mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-07 04:53:47 +08:00
firestar5683
94 lines
4.3 KiB
Python
94 lines
4.3 KiB
Python
"""Exercise the actual nested GPU loader without constructing a GPU context."""
|
|
import ast
|
|
from pathlib import Path
|
|
from types import SimpleNamespace
|
|
import threading
|
|
|
|
import pytest
|
|
|
|
|
|
SOURCE = Path(__file__).resolve().parents[3] / 'selfdrive/modeld/modeld.py'
|
|
|
|
|
|
def loader(source, *, demo=False, bundled=False, failure=None):
|
|
tree = ast.parse(source.read_text())
|
|
main = next(n for n in tree.body if isinstance(n, ast.FunctionDef) and n.name == 'main')
|
|
function = next(n for n in ast.walk(main) if isinstance(n, ast.FunctionDef) and n.name == 'load_big')
|
|
calls = []
|
|
|
|
def record(name, result=None):
|
|
def run(*args, **kwargs):
|
|
calls.append((name, args, threading.get_ident()))
|
|
if name == failure:
|
|
raise OSError(name)
|
|
return result
|
|
return run
|
|
|
|
model = SimpleNamespace(warmup=record('warmup'))
|
|
namespace = {'demo': demo, 'CP': object(), 'BIG_MODEL_TIMEOUT': 120, 'wait_for_chestnut': record('usb'),
|
|
'wait_for_chestnut_power': record('power'), 'set_core_affinity': record('affinity'),
|
|
'selection': SimpleNamespace(big_path=None if bundled else Path('/verified.pkl'), big_version='v16',
|
|
big_id='mountaindewv3', big_sha256='a' * 64),
|
|
'vipc_client_main': SimpleNamespace(width=1928, height=1208), 'big_path': Path('/verified.pkl'),
|
|
'load_verified_model': record('verified', (model, 'prepared')), 'ModelState': record('bundled', model),
|
|
'receipt_owner': SimpleNamespace(prepare=record('receipt', 'prepared')),
|
|
'big_artifact_identity': object(), 'cloudlog': SimpleNamespace(exception=record('error'))}
|
|
outer = ast.parse('def outer():\n big_model = None\n big_prepared = None\n return load_big, lambda: (big_model, big_prepared)\n').body[0]
|
|
outer.body.insert(2, function)
|
|
module = ast.fix_missing_locations(ast.Module(body=[outer], type_ignores=[]))
|
|
exec(compile(module, str(source), 'exec'), namespace)
|
|
outer_function = namespace['outer']
|
|
assert callable(outer_function)
|
|
loaded = outer_function()
|
|
assert isinstance(loaded, tuple) and len(loaded) == 2
|
|
callback, state = loaded
|
|
assert callable(callback) and callable(state)
|
|
return callback, state, calls
|
|
|
|
|
|
@pytest.mark.parametrize('demo,expected', [(False, ['usb', 'power', 'affinity', 'verified']),
|
|
(True, ['usb', 'affinity', 'verified'])])
|
|
def test_actual_gpu_loader_pins_after_readiness_before_verified_load(demo, expected):
|
|
callback, state, calls = loader(SOURCE, demo=demo)
|
|
callback()
|
|
assert [row[0] for row in calls] == expected
|
|
assert next(row[1] for row in calls if row[0] == 'affinity') == ([7],)
|
|
assert state()[1] == 'prepared'
|
|
|
|
|
|
@pytest.mark.parametrize('failure,expected', [('power', ['usb', 'power', 'error']),
|
|
('affinity', ['usb', 'power', 'affinity', 'error'])])
|
|
def test_failed_readiness_or_affinity_never_loads_a_model(failure, expected):
|
|
callback, state, calls = loader(SOURCE, failure=failure)
|
|
callback()
|
|
assert [row[0] for row in calls] == expected
|
|
assert state() == (None, None)
|
|
|
|
|
|
def test_bundled_gpu_loader_keeps_warmup_and_receipt():
|
|
callback, state, calls = loader(SOURCE, bundled=True)
|
|
callback()
|
|
assert [row[0] for row in calls] == ['usb', 'power', 'affinity', 'bundled', 'warmup', 'receipt']
|
|
assert state()[1] == 'prepared'
|
|
|
|
|
|
def test_affinity_is_applied_to_the_loader_thread_only():
|
|
callback, state, calls = loader(SOURCE)
|
|
main_thread = threading.get_ident()
|
|
worker = threading.Thread(target=callback)
|
|
worker.start()
|
|
worker.join(timeout=2)
|
|
assert not worker.is_alive()
|
|
assert state()[1] == 'prepared'
|
|
assert all(row[2] == worker.ident and row[2] != main_thread for row in calls)
|
|
|
|
|
|
def test_no_fifo_priority_change_inside_gpu_loader():
|
|
tree = ast.parse(SOURCE.read_text())
|
|
main = next(n for n in tree.body if isinstance(n, ast.FunctionDef) and n.name == 'main')
|
|
callback = next(n for n in ast.walk(main) if isinstance(n, ast.FunctionDef) and n.name == 'load_big')
|
|
assert not any(isinstance(n, ast.Call) and isinstance(n.func, ast.Name) and n.func.id == 'config_realtime_process'
|
|
for n in ast.walk(callback))
|
|
assert sum(isinstance(n, ast.Call) and isinstance(n.func, ast.Name) and n.func.id == 'config_realtime_process'
|
|
for n in ast.walk(main)) == 1
|