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firestar5683
75 lines
4.0 KiB
Python
75 lines
4.0 KiB
Python
from unittest import mock
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from types import SimpleNamespace
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import pytest
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from openpilot.selfdrive.controls import controlsd
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@pytest.mark.parametrize("device", ("mici", "tizi", "tici", "pc", "unknown"))
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def test_controls_main_priority_is_applied_after_initialization_and_affinity(device):
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calls = []
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controls = mock.Mock()
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controls.run.side_effect = lambda: calls.append(("run",))
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def priority_changed(tid, policy, param):
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calls.append(("priority", tid, policy, param.sched_priority))
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with (mock.patch.object(controlsd, "config_realtime_process", side_effect=lambda core, priority: calls.append(("configure", core, priority))),
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mock.patch.object(controlsd, "Controls", side_effect=lambda: calls.append(("construct",)) or controls),
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mock.patch.object(controlsd, "set_core_affinity", side_effect=lambda cores: calls.append(("affinity", cores))),
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mock.patch.object(controlsd.HARDWARE, "get_device_type", return_value=device),
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mock.patch.object(controlsd.os, "SCHED_OTHER", getattr(controlsd.os, "SCHED_OTHER", 0), create=True),
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mock.patch.object(controlsd.os, "sched_param", getattr(controlsd.os, "sched_param",
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lambda priority: SimpleNamespace(sched_priority=priority)), create=True),
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mock.patch.object(controlsd.os, "sched_setscheduler", create=True, side_effect=priority_changed)):
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controlsd.main()
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other = controlsd.os.SCHED_OTHER
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expected = [("configure", 4, controlsd.Priority.CTRL_HIGH), ("construct",)]
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if device in ("tici", "tizi", "mici"):
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expected.extend([("affinity", [6]), ("priority", 0, other, 0)])
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else:
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expected.append(("affinity", [4, 5]))
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assert calls == [*expected, ("run",)]
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def test_constructor_failure_does_not_reprioritize_existing_threads():
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with (mock.patch.object(controlsd, "config_realtime_process"),
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mock.patch.object(controlsd, "Controls", side_effect=RuntimeError("initialization failed")),
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mock.patch.object(controlsd, "set_core_affinity") as affinity,
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mock.patch.object(controlsd.os, "sched_setscheduler", create=True) as priority,
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pytest.raises(RuntimeError, match="initialization failed")):
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controlsd.main()
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affinity.assert_not_called()
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priority.assert_not_called()
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def test_scheduler_failure_does_not_start_controls():
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controls = mock.Mock()
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with (mock.patch.object(controlsd, "config_realtime_process"),
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mock.patch.object(controlsd, "Controls", return_value=controls),
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mock.patch.object(controlsd, "set_core_affinity") as affinity,
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mock.patch.object(controlsd.HARDWARE, "get_device_type", return_value="mici"),
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mock.patch.object(controlsd.os, "SCHED_OTHER", getattr(controlsd.os, "SCHED_OTHER", 0), create=True),
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mock.patch.object(controlsd.os, "sched_param", getattr(controlsd.os, "sched_param",
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lambda priority: SimpleNamespace(sched_priority=priority)), create=True),
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mock.patch.object(controlsd.os, "sched_setscheduler", create=True, side_effect=PermissionError("priority denied")),
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pytest.raises(PermissionError, match="priority denied")):
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controlsd.main()
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affinity.assert_called_once_with([6])
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controls.run.assert_not_called()
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@pytest.mark.parametrize("device", ("mici", "tizi", "tici", "pc", "unknown"))
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def test_affinity_failure_does_not_reprioritize_or_start_controls(device):
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controls = mock.Mock()
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with (mock.patch.object(controlsd, "config_realtime_process"),
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mock.patch.object(controlsd, "Controls", return_value=controls),
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mock.patch.object(controlsd.HARDWARE, "get_device_type", return_value=device),
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mock.patch.object(controlsd, "set_core_affinity", side_effect=PermissionError("affinity denied")) as affinity,
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mock.patch.object(controlsd.os, "sched_setscheduler", create=True) as priority,
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pytest.raises(PermissionError, match="affinity denied")):
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controlsd.main()
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affinity.assert_called_once_with([6] if device in ("tici", "tizi", "mici") else [4, 5])
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priority.assert_not_called()
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controls.run.assert_not_called()
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