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