mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
75 lines
4.0 KiB
Python
75 lines
4.0 KiB
Python
from unittest import mock
|
|
from types import SimpleNamespace
|
|
|
|
import pytest
|
|
|
|
from openpilot.selfdrive.controls import controlsd
|
|
|
|
|
|
@pytest.mark.parametrize("device", ("mici", "tizi", "tici", "pc", "unknown"))
|
|
def test_controls_main_priority_is_applied_after_initialization_and_affinity(device):
|
|
calls = []
|
|
controls = mock.Mock()
|
|
controls.run.side_effect = lambda: calls.append(("run",))
|
|
|
|
def priority_changed(tid, policy, param):
|
|
calls.append(("priority", tid, policy, param.sched_priority))
|
|
with (mock.patch.object(controlsd, "config_realtime_process", side_effect=lambda core, priority: calls.append(("configure", core, priority))),
|
|
mock.patch.object(controlsd, "Controls", side_effect=lambda: calls.append(("construct",)) or controls),
|
|
mock.patch.object(controlsd, "set_core_affinity", side_effect=lambda cores: calls.append(("affinity", cores))),
|
|
mock.patch.object(controlsd.HARDWARE, "get_device_type", return_value=device),
|
|
mock.patch.object(controlsd.os, "SCHED_OTHER", getattr(controlsd.os, "SCHED_OTHER", 0), create=True),
|
|
mock.patch.object(controlsd.os, "sched_param", getattr(controlsd.os, "sched_param",
|
|
lambda priority: SimpleNamespace(sched_priority=priority)), create=True),
|
|
mock.patch.object(controlsd.os, "sched_setscheduler", create=True, side_effect=priority_changed)):
|
|
controlsd.main()
|
|
other = controlsd.os.SCHED_OTHER
|
|
expected = [("configure", 4, controlsd.Priority.CTRL_HIGH), ("construct",)]
|
|
if device in ("tici", "tizi", "mici"):
|
|
expected.extend([("affinity", [6]), ("priority", 0, other, 0)])
|
|
else:
|
|
expected.append(("affinity", [4, 5]))
|
|
assert calls == [*expected, ("run",)]
|
|
|
|
|
|
def test_constructor_failure_does_not_reprioritize_existing_threads():
|
|
with (mock.patch.object(controlsd, "config_realtime_process"),
|
|
mock.patch.object(controlsd, "Controls", side_effect=RuntimeError("initialization failed")),
|
|
mock.patch.object(controlsd, "set_core_affinity") as affinity,
|
|
mock.patch.object(controlsd.os, "sched_setscheduler", create=True) as priority,
|
|
pytest.raises(RuntimeError, match="initialization failed")):
|
|
controlsd.main()
|
|
affinity.assert_not_called()
|
|
priority.assert_not_called()
|
|
|
|
|
|
def test_scheduler_failure_does_not_start_controls():
|
|
controls = mock.Mock()
|
|
with (mock.patch.object(controlsd, "config_realtime_process"),
|
|
mock.patch.object(controlsd, "Controls", return_value=controls),
|
|
mock.patch.object(controlsd, "set_core_affinity") as affinity,
|
|
mock.patch.object(controlsd.HARDWARE, "get_device_type", return_value="mici"),
|
|
mock.patch.object(controlsd.os, "SCHED_OTHER", getattr(controlsd.os, "SCHED_OTHER", 0), create=True),
|
|
mock.patch.object(controlsd.os, "sched_param", getattr(controlsd.os, "sched_param",
|
|
lambda priority: SimpleNamespace(sched_priority=priority)), create=True),
|
|
mock.patch.object(controlsd.os, "sched_setscheduler", create=True, side_effect=PermissionError("priority denied")),
|
|
pytest.raises(PermissionError, match="priority denied")):
|
|
controlsd.main()
|
|
affinity.assert_called_once_with([6])
|
|
controls.run.assert_not_called()
|
|
|
|
|
|
@pytest.mark.parametrize("device", ("mici", "tizi", "tici", "pc", "unknown"))
|
|
def test_affinity_failure_does_not_reprioritize_or_start_controls(device):
|
|
controls = mock.Mock()
|
|
with (mock.patch.object(controlsd, "config_realtime_process"),
|
|
mock.patch.object(controlsd, "Controls", return_value=controls),
|
|
mock.patch.object(controlsd.HARDWARE, "get_device_type", return_value=device),
|
|
mock.patch.object(controlsd, "set_core_affinity", side_effect=PermissionError("affinity denied")) as affinity,
|
|
mock.patch.object(controlsd.os, "sched_setscheduler", create=True) as priority,
|
|
pytest.raises(PermissionError, match="affinity denied")):
|
|
controlsd.main()
|
|
affinity.assert_called_once_with([6] if device in ("tici", "tizi", "mici") else [4, 5])
|
|
priority.assert_not_called()
|
|
controls.run.assert_not_called()
|