Release 260111

tools/sim/tests/test_sim_bridge.py

@@ -0,0 +1,92 @@
+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()