Add openpilot tools

tools/sim/tests/test_carla_bridge.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+import unittest
+from subprocess import Popen
+
+from openpilot.selfdrive.manager.helpers import unblock_stdout
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
+from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
+
+from typing import Optional
+
+class TestCarlaBridge(TestSimBridgeBase):
+  """
+  Tests need Carla simulator to run
+  """
+  carla_process: Optional[Popen] = None
+
+  def setUp(self):
+    super().setUp()
+
+    # We want to make sure that carla_sim docker isn't still running.
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
+
+    # Too many lagging messages in bridge.py can cause a crash. This prevents it.
+    unblock_stdout()
+    # Wait 10 seconds to startup carla
+    time.sleep(10)
+
+  def create_bridge(self):
+    return CarlaBridge(parse_args([]))
+
+  def tearDown(self):
+    super().tearDown()
+
+    # Stop carla simulator by removing docker container
+    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+    if self.carla_process is not None:
+      self.carla_process.wait()
+
+
+if __name__ == "__main__":
+  unittest.main()

tools/sim/tests/test_metadrive_bridge.py

@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+import unittest
+
+from openpilot.tools.sim.run_bridge import parse_args
+from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
+
+
+class TestMetaDriveBridge(TestSimBridgeBase):
+  def create_bridge(self):
+    return MetaDriveBridge(parse_args([]))
+
+
+if __name__ == "__main__":
+  unittest.main()

tools/sim/tests/test_sim_bridge.py

@@ -0,0 +1,88 @@
+import os
+import subprocess
+import time
+import unittest
+
+from multiprocessing import Queue
+
+from cereal import messaging
+from openpilot.common.basedir import BASEDIR
+
+SIM_DIR = os.path.join(BASEDIR, "tools/sim")
+
+class TestSimBridgeBase(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if cls is TestSimBridgeBase:
+      raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead")
+
+  def setUp(self):
+    self.processes = []
+
+  def test_engage(self):
+    # Startup manager and bridge.py. Check processes are running, then engage and verify.
+    p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
+    self.processes.append(p_manager)
+
+    sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
+    q = Queue()
+    carla_bridge = self.create_bridge()
+    p_bridge = carla_bridge.run(q, retries=10)
+    self.processes.append(p_bridge)
+
+    max_time_per_step = 60
+
+    # Wait for bridge to startup
+    start_waiting = time.monotonic()
+    while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step:
+      time.sleep(0.1)
+    self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")
+
+    start_time = time.monotonic()
+    no_car_events_issues_once = False
+    car_event_issues = []
+    not_running = []
+    while time.monotonic() < start_time + max_time_per_step:
+      sm.update()
+
+      not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
+      car_event_issues = [event.name for event in sm['onroadEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])]
+
+      if sm.all_alive() and len(car_event_issues) == 0 and len(not_running) == 0:
+        no_car_events_issues_once = True
+        break
+
+    self.assertTrue(no_car_events_issues_once,
+                    f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
+
+    start_time = time.monotonic()
+    min_counts_control_active = 100
+    control_active = 0
+
+    while time.monotonic() < start_time + max_time_per_step:
+      sm.update()
+
+      q.put("cruise_down")  # Try engaging
+
+      if sm.all_alive() and sm['controlsState'].active:
+        control_active += 1
+
+        if control_active == min_counts_control_active:
+          break
+
+    self.assertEqual(min_counts_control_active, control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}")
+
+  def tearDown(self):
+    print("Test shutting down. CommIssues are acceptable")
+    for p in reversed(self.processes):
+      p.terminate()
+
+    for p in reversed(self.processes):
+      if isinstance(p, subprocess.Popen):
+        p.wait(15)
+      else:
+        p.join(15)
+
+
+if __name__ == "__main__":
+  unittest.main()