CI: codecov for multiprocessing (#30432)

.github/workflows/selfdrive_tests.yaml

@@ -213,6 +213,7 @@ jobs:
       run: |
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
                         coverage xml"
     - name: Print diff
       id: print-diff
@@ -282,6 +283,7 @@ jobs:
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                           coverage combine && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 4

pyproject.toml

@@ -199,3 +199,6 @@ flake8-implicit-str-concat.allow-multiline=false
 "system".msg = "Use openpilot.system"
 "third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
+
+[tool.coverage.run]
+concurrency = ["multiprocessing", "thread"]

selfdrive/athena/tests/test_athenad.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import json
+import multiprocessing
 import os
 import requests
 import shutil
@@ -12,7 +13,6 @@ from datetime import datetime, timedelta
 from parameterized import parameterized
 from typing import Optional
 
-from multiprocessing import Process
 from pympler.tracker import SummaryTracker
 from unittest import mock
 from websocket import ABNF
@@ -75,24 +75,25 @@ class TestAthenadMethods(unittest.TestCase):
     with self.assertRaises(TimeoutError) as _:
       dispatcher["getMessage"]("controlsState")
 
-    def send_deviceState():
-      messaging.context = messaging.Context()
-      pub_sock = messaging.pub_sock("deviceState")
-      start = time.time()
+    end_event = multiprocessing.Event()
 
-      while time.time() - start < 1:
+    pub_sock = messaging.pub_sock("deviceState")
+
+    def send_deviceState():
+      while not end_event.is_set():
         msg = messaging.new_message('deviceState')
         pub_sock.send(msg.to_bytes())
         time.sleep(0.01)
 
-    p = Process(target=send_deviceState)
+    p = multiprocessing.Process(target=send_deviceState)
     p.start()
     time.sleep(0.1)
     try:
       deviceState = dispatcher["getMessage"]("deviceState")
       assert deviceState['deviceState']
     finally:
-      p.terminate()
+      end_event.set()
+      p.join()
 
   def test_listDataDirectory(self):
     route = '2021-03-29--13-32-47'