more unit test speedup (commaai#30997)

* that's super slow

* fix startup test

* fix

selfdrive/controls/tests/test_startup.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import time
+import os
 import unittest
 from parameterized import parameterized
 
@@ -11,7 +11,7 @@
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
-from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 EventName = car.CarEvent.EventName
 Ecu = car.CarParams.Ecu
@@ -38,6 +38,9 @@
 
 class TestStartup(unittest.TestCase):
 
+ def tearDown(self):
+ managed_processes['controlsd'].stop()
+
  @parameterized.expand([
  # TODO: test EventName.startup for release branches
 
@@ -61,15 +64,11 @@ class TestStartup(unittest.TestCase):
  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
  ])
- @with_processes(['controlsd'])
  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
-
- # TODO: this should be done without any real sockets
  controls_sock = messaging.sub_sock("controlsState")
  pm = messaging.PubMaster(['can', 'pandaStates'])
 
  params = Params()
- params.clear_all()
  params.put_bool("Passive", False)
  params.put_bool("OpenpilotEnabledToggle", True)
 
@@ -91,11 +90,13 @@ def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
  cp.carVin = "1" * 17
  cp.carFw = car_fw
  params.put("CarParamsCache", cp.to_bytes())
+ else:
+ os.environ['SKIP_FW_QUERY'] = '1'
 
- time.sleep(2) # wait for controlsd to be ready
+ managed_processes['controlsd'].start()
 
+ assert pm.wait_for_readers_to_update('can', 5)
  pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
- time.sleep(0.1)
 
  msg = messaging.new_message('pandaStates', 1)
  msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
@@ -107,18 +108,18 @@ def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
  else:
  finger = _FINGERPRINTS[car_model][0]
 
+ msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
  for _ in range(1000):
  # controlsd waits for boardd to echo back that it has changed the multiplexing mode
  if not params.get_bool("ObdMultiplexingChanged"):
  params.put_bool("ObdMultiplexingChanged", True)
 
- msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
  pm.send('can', can_list_to_can_capnp(msgs))
+ assert pm.wait_for_readers_to_update('can', 2, dt=0.001)
 
- time.sleep(0.01)
- msgs = messaging.drain_sock(controls_sock)
- if len(msgs):
- event_name = msgs[0].controlsState.alertType.split("/")[0]
+ ctrls = messaging.drain_sock(controls_sock)
+ if len(ctrls):
+ event_name = ctrls[0].controlsState.alertType.split("/")[0]
  self.assertEqual(EVENT_NAME[expected_event], event_name,
  f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
  break

tools/replay/tests/test_replay.cc

@@ -126,8 +126,6 @@ std::string download_demo_route() {
  std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i);
  util::create_directories(log_path, 0755);
  REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2"));
- REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc"));
- REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc"));
  REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts"));
  }
  }
@@ -139,7 +137,7 @@ std::string download_demo_route() {
 TEST_CASE("Local route") {
  std::string data_dir = download_demo_route();
 
- auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+ auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
  Route route(DEMO_ROUTE, QString::fromStdString(data_dir));
  REQUIRE(route.load());
  REQUIRE(route.segments().size() == 2);
@@ -149,7 +147,7 @@ TEST_CASE("Local route") {
 }
 
 TEST_CASE("Remote route") {
- auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
+ auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA);
  Route route(DEMO_ROUTE);
  REQUIRE(route.load());
  REQUIRE(route.segments().size() == 13);