firestar5683
116 lines
3.6 KiB
Python
116 lines
3.6 KiB
Python
import os
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import pytest
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import signal
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import time
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from cereal import car
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from openpilot.common.params import Params
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import openpilot.system.manager.manager as manager
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from openpilot.system.manager.process import ensure_running
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from openpilot.system.manager.process_config import managed_processes, procs
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from openpilot.system.hardware import HARDWARE
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os.environ['FAKEUPLOAD'] = "1"
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MAX_STARTUP_TIME = 3
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BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
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class TestManager:
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def setup_method(self):
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HARDWARE.set_power_save(False)
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# ensure clean CarParams
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params = Params()
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params.clear_all()
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def teardown_method(self):
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manager.manager_cleanup()
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def test_manager_prepare(self):
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os.environ['PREPAREONLY'] = '1'
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manager.main()
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def test_duplicate_procs(self):
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assert len(procs) == len(managed_processes), "Duplicate process names"
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def test_blacklisted_procs(self):
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# TODO: ensure there are blacklisted procs until we have a dedicated test
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assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
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def test_set_params_with_default_value(self):
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params = Params()
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params.clear_all()
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os.environ['PREPAREONLY'] = '1'
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manager.main()
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for k in params.all_keys():
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default_value = params.get_default_value(k)
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if default_value is not None:
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assert params.get(k) == default_value
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assert params.get("OpenpilotEnabledToggle")
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assert params.get("RouteCount") == 0
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def test_migrate_legacy_experimental_longitudinal(self):
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class FakeParams:
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def __init__(self, values):
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self.values = dict(values)
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def get(self, key):
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return self.values.get(key)
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def get_bool(self, key):
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value = self.values.get(key)
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if value is None:
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return False
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if isinstance(value, bytes):
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value = value.decode("utf-8", errors="ignore")
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if isinstance(value, str):
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return value.strip().lower() in ("1", "true", "yes", "on")
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return bool(value)
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def put_bool(self, key, value):
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self.values[key] = b"1" if value else b"0"
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def remove(self, key):
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self.values.pop(key, None)
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params = FakeParams({"ExperimentalLongitudinalEnabled": b"1"})
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params_cache = FakeParams({})
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manager.migrate_legacy_experimental_longitudinal(params, params_cache)
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assert params.get_bool("AlphaLongitudinalEnabled")
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assert params_cache.get_bool("AlphaLongitudinalEnabled")
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assert params.get("ExperimentalLongitudinalEnabled") is None
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assert params_cache.get("ExperimentalLongitudinalEnabled") is None
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@pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
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def test_clean_exit(self, subtests):
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"""
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Ensure all processes exit cleanly when stopped.
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"""
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HARDWARE.set_power_save(False)
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manager.manager_init()
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CP = car.CarParams.new_message()
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procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
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time.sleep(10)
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for p in procs:
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with subtests.test(proc=p.name):
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state = p.get_process_state_msg()
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assert state.running, f"{p.name} not running"
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exit_code = p.stop(retry=False)
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assert p.name not in BLACKLIST_PROCS, f"{p.name} was started"
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assert exit_code is not None, f"{p.name} failed to exit"
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# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
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exit_codes = [0, 1]
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if p.sigkill:
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exit_codes = [-signal.SIGKILL]
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assert exit_code in exit_codes, f"{p.name} died with {exit_code}"
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