wip

selfdrive/test/test_time_to_onroad.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+import os
+import pytest
+import time
+import subprocess
+
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.test.helpers import set_params_enabled
+
+
+@pytest.mark.tici
+def test_time_to_onroad():
+  # launch
+  set_params_enabled()
+  manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
+  proc = subprocess.Popen(["python", manager_path])
+
+  start_time = time.monotonic()
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan'])
+  try:
+    # wait for onroad. timeout assumes panda is up to date
+    with Timeout(10, "timed out waiting to go onroad"):
+      while not sm['deviceState'].started:
+        sm.update(100)
+
+    # wait for engageability
+    try:
+      with Timeout(10, "timed out waiting for engageable"):
+        sendcan_frame = None
+        while True:
+          sm.update(100)
+
+          # sendcan is only sent once we're initialized
+          if sm.seen['controlsState'] and sendcan_frame is None:
+            sendcan_frame = sm.frame
+
+          if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame:
+            sm.update(100)
+            assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
+            break
+    finally:
+      print(f"onroad events: {sm['onroadEvents']}")
+    print(f"engageable after {time.monotonic() - start_time:.2f}s")
+
+    # once we're enageable, must stay for the next few seconds
+    st = time.monotonic()
+    while (time.monotonic() - st) < 10.:
+      sm.update(100)
+      assert sm.all_alive(), sm.alive
+      assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
+      assert sm['controlsState'].cumLagMs < 10.
+  finally:
+    proc.terminate()
+    if proc.wait(20) is None:
+      proc.kill()