openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/test/helpers.py

@@ -0,0 +1,90 @@
+import os
+import time
+
+from functools import wraps
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import PC
+from openpilot.system.version import training_version, terms_version
+from openpilot.tools.lib.logreader import LogIterable
+
+
+def set_params_enabled():
+  os.environ['PASSIVE'] = "0"
+  os.environ['REPLAY'] = "1"
+  os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+  os.environ['LOGPRINT'] = "debug"
+
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put_bool("Passive", False)
+
+  # valid calib
+  msg = messaging.new_message('liveCalibration')
+  msg.liveCalibration.validBlocks = 20
+  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+  params.put("CalibrationParams", msg.to_bytes())
+
+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 release_only(f):
+  @wraps(f)
+  def wrap(self, *args, **kwargs):
+    if "RELEASE" not in os.environ:
+      self.skipTest("This test is only for release branches")
+    f(self, *args, **kwargs)
+  return wrap
+
+def with_processes(processes, init_time=0, ignore_stopped=None):
+  ignore_stopped = [] if ignore_stopped is None else ignore_stopped
+
+  def wrapper(func):
+    @wraps(func)
+    def wrap(*args, **kwargs):
+      # start and assert started
+      for n, p in enumerate(processes):
+        managed_processes[p].start()
+        if n < len(processes) - 1:
+          time.sleep(init_time)
+      assert all(managed_processes[name].proc.exitcode is None for name in processes)
+
+      # call the function
+      try:
+        func(*args, **kwargs)
+        # assert processes are still started
+        assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped)
+      finally:
+        for p in processes:
+          managed_processes[p].stop()
+
+    return wrap
+  return wrapper
+
+
+def noop(*args, **kwargs):
+  pass
+
+
+def read_segment_list(segment_list_path):
+  with open(segment_list_path, "r") as f:
+    seg_list = f.read().splitlines()
+
+  return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)]
+
+
+# Utilities for sanitizing routes of only essential data for testing car ports and doing validation.
+
+PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"]
+
+def sanitize(lr: LogIterable) -> LogIterable:
+  return filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr)