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speed up car model test (#977)

albatross
Adeeb 2020-01-20 12:56:14 -08:00 committed by George Hotz
parent 7129dc8c6a
commit 87f9e14e9c
1 changed files with 37 additions and 68 deletions
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105
selfdrive/test/test_car_models.py
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@ -27,19 +27,17 @@ from selfdrive.car.mock.values import CAR as MOCK
os.environ['NOCRASH'] = '1'
def wait_for_socket(name, timeout=10.0):
socket = messaging.sub_sock(name)
cur_time = time.time()
def wait_for_sockets(socks, timeout=10.0):
sm = messaging.SubMaster(socks)
t = time.time()
r = None
while time.time() - cur_time < timeout:
print("waiting for %s" % name)
r = socket.receive(non_blocking=True)
if r is not None:
break
time.sleep(0.5)
return r
recvd = []
while time.time() - t < timeout and len(recvd) < len(socks):
sm.update()
for s in socks:
if s not in recvd and sm.updated[s]:
recvd.append(s)
return recvd
def get_route_logs(route_name):
for log_f in ["rlog.bz2", "fcamera.hevc"]:
@ -449,12 +447,19 @@ non_public_routes = [
if __name__ == "__main__":
tested_procs = ["controlsd", "radard", "plannerd"]
tested_socks = ["radarState", "controlsState", "carState", "plan"]
# TODO: add routes for untested cars and fail test if we have an untested car
tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
for car_model in all_known_cars():
if car_model not in tested_cars:
print("***** WARNING: %s not tested *****" % car_model)
print("Preparing processes")
for p in tested_procs:
manager.prepare_managed_process(p)
results = {}
for route, checks in routes.items():
if route not in non_public_routes:
@ -463,83 +468,46 @@ if __name__ == "__main__":
continue
shutil.rmtree('/data/params')
manager.gctx = {}
params = Params()
params.manager_start()
params.put("OpenpilotEnabledToggle", "1")
params.put("CommunityFeaturesToggle", "1")
if route in passive_routes:
params.put("Passive", "1")
else:
params.put("Passive", "0")
params.put("Passive", "1" if route in passive_routes else "0")
print("testing ", route, " ", checks['carFingerprint'])
print("Preparing processes")
manager.prepare_managed_process("radard")
manager.prepare_managed_process("controlsd")
manager.prepare_managed_process("plannerd")
print("Starting processes")
manager.start_managed_process("radard")
manager.start_managed_process("controlsd")
manager.start_managed_process("plannerd")
time.sleep(2)
for p in tested_procs:
manager.start_managed_process(p)
# Start unlogger
print("Start unlogger")
if route in non_public_routes:
unlogger_cmd = [os.path.join(BASEDIR, os.environ['UNLOGGER_PATH']), '%s' % route, '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive']
unlogger_cmd = [os.path.join(BASEDIR, os.environ['UNLOGGER_PATH']), route]
else:
unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), '%s' % route, '/tmp', '--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive']
unlogger = subprocess.Popen(unlogger_cmd, preexec_fn=os.setsid)
unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid)
print("Check sockets")
controls_state_result = wait_for_socket('controlsState', timeout=30)
extra_socks = []
has_camera = checks.get('enableCamera', False)
if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
controls_state_result = controls_state_result and wait_for_socket('sendcan', timeout=30)
extra_socks.append("sendcan")
if route not in passive_routes:
extra_socks.append("pathPlan")
radarstate_result = wait_for_socket('radarState', timeout=30)
plan_result = wait_for_socket('plan', timeout=30)
if route not in passive_routes: # TODO The passive routes have very flaky models
path_plan_result = wait_for_socket('pathPlan', timeout=30)
else:
path_plan_result = True
carstate_result = wait_for_socket('carState', timeout=30)
recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
print("Check if everything is running")
running = manager.get_running()
controlsd_running = running['controlsd'].is_alive()
radard_running = running['radard'].is_alive()
plannerd_running = running['plannerd'].is_alive()
manager.kill_managed_process("controlsd")
manager.kill_managed_process("radard")
manager.kill_managed_process("plannerd")
for p in tested_procs:
if not running[p].is_alive:
failures.append(p)
manager.kill_managed_process(p)
os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
sockets_ok = all([
controls_state_result, radarstate_result, plan_result, path_plan_result, carstate_result,
controlsd_running, radard_running, plannerd_running
])
sockets_ok = len(failures) == 0
params_ok = True
failures = []
if not controlsd_running:
failures.append('controlsd')
if not radard_running:
failures.append('radard')
if not radarstate_result:
failures.append('radarState')
if not controls_state_result:
failures.append('controlsState')
if not plan_result:
failures.append('plan')
if not path_plan_result:
failures.append('pathPlan')
try:
car_params = car.CarParams.from_bytes(params.get("CarParams"))
@ -558,11 +526,12 @@ if __name__ == "__main__":
results[route] = False, failures
break
time.sleep(2)
# put back not passive to not leave the params in an unintended state
Params().put("Passive", "0")
for route in results:
print(results[route])
Params().put("Passive", "0") # put back not passive to not leave the params in an unintended state
if not all(passed for passed, _ in results.values()):
print("TEST FAILED")
sys.exit(1)