move nose tests to unittest (#22665)
* move to unittest * boardd loopback * no more nose * phone only * fix panda decoratorpull/22689/head
Adeeb Shihadeh
GitHub
parent
e556d3d3d3
commit
b5960b9dc8
|
|
@ -170,8 +170,8 @@ pipeline {
|
|||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
|
||||
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
|
||||
|
|
|
|||
|
|
@ -2,96 +2,104 @@
|
|||
import os
|
||||
import random
|
||||
import time
|
||||
import unittest
|
||||
from collections import defaultdict
|
||||
from functools import wraps
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
from common.spinner import Spinner
|
||||
from common.timeout import Timeout
|
||||
from panda import Panda
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car import make_can_msg
|
||||
from selfdrive.test.helpers import with_processes
|
||||
from selfdrive.test.helpers import phone_only, with_processes
|
||||
|
||||
|
||||
def reset_panda(fn):
|
||||
@wraps(fn)
|
||||
def wrapper():
|
||||
def reset_panda(f):
|
||||
@wraps(f)
|
||||
def wrapper(*args, **kwargs):
|
||||
p = Panda()
|
||||
for i in [0, 1, 2, 0xFFFF]:
|
||||
p.can_clear(i)
|
||||
p.reset()
|
||||
p.close()
|
||||
fn()
|
||||
f(*args, **kwargs)
|
||||
return wrapper
|
||||
|
||||
os.environ['STARTED'] = '1'
|
||||
os.environ['BOARDD_LOOPBACK'] = '1'
|
||||
os.environ['BASEDIR'] = BASEDIR
|
||||
|
||||
@reset_panda
|
||||
@with_processes(['pandad'])
|
||||
def test_boardd_loopback():
|
||||
# wait for boardd to init
|
||||
spinner = Spinner()
|
||||
time.sleep(2)
|
||||
class TestBoardd(unittest.TestCase):
|
||||
|
||||
with Timeout(60, "boardd didn't start"):
|
||||
sm = messaging.SubMaster(['pandaStates'])
|
||||
while sm.rcv_frame['pandaStates'] < 1:
|
||||
sm.update(1000)
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
cls.spinner = Spinner()
|
||||
|
||||
# boardd blocks on CarVin and CarParams
|
||||
cp = car.CarParams.new_message()
|
||||
@classmethod
|
||||
def tearDownClass(cls):
|
||||
cls.spinner.close()
|
||||
|
||||
safety_config = car.CarParams.SafetyConfig.new_message()
|
||||
safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
|
||||
cp.safetyConfigs = [safety_config]
|
||||
@phone_only
|
||||
@reset_panda
|
||||
@with_processes(['pandad'])
|
||||
def test_loopback(self):
|
||||
# wait for boardd to init
|
||||
time.sleep(2)
|
||||
|
||||
Params().put("CarVin", b"0"*17)
|
||||
Params().put_bool("ControlsReady", True)
|
||||
Params().put("CarParams", cp.to_bytes())
|
||||
with Timeout(60, "boardd didn't start"):
|
||||
sm = messaging.SubMaster(['pandaStates'])
|
||||
while sm.rcv_frame['pandaStates'] < 1:
|
||||
sm.update(1000)
|
||||
|
||||
sendcan = messaging.pub_sock('sendcan')
|
||||
can = messaging.sub_sock('can', conflate=False, timeout=100)
|
||||
# boardd blocks on CarVin and CarParams
|
||||
cp = car.CarParams.new_message()
|
||||
|
||||
time.sleep(1)
|
||||
safety_config = car.CarParams.SafetyConfig.new_message()
|
||||
safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
|
||||
cp.safetyConfigs = [safety_config]
|
||||
|
||||
n = 1000
|
||||
for i in range(n):
|
||||
spinner.update(f"boardd loopback {i}/{n}")
|
||||
params = Params()
|
||||
params.put("CarVin", b"0"*17)
|
||||
params.put_bool("ControlsReady", True)
|
||||
params.put("CarParams", cp.to_bytes())
|
||||
|
||||
sent_msgs = defaultdict(set)
|
||||
for _ in range(random.randrange(10)):
|
||||
to_send = []
|
||||
for __ in range(random.randrange(100)):
|
||||
bus = random.randrange(3)
|
||||
addr = random.randrange(1, 1<<29)
|
||||
dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
|
||||
sent_msgs[bus].add((addr, dat))
|
||||
to_send.append(make_can_msg(addr, dat, bus))
|
||||
sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
|
||||
sendcan = messaging.pub_sock('sendcan')
|
||||
can = messaging.sub_sock('can', conflate=False, timeout=100)
|
||||
|
||||
max_recv = 10
|
||||
while max_recv > 0 and any(len(sent_msgs[bus]) for bus in range(3)):
|
||||
recvd = messaging.drain_sock(can, wait_for_one=True)
|
||||
for msg in recvd:
|
||||
for m in msg.can:
|
||||
if m.src >= 128:
|
||||
k = (m.address, m.dat)
|
||||
assert k in sent_msgs[m.src-128]
|
||||
sent_msgs[m.src-128].discard(k)
|
||||
max_recv -= 1
|
||||
time.sleep(1)
|
||||
|
||||
# if a set isn't empty, messages got dropped
|
||||
for bus in range(3):
|
||||
assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
|
||||
n = 1000
|
||||
for i in range(n):
|
||||
self.spinner.update(f"boardd loopback {i}/{n}")
|
||||
|
||||
spinner.close()
|
||||
sent_msgs = defaultdict(set)
|
||||
for _ in range(random.randrange(10)):
|
||||
to_send = []
|
||||
for __ in range(random.randrange(100)):
|
||||
bus = random.randrange(3)
|
||||
addr = random.randrange(1, 1<<29)
|
||||
dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
|
||||
sent_msgs[bus].add((addr, dat))
|
||||
to_send.append(make_can_msg(addr, dat, bus))
|
||||
sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
|
||||
|
||||
max_recv = 10
|
||||
while max_recv > 0 and any(len(sent_msgs[bus]) for bus in range(3)):
|
||||
recvd = messaging.drain_sock(can, wait_for_one=True)
|
||||
for msg in recvd:
|
||||
for m in msg.can:
|
||||
if m.src >= 128:
|
||||
k = (m.address, m.dat)
|
||||
assert k in sent_msgs[m.src-128]
|
||||
sent_msgs[m.src-128].discard(k)
|
||||
max_recv -= 1
|
||||
|
||||
# if a set isn't empty, messages got dropped
|
||||
for bus in range(3):
|
||||
assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_boardd_loopback()
|
||||
unittest.main()
|
||||
|
|
|
|||
|
|
@ -1,10 +1,9 @@
|
|||
import time
|
||||
from functools import wraps
|
||||
from nose.tools import nottest
|
||||
|
||||
from selfdrive.hardware import PC
|
||||
from selfdrive.version import training_version, terms_version
|
||||
from selfdrive.manager.process_config import managed_processes
|
||||
from selfdrive.version import training_version, terms_version
|
||||
|
||||
|
||||
def set_params_enabled():
|
||||
|
|
@ -17,11 +16,13 @@ def set_params_enabled():
|
|||
params.put_bool("Passive", False)
|
||||
|
||||
|
||||
def phone_only(x):
|
||||
if PC:
|
||||
return nottest(x)
|
||||
else:
|
||||
return x
|
||||
def phone_only(f):
|
||||
@wraps(f)
|
||||
def wrap(self, *args, **kwargs):
|
||||
if PC:
|
||||
self.skipTest("This test is not meant to run on PC")
|
||||
f(self, *args, **kwargs)
|
||||
return wrap
|
||||
|
||||
|
||||
def with_processes(processes, init_time=0, ignore_stopped=None):
|
||||
|
|
|
|||
|
|
@ -0,0 +1,69 @@
|
|||
#!/usr/bin/env python3
|
||||
import subprocess
|
||||
import time
|
||||
import unittest
|
||||
|
||||
from cereal import log, car
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.test.helpers import phone_only, with_processes
|
||||
# TODO: rewrite for unittest
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.hardware import HARDWARE
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
SOUNDS = {
|
||||
# sound: total writes
|
||||
AudibleAlert.none: 0,
|
||||
AudibleAlert.chimeEngage: 173,
|
||||
AudibleAlert.chimeDisengage: 173,
|
||||
AudibleAlert.chimeError: 173,
|
||||
AudibleAlert.chimePrompt: 173,
|
||||
AudibleAlert.chimeWarning1: 163,
|
||||
AudibleAlert.chimeWarning2: 216,
|
||||
AudibleAlert.chimeWarning2Repeat: 470,
|
||||
AudibleAlert.chimeWarningRepeat: 468,
|
||||
}
|
||||
|
||||
def get_total_writes():
|
||||
audio_flinger = subprocess.check_output('dumpsys media.audio_flinger', shell=True, encoding='utf-8').strip()
|
||||
write_lines = [l for l in audio_flinger.split('\n') if l.strip().startswith('Total writes')]
|
||||
return sum([int(l.split(':')[1]) for l in write_lines])
|
||||
|
||||
class TestSoundd(unittest.TestCase):
|
||||
def test_sound_card_init(self):
|
||||
assert HARDWARE.get_sound_card_online()
|
||||
|
||||
@phone_only
|
||||
@with_processes(['soundd'])
|
||||
def test_alert_sounds(self):
|
||||
pm = messaging.PubMaster(['controlsState'])
|
||||
|
||||
# make sure they're all defined
|
||||
alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()}
|
||||
diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys())
|
||||
assert len(diff) == 0, f"not all sounds defined in test: {diff}"
|
||||
|
||||
# wait for procs to init
|
||||
time.sleep(1)
|
||||
|
||||
for sound, expected_writes in SOUNDS.items():
|
||||
print(f"testing {alert_sounds[sound]}")
|
||||
start_writes = get_total_writes()
|
||||
|
||||
for _ in range(int(9 / DT_CTRL)):
|
||||
msg = messaging.new_message('controlsState')
|
||||
msg.controlsState.alertSound = sound
|
||||
msg.controlsState.alertType = str(sound)
|
||||
msg.controlsState.alertText1 = "Testing Sounds"
|
||||
msg.controlsState.alertText2 = f"playing {alert_sounds[sound]}"
|
||||
msg.controlsState.alertSize = log.ControlsState.AlertSize.mid
|
||||
pm.send('controlsState', msg)
|
||||
time.sleep(DT_CTRL)
|
||||
|
||||
tolerance = (expected_writes % 100) * 2
|
||||
actual_writes = get_total_writes() - start_writes
|
||||
assert abs(expected_writes - actual_writes) <= tolerance, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}"
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -1,65 +0,0 @@
|
|||
#!/usr/bin/env python3
|
||||
import time
|
||||
import subprocess
|
||||
|
||||
from cereal import log, car
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.test.helpers import phone_only, with_processes
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.hardware import HARDWARE
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
SOUNDS = {
|
||||
# sound: total writes
|
||||
AudibleAlert.none: 0,
|
||||
AudibleAlert.chimeEngage: 173,
|
||||
AudibleAlert.chimeDisengage: 173,
|
||||
AudibleAlert.chimeError: 173,
|
||||
AudibleAlert.chimePrompt: 173,
|
||||
AudibleAlert.chimeWarning1: 163,
|
||||
AudibleAlert.chimeWarning2: 216,
|
||||
AudibleAlert.chimeWarning2Repeat: 470,
|
||||
AudibleAlert.chimeWarningRepeat: 468,
|
||||
}
|
||||
|
||||
def get_total_writes():
|
||||
audio_flinger = subprocess.check_output('dumpsys media.audio_flinger', shell=True, encoding='utf-8').strip()
|
||||
write_lines = [l for l in audio_flinger.split('\n') if l.strip().startswith('Total writes')]
|
||||
return sum([int(l.split(':')[1]) for l in write_lines])
|
||||
|
||||
@phone_only
|
||||
def test_sound_card_init():
|
||||
assert HARDWARE.get_sound_card_online()
|
||||
|
||||
|
||||
@phone_only
|
||||
@with_processes(['soundd'])
|
||||
def test_alert_sounds():
|
||||
pm = messaging.PubMaster(['controlsState'])
|
||||
|
||||
# make sure they're all defined
|
||||
alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()}
|
||||
diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys())
|
||||
assert len(diff) == 0, f"not all sounds defined in test: {diff}"
|
||||
|
||||
# wait for procs to init
|
||||
time.sleep(1)
|
||||
|
||||
for sound, expected_writes in SOUNDS.items():
|
||||
print(f"testing {alert_sounds[sound]}")
|
||||
start_writes = get_total_writes()
|
||||
|
||||
for _ in range(int(9 / DT_CTRL)):
|
||||
msg = messaging.new_message('controlsState')
|
||||
msg.controlsState.alertSound = sound
|
||||
msg.controlsState.alertType = str(sound)
|
||||
msg.controlsState.alertText1 = "Testing Sounds"
|
||||
msg.controlsState.alertText2 = f"playing {alert_sounds[sound]}"
|
||||
msg.controlsState.alertSize = log.ControlsState.AlertSize.mid
|
||||
pm.send('controlsState', msg)
|
||||
time.sleep(DT_CTRL)
|
||||
|
||||
tolerance = (expected_writes % 100) * 2
|
||||
actual_writes = get_total_writes() - start_writes
|
||||
assert abs(expected_writes - actual_writes) <= tolerance, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}"
|
||||
Loading…
Reference in New Issue