93 lines
3.1 KiB
Python
93 lines
3.1 KiB
Python
import os
|
|
import subprocess
|
|
import time
|
|
import pytest
|
|
|
|
from multiprocessing import Queue
|
|
|
|
from cereal import messaging
|
|
from openpilot.common.basedir import BASEDIR
|
|
from openpilot.tools.sim.bridge.common import QueueMessageType
|
|
|
|
SIM_DIR = os.path.join(BASEDIR, "tools/sim")
|
|
|
|
class TestSimBridgeBase:
|
|
@classmethod
|
|
def setup_class(cls):
|
|
if cls is TestSimBridgeBase:
|
|
raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead")
|
|
|
|
def setup_method(self):
|
|
self.processes = []
|
|
|
|
def test_driving(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(['selfdriveState', 'onroadEvents', 'managerState'])
|
|
q = Queue()
|
|
bridge = self.create_bridge()
|
|
p_bridge = 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 bridge.started.value and time.monotonic() < start_waiting + max_time_per_step:
|
|
time.sleep(0.1)
|
|
assert p_bridge.exitcode is 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
|
|
|
|
assert 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()
|
|
|
|
if sm.all_alive() and sm['selfdriveState'].active:
|
|
control_active += 1
|
|
|
|
if control_active == min_counts_control_active:
|
|
break
|
|
|
|
assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}"
|
|
|
|
failure_states = []
|
|
while bridge.started.value:
|
|
continue
|
|
|
|
while not q.empty():
|
|
state = q.get()
|
|
if state.type == QueueMessageType.TERMINATION_INFO:
|
|
done_info = state.info
|
|
failure_states = [done_state for done_state in done_info if done_state != "timeout" and done_info[done_state]]
|
|
break
|
|
assert len(failure_states) == 0, f"Simulator fails to finish a loop. Failure states: {failure_states}"
|
|
|
|
def teardown_method(self):
|
|
print("Test shutting down. CommIssues are acceptable")
|
|
for p in reversed(self.processes):
|
|
p.terminate()
|
|
|
|
for p in reversed(self.processes):
|
|
p.kill()
|