openpilot v0.9.6 release

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

selfdrive/test/test_time_to_onroad.py

@@ -0,0 +1,47 @@
+#!/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'])
+  try:
+    # wait for onroad
+    with Timeout(20, "timed out waiting to go onroad"):
+      while True:
+        sm.update(1000)
+        if sm['deviceState'].started:
+          break
+        time.sleep(1)
+
+    # wait for engageability
+    with Timeout(10, "timed out waiting for engageable"):
+      while True:
+        sm.update(1000)
+        if sm['controlsState'].engageable:
+          break
+        time.sleep(1)
+    print(f"engageable after {time.monotonic() - start_time:.2f}s")
+
+    # once we're enageable, must be for the next few seconds
+    for _ in range(500):
+      sm.update(100)
+      assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
+  finally:
+    proc.terminate()
+    if proc.wait(60) is None:
+      proc.kill()