines
4.4 KiB
Python
import contextlib
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import gc
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import os
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import platform
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import sys
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from pathlib import Path
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import pytest
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def _prepend_host_pytest_runtime() -> None:
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if platform.system() != "Darwin" or os.getenv("SP_DISABLE_HOST_PYTEST_REDIRECT") == "1":
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return
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root_dir = Path(__file__).resolve().parent
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work_dir = root_dir / ".host_runtime" / "darwin" / "worktree"
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required_extension = work_dir / "msgq_repo" / "msgq" / "ipc_pyx.so"
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if not required_extension.exists():
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return
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extra_paths = [work_dir, work_dir / "starpilot" / "third_party"]
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extra_paths.extend(sorted(work_dir.glob("*_repo")))
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acados_dir = work_dir / "third_party" / "acados"
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if acados_dir.is_dir():
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extra_paths.append(acados_dir)
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existing = set(sys.path)
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insert_at = 0
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for path in [str(p) for p in extra_paths if p.exists()]:
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if path in existing:
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continue
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sys.path.insert(insert_at, path)
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insert_at += 1
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_prepend_host_pytest_runtime()
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.system.manager import manager
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from openpilot.system.hardware import TICI, HARDWARE
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# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
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# pending https://github.com/pytest-dev/pytest-cpp/pull/147
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collect_ignore = [
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"selfdrive/ui/tests/test_translations",
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"selfdrive/test/process_replay/test_processes.py",
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"selfdrive/test/process_replay/test_regen.py",
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]
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collect_ignore_glob = [
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"selfdrive/debug/*.py",
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"selfdrive/modeld/*.py",
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]
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def pytest_sessionstart(session):
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# TODO: fix tests and enable test order randomization
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if session.config.pluginmanager.hasplugin('randomly'):
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session.config.option.randomly_reorganize = False
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@pytest.hookimpl(hookwrapper=True, trylast=True)
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def pytest_runtest_call(item):
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# ensure we run as a hook after capturemanager's
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if item.get_closest_marker("nocapture") is not None:
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capmanager = item.config.pluginmanager.getplugin("capturemanager")
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with capmanager.global_and_fixture_disabled():
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yield
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else:
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yield
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@contextlib.contextmanager
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def clean_env():
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starting_env = dict(os.environ)
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yield
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os.environ.clear()
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os.environ.update(starting_env)
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@pytest.fixture(scope="function", autouse=True)
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def openpilot_function_fixture(request):
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with clean_env():
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# setup a clean environment for each test
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with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
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prefix = os.environ["OPENPILOT_PREFIX"]
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yield
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# ensure the test doesn't change the prefix
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assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
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# cleanup any started processes
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manager.manager_cleanup()
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# some processes disable gc for performance, re-enable here
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if not gc.isenabled():
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gc.enable()
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gc.collect()
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# If you use setUpClass, the environment variables won't be cleared properly,
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# so we need to hook both the function and class pytest fixtures
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@pytest.fixture(scope="class", autouse=True)
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def openpilot_class_fixture():
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with clean_env():
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yield
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@pytest.fixture(scope="function")
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def tici_setup_fixture(request, openpilot_function_fixture):
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"""Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
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if 'skip_tici_setup' in request.keywords:
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return
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HARDWARE.initialize_hardware()
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HARDWARE.set_power_save(False)
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os.system("pkill -9 -f athena")
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@pytest.hookimpl(tryfirst=True)
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def pytest_collection_modifyitems(config, items):
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skipper = pytest.mark.skip(reason="Skipping tici test on PC")
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for item in items:
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if "tici" in item.keywords:
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if not TICI:
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item.add_marker(skipper)
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else:
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item.fixturenames.append('tici_setup_fixture')
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if "xdist_group_class_property" in item.keywords:
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class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
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class_property_value = getattr(item.cls, class_property_name)
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item.add_marker(pytest.mark.xdist_group(class_property_value))
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@pytest.hookimpl(trylast=True)
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def pytest_configure(config):
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config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
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config.addinivalue_line("markers", config_line)
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config_line = "nocapture: don't capture test output"
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config.addinivalue_line("markers", config_line)
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config_line = "shared_download_cache: share download cache between tests"
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config.addinivalue_line("markers", config_line)
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