mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
6d742eb343
Add control trace and platform qualification tools that exercise explicit safety modes and vehicle coverage. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: Kacper Rączy <gfw.kra@gmail.com> Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
82 lines
2.9 KiB
Python
82 lines
2.9 KiB
Python
import os
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import glob
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import shutil
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import signal
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import selectors
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import subprocess
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import time
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import unittest
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from openpilot.common.test import OpenpilotTestCase
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.timeout import Timeout, TimeoutException
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from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
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PJ_DIR = os.path.join(BASEDIR, "openpilot/tools/plotjuggler")
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class TestPlotJuggler(OpenpilotTestCase):
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@unittest.skipIf(not shutil.which('qmake'), "Qt not installed")
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def test_demo(self):
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install()
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pj = os.path.join(PJ_DIR, "juggle.py")
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with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"',
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stdout=subprocess.PIPE, stderr=subprocess.STDOUT, shell=True, start_new_session=True) as p:
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output = ""
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try:
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assert p.stdout is not None
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with selectors.DefaultSelector() as selector:
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selector.register(p.stdout, selectors.EVENT_READ)
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try:
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with Timeout(180):
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while "Done reading Rlog data" not in output.splitlines():
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for key, _ in selector.select(0.1):
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chunk = os.read(key.fileobj.fileno(), 65536)
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if chunk:
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output += chunk.decode("utf-8", errors="replace")
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else:
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selector.unregister(key.fileobj)
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if p.poll() is not None:
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self.fail(f"PlotJuggler exited before startup (status {p.returncode}):\n{output}")
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except TimeoutException:
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self.fail(f"PlotJuggler did not report startup within 180 seconds:\n{output}")
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time.sleep(2)
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for key, _ in selector.select(0):
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chunk = os.read(key.fileobj.fileno(), 65536)
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output += chunk.decode("utf-8", errors="replace")
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self.assertIsNone(p.poll(), f"PlotJuggler exited after startup (status {p.returncode}):\n{output}")
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self.assertNotIn("Raw file read failed", output)
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finally:
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try:
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os.killpg(p.pid, signal.SIGTERM)
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except ProcessLookupError:
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pass
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try:
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p.wait(timeout=5)
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except subprocess.TimeoutExpired:
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pass
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finally:
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try:
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os.killpg(p.pid, signal.SIGKILL)
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except ProcessLookupError:
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pass
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p.wait(timeout=5)
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# TODO: also test that layouts successfully load
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def test_layouts(self, subtests):
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bad_strings = (
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# if a previously loaded file is defined,
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# PJ will throw a warning when loading the layout
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"fileInfo",
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"previouslyLoaded_Datafiles",
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)
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for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")):
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name = os.path.basename(fn)
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with subtests.test(layout=name):
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with open(fn) as f:
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layout = f.read()
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violations = [s for s in bad_strings if s in layout]
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assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}"
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