IQ.Pilot Prebuilt Release @ 27f668a

iqpilot/system/manager/test/test_manager.py

@@ -0,0 +1,136 @@
+import os
+import pytest
+import signal
+import time
+
+from iqpilot.cereal import car
+from iqpilot.common.params import Params
+import iqpilot.system.manager.manager as manager
+from iqpilot.system.manager.process import BundleProcess, NativeProcess, ensure_running
+from iqpilot.system.manager.process_config import managed_processes, procs
+from iqpilot.system.hardware import HARDWARE
+
+os.environ['FAKEUPLOAD'] = "1"
+
+MAX_STARTUP_TIME = 3
+BLACKLIST_PROCS = ['manage_hephaestusd', 'pandad', 'pigeond']
+
+
+class TestManager:
+  def setup_method(self):
+    HARDWARE.set_power_save(False)
+
+    # ensure clean CarParams
+    params = Params()
+    params.clear_all()
+
+  def teardown_method(self):
+    manager.manager_cleanup()
+
+  @pytest.mark.linux
+  def test_manager_prepare(self):
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+
+  def test_duplicate_procs(self):
+    assert len(procs) == len(managed_processes), "Duplicate process names"
+
+  def test_models_manager_uses_private_bundle(self):
+    proc = managed_processes["models_manager"]
+
+    assert isinstance(proc, BundleProcess)
+    assert proc.bundle == "iqpilot_model_selector_private"
+    assert proc.entry == "iqpilot_private.models.manager"
+
+  def test_modeld_watchdog_restarts_stalled_process(self, mocker):
+    proc = mocker.Mock()
+    proc.proc.is_alive.return_value = True
+
+    deadline = manager.update_modeld_watchdog(None, True, False, proc, 10.0)
+    assert deadline == 10.0 + manager.MODELD_WATCHDOG_TIMEOUT
+    assert manager.update_modeld_watchdog(deadline, True, False, proc, deadline - 0.1) == deadline
+    proc.restart.assert_not_called()
+
+    next_deadline = manager.update_modeld_watchdog(deadline, True, False, proc, deadline)
+    proc.restart.assert_called_once_with()
+    assert next_deadline == deadline + manager.MODELD_WATCHDOG_TIMEOUT
+
+  def test_modeld_watchdog_tracks_output_and_resets(self, mocker):
+    proc = mocker.Mock()
+    proc.proc.is_alive.return_value = True
+
+    deadline = manager.update_modeld_watchdog(20.0, True, True, proc, 15.0)
+    assert deadline == 15.0 + manager.MODELD_WATCHDOG_TIMEOUT
+    assert manager.update_modeld_watchdog(deadline, False, False, proc, 16.0) is None
+
+    proc.proc.is_alive.return_value = False
+    assert manager.update_modeld_watchdog(deadline, True, False, proc, 16.0) is None
+    proc.restart.assert_not_called()
+
+  def test_bundle_process_stops_with_sigterm(self, mocker):
+    proc = BundleProcess("test", "bundle", "entry", lambda *_: True)
+    proc.proc = mocker.Mock(exitcode=None, pid=123)
+    proc.proc.is_alive.return_value = True
+    signal_mock = mocker.patch.object(proc, "signal")
+
+    proc.stop(block=False)
+
+    signal_mock.assert_called_once_with(signal.SIGTERM)
+
+  def test_native_process_stop_timeout(self, mocker):
+    proc = NativeProcess("test", ".", ["true"], lambda *_: True)
+    native_process = mocker.Mock(exitcode=None, pid=123)
+    proc.proc = native_process
+    signal_mock = mocker.patch.object(proc, "signal")
+    join_mock = mocker.patch("iqpilot.system.manager.process.join_process", side_effect=lambda process, _: setattr(process, "exitcode", 0))
+
+    assert proc.stop(timeout=30) == 0
+    signal_mock.assert_called_once_with(signal.SIGINT)
+    join_mock.assert_called_once_with(native_process, 30)
+
+  def test_blacklisted_procs(self):
+    # TODO: ensure there are blacklisted procs until we have a dedicated test
+    assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
+
+  @pytest.mark.linux
+  def test_set_params_with_default_value(self):
+    params = Params()
+    params.clear_all()
+
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+    for k in params.all_keys():
+      default_value = params.get_default_value(k)
+      if default_value is not None:
+        assert params.get(k) == default_value
+    assert params.get("OpenpilotEnabledToggle")
+    assert params.get("RouteCount") == 0
+
+  @pytest.mark.tici
+  def test_clean_exit(self, subtests):
+    """
+      Ensure all processes exit cleanly when stopped.
+    """
+    HARDWARE.set_power_save(False)
+    manager.manager_init()
+
+    CP = car.CarParams.new_message()
+    procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
+
+    time.sleep(10)
+
+    for p in procs:
+      with subtests.test(proc=p.name):
+        state = p.get_process_state_msg()
+        assert state.running, f"{p.name} not running"
+        exit_code = p.stop(retry=False)
+
+        assert p.name not in BLACKLIST_PROCS, f"{p.name} was started"
+
+        assert exit_code is not None, f"{p.name} failed to exit"
+
+        # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
+        exit_codes = [0, 1]
+        if p.sigkill:
+          exit_codes = [-signal.SIGKILL]
+        assert exit_code in exit_codes, f"{p.name} died with {exit_code}"

iqpilot/system/manager/test/test_services_registry.py

@@ -0,0 +1,65 @@
+import os
+import re
+
+from iqpilot.cereal.services import REGISTRY_TAG_PREFIX, SERVICE_LIST, build_header, registry_hash, registry_tag
+from iqpilot.system.manager.build import REGISTRY_ARTIFACTS, purge_registry_artifacts, stale_registry_artifacts
+
+
+def test_registry_tag_is_derived_from_the_service_list():
+  assert re.fullmatch(r"[0-9a-f]{16}", registry_hash())
+  assert registry_tag() == REGISTRY_TAG_PREFIX + registry_hash()
+  assert "extrinsicsCalibration" in SERVICE_LIST
+
+
+def test_generated_header_embeds_the_tag():
+  header = build_header()
+  assert f'static const char SERVICES_REGISTRY_TAG[] = "{registry_tag()}";' in header
+  assert '{ "extrinsicsCalibration", {"extrinsicsCalibration"' in header
+
+
+def _write(tmp_path, rel, payload):
+  path = tmp_path / rel
+  path.parent.mkdir(parents=True, exist_ok=True)
+  path.write_bytes(payload)
+  return path
+
+
+def test_stale_detection_flags_only_binaries_carrying_an_old_tag(tmp_path):
+  current = registry_tag().encode()
+  old = (REGISTRY_TAG_PREFIX + "0" * 16).encode()
+  _write(tmp_path, "iqpilot/selfdrive/iqlocd/iqlocd", b"\x7fELF" + old)
+  _write(tmp_path, "iqpilot/system/loggerd/loggerd", b"\x7fELF" + current)
+  _write(tmp_path, "iqpilot/system/camerad/camerad", b"\x7fELF no registry linked")
+  assert stale_registry_artifacts(str(tmp_path)) == ["iqpilot/selfdrive/iqlocd/iqlocd"]
+
+
+def test_purge_removes_the_stale_binary_and_the_messaging_table(tmp_path):
+  for rel in REGISTRY_ARTIFACTS:
+    _write(tmp_path, rel, b"x")
+  purge_registry_artifacts(["iqpilot/selfdrive/iqlocd/iqlocd"], str(tmp_path))
+  remaining = [rel for rel in REGISTRY_ARTIFACTS if os.path.isfile(tmp_path / rel)]
+  assert "iqpilot/selfdrive/iqlocd/iqlocd" not in remaining
+  assert "iqpilot/cereal/services.h" not in remaining
+  assert "iqpilot/cereal/messaging/socketmaster.o" not in remaining
+  assert "iqpilot/cereal/libsocketmaster.a" not in remaining
+  assert "iqpilot/system/loggerd/loggerd" in remaining
+
+
+def test_generated_header_declares_the_stamp_for_the_compile_fallback():
+  assert "#define SERVICES_REGISTRY_STAMPED 1" in build_header()
+
+
+def test_pre_build_purge_drops_an_unstamped_or_old_header(tmp_path):
+  from iqpilot.system.manager.build import purge_stale_registry_header
+  _write(tmp_path, "iqpilot/cereal/services.h", b"static std::map<std::string, service> services = {};\n")
+  _write(tmp_path, "iqpilot/cereal/messaging/socketmaster.o", b"o")
+  _write(tmp_path, "iqpilot/cereal/libsocketmaster.a", b"a")
+  assert purge_stale_registry_header(str(tmp_path))
+  assert not (tmp_path / "iqpilot/cereal/services.h").exists()
+  assert not (tmp_path / "iqpilot/cereal/messaging/socketmaster.o").exists()
+  assert not (tmp_path / "iqpilot/cereal/libsocketmaster.a").exists()
+
+  _write(tmp_path, "iqpilot/cereal/services.h", build_header().encode())
+  assert not purge_stale_registry_header(str(tmp_path))
+  assert (tmp_path / "iqpilot/cereal/services.h").exists()
+  assert not purge_stale_registry_header(str(tmp_path / "nowhere"))