openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/manager/test/test_manager.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import os
+import pytest
+import signal
+import time
+import unittest
+
+from parameterized import parameterized
+
+from cereal import car
+from openpilot.common.params import Params
+import openpilot.selfdrive.manager.manager as manager
+from openpilot.selfdrive.manager.process import ensure_running
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import HARDWARE
+
+os.environ['FAKEUPLOAD'] = "1"
+
+MAX_STARTUP_TIME = 3
+BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
+
+
+@pytest.mark.tici
+class TestManager(unittest.TestCase):
+  def setUp(self):
+    HARDWARE.set_power_save(False)
+
+    # ensure clean CarParams
+    params = Params()
+    params.clear_all()
+
+  def tearDown(self):
+    manager.manager_cleanup()
+
+  def test_manager_prepare(self):
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+
+  def test_blacklisted_procs(self):
+    # TODO: ensure there are blacklisted procs until we have a dedicated test
+    self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run")
+
+  @parameterized.expand([(i,) for i in range(10)])
+  def test_startup_time(self, index):
+    start = time.monotonic()
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+    t = time.monotonic() - start
+    assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
+
+  @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
+  def test_clean_exit(self):
+    """
+      Ensure all processes exit cleanly when stopped.
+    """
+    HARDWARE.set_power_save(False)
+    manager.manager_init()
+
+    CP = car.CarParams.new_message()
+    procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
+
+    time.sleep(10)
+
+    for p in procs:
+      with self.subTest(proc=p.name):
+        state = p.get_process_state_msg()
+        self.assertTrue(state.running, f"{p.name} not running")
+        exit_code = p.stop(retry=False)
+
+        self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
+
+        self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
+
+        # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
+        exit_codes = [0, 1]
+        if p.sigkill:
+          exit_codes = [-signal.SIGKILL]
+        self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")
+
+
+if __name__ == "__main__":
+  unittest.main()