Test all of selfdrive/ (#33575)

* test selfdrived!

* exit() is for interactive sessions

* fix

* comments

* more

* test all of selfdrive/

* ignore what we used to

* fix test_alerts

* fix test_alertmanager.py

Author: sshane

conftest.py

@@ -8,6 +8,19 @@
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
+# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
+# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+collect_ignore = [
+  "selfdrive/ui/tests/test_translations",
+  "selfdrive/test/process_replay/test_processes.py",
+  "selfdrive/test/process_replay/test_regen.py",
+  "selfdrive/test/test_time_to_onroad.py",
+]
+collect_ignore_glob = [
+  "selfdrive/debug/*.py",
+  "selfdrive/modeld/*.py",
+]
+
 
 def pytest_sessionstart(session):
   # TODO: fix tests and enable test order randomization

pyproject.toml

@@ -148,14 +148,7 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/pandad",
-  "selfdrive/car",
-  "selfdrive/opcar",
-  "selfdrive/controls",
-  "selfdrive/locationd",
-  "selfdrive/monitoring",
-  "selfdrive/test/longitudinal_maneuvers",
-  "selfdrive/test/process_replay/test_fuzzy.py",
+  "selfdrive",
   "system/updated",
   "system/athena",
   "system/camerad",

selfdrive/selfdrived/tests/test_alertmanager.py

@@ -1,6 +1,6 @@
 import random
 
-from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
+from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
 
@@ -34,6 +34,6 @@ def test_duration(self):
             AM.add_many(frame, [alert, ])
           AM.process_alerts(frame, {})
 
-          shown = AM.current_alert is not None
+          shown = AM.current_alert != EmptyAlert
           should_show = frame <= show_duration
           assert shown == should_show, f"{frame=} {add_duration=} {duration=}"

selfdrive/selfdrived/tests/test_alerts.py

@@ -33,7 +33,7 @@ def setup_class(cls):
       # Create fake objects for callback
       cls.CS = car.CarState.new_message()
       cls.CP = car.CarParams.new_message()
-      cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
+      cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
       cls.sm = SubMaster(cfg.pubs)
 
   def test_events_defined(self):

selfdrive/test/cpp_harness.py

@@ -4,8 +4,7 @@
 
 from openpilot.common.prefix import OpenpilotPrefix
 
-
 with OpenpilotPrefix():
   ret = subprocess.call(sys.argv[1:])
 
-exit(ret)
+sys.exit(ret)

selfdrive/test/process_replay/process_replay.py

@@ -466,7 +466,7 @@ def selfdrived_config_callback(params, cfg, lr):
       "longitudinalPlan", "livePose", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance",
+      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],

selfdrive/ui/tests/test_runner.cc

@@ -11,6 +11,7 @@ int main(int argc, char **argv) {
   QApplication app(argc, argv);
 
   QString language_file = "main_test_en";
+  // FIXME: pytest-cpp considers this print as a test case
   qDebug() << "Loading language:" << language_file;
 
   QTranslator translator;