def setUpClass(cls):
if "DEBUG" in os.environ:
segs = filter(
lambda x: os.path.exists(os.path.join(x, "rlog.bz2")),
Path(ROOT).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.bz2")))
return
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
set_params_enabled()
# Make sure athena isn't running
Params().delete("DongleId")
Params().delete("AthenadPid")
os.system("pkill -9 -f athena")
logger_root = Path(ROOT)
initial_segments = set()
if logger_root.exists():
initial_segments = set(Path(ROOT).iterdir())
# start manager and run openpilot for a minute
try:
manager_path = os.path.join(BASEDIR,
"selfdrive/manager/manager.py")
proc = subprocess.Popen(["python", manager_path])
sm = messaging.SubMaster(['carState'])
with Timeout(150, "controls didn't start"):
while sm.rcv_frame['carState'] < 0:
sm.update(1000)
# make sure we get at least two full segments
cls.segments = []
with Timeout(300, "timed out waiting for logs"):
while len(cls.segments) < 3:
new_paths = set()
if logger_root.exists():
new_paths = set(
logger_root.iterdir()) - initial_segments
segs = [p for p in new_paths if "--" in str(p)]
cls.segments = sorted(
segs, key=lambda s: int(str(s).rsplit('--')[-1]))
time.sleep(5)
finally:
proc.terminate()
if proc.wait(60) is None:
proc.kill()
cls.lrs = [
list(LogReader(os.path.join(str(s), "rlog.bz2")))
for s in cls.segments
]
# use the second segment by default as it's the first full segment
cls.lr = list(LogReader(os.path.join(str(cls.segments[1]),
"rlog.bz2")))
def setUpClass(cls):
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
set_params_enabled()
initial_segments = set(Path(ROOT).iterdir())
# start manager and run openpilot for a minute
try:
manager_path = os.path.join(BASEDIR,
"selfdrive/manager/manager.py")
proc = subprocess.Popen(["python", manager_path])
sm = messaging.SubMaster(['carState'])
with Timeout(150, "controls didn't start"):
while sm.rcv_frame['carState'] < 0:
sm.update(1000)
# make sure we get at least two full segments
cls.segments = []
with Timeout(300, "timed out waiting for logs"):
while len(cls.segments) < 3:
new_paths = set(Path(ROOT).iterdir()) - initial_segments
segs = [p for p in new_paths if "--" in str(p)]
cls.segments = sorted(
segs, key=lambda s: int(str(s).rsplit('--')[-1]))
time.sleep(5)
finally:
proc.terminate()
if proc.wait(60) is None:
proc.kill()
cls.lr = list(LogReader(os.path.join(str(cls.segments[1]),
"rlog.bz2")))
def test_alert_sounds():
set_params_enabled()
pm = messaging.PubMaster(['deviceState', 'controlsState'])
# make sure they're all defined
alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()}
diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys())
assert len(diff) == 0, f"not all sounds defined in test: {diff}"
# wait for procs to init
time.sleep(5)
msg = messaging.new_message('deviceState')
msg.deviceState.started = True
pm.send('deviceState', msg)
for sound, expected_writes in SOUNDS.items():
print(f"testing {alert_sounds[sound]}")
start_writes = get_total_writes()
for _ in range(int(9 / DT_CTRL)):
msg = messaging.new_message('controlsState')
msg.controlsState.enabled = True
msg.controlsState.active = True
msg.controlsState.alertSound = sound
msg.controlsState.alertType = str(sound)
msg.controlsState.alertText1 = "Testing Sounds"
msg.controlsState.alertText2 = f"playing {alert_sounds[sound]}"
msg.controlsState.alertSize = log.ControlsState.AlertSize.mid
pm.send('controlsState', msg)
time.sleep(DT_CTRL)
tolerance = (expected_writes % 100) * 2
actual_writes = get_total_writes() - start_writes
assert abs(expected_writes - actual_writes) <= tolerance, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}"
def setUpClass(cls):
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
set_params_enabled()
Panda().reset()
initial_segments = set(Path(ROOT).iterdir())
# start manager and run openpilot for a minute
try:
manager_path = os.path.join(BASEDIR, "selfdrive/manager.py")
proc = subprocess.Popen(["python", manager_path])
sm = messaging.SubMaster(['carState'])
with Timeout(150, "controls didn't start"):
while sm.rcv_frame['carState'] < 0:
sm.update(1000)
time.sleep(60)
finally:
proc.terminate()
if proc.wait(20) is None:
proc.kill()
new_segments = set(Path(ROOT).iterdir()) - initial_segments
segments = [p for p in new_segments if len(list(p.iterdir())) > 1]
cls.segment = [s for s in segments if str(s).endswith("--0")][0]
cls.lr = list(LogReader(os.path.join(str(cls.segment), "rlog.bz2")))
def setUpClass(cls):
if "DEBUG" in os.environ:
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
cls.lr = list(LogReader(os.path.join(segs[-1], "rlog")))
return
# setup env
os.environ['REPLAY'] = "1"
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
params = Params()
params.clear_all()
set_params_enabled()
# Make sure athena isn't running
os.system("pkill -9 -f athena")
# start manager and run openpilot for a minute
proc = None
try:
manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
proc = subprocess.Popen(["python", manager_path])
sm = messaging.SubMaster(['carState'])
with Timeout(150, "controls didn't start"):
while sm.rcv_frame['carState'] < 0:
sm.update(1000)
# make sure we get at least two full segments
route = None
cls.segments = []
with Timeout(300, "timed out waiting for logs"):
while route is None:
route = params.get("CurrentRoute", encoding="utf-8")
time.sleep(0.1)
while len(cls.segments) < 3:
segs = set()
if Path(ROOT).exists():
segs = set(Path(ROOT).glob(f"{route}--*"))
cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
time.sleep(2)
# chop off last, incomplete segment
cls.segments = cls.segments[:-1]
finally:
if proc is not None:
proc.terminate()
if proc.wait(60) is None:
proc.kill()
cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments]
# use the second segment by default as it's the first full segment
cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
def __init__(self, arguments):
set_params_enabled()
msg = messaging.new_message('liveCalibration')
msg.liveCalibration.validBlocks = 20
msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
Params().put("CalibrationParams", msg.to_bytes())
self._args = arguments
self._carla_objects = []
self._camerad = None
self._exit_event = threading.Event()
self._threads = []
self._keep_alive = True
self.started = False
signal.signal(signal.SIGTERM, self._on_shutdown)
self._exit = threading.Event()
def test_manager_prepare(): set_params_enabled() manager_init() manager_prepare()
if rk.frame % PRINT_DECIMATION == 0:
print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ",
round(vc.throttle, 3), "; steer(c/deg): ",
round(vc.steer, 3), round(steer_out, 3), "; brake: ",
round(vc.brake, 3))
rk.keep_time()
if __name__ == "__main__":
# make sure params are in a good state
params = Params()
params.clear_all()
set_params_enabled()
params.delete("Offroad_ConnectivityNeeded")
params.put("CalibrationParams",
'{"calib_radians": [0,0,0], "valid_blocks": 20}')
from multiprocessing import Process, Queue
q = Queue()
p = Process(target=go, args=(q, ))
p.daemon = True
p.start()
if args.joystick:
# start input poll for joystick
from lib.manual_ctrl import wheel_poll_thread
wheel_poll_thread(q)
else:
