From e255c71cac0b41bf0c75cde5aec78d5f4adfbcb9 Mon Sep 17 00:00:00 2001
From: Chris Rosales <christopher.rosales@stonybrook.edu>
Date: Fri, 19 Dec 2025 21:08:33 -0500
Subject: [PATCH] speed up pytest collection

- pre-warm heavy imports (numpy, hypothesis, cereal, opendbc.car, etc)
- lazy-load fixture modules (OpenpilotPrefix, manager, HARDWARE)
- use norecursedirs instead of --ignore flags
---
 conftest.py    | 111 +++++++++++++++++++++++++++++++++++++++++++++++--
 pyproject.toml |  30 ++++++++++++-
 2 files changed, 136 insertions(+), 5 deletions(-)

diff --git a/conftest.py b/conftest.py
index 7e40ec3ed7a9d5..4ecf3434a262b2 100644
--- a/conftest.py
+++ b/conftest.py
@@ -1,11 +1,109 @@
 import contextlib
 import gc
 import os
+
+# Pre-warm heavy imports before pytest collection
+try:
+    import numpy  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    import hypothesis  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    import cereal
+except ImportError:
+    pass
+
+try:
+    from opendbc import car  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    from openpilot.tools.lib.logreader import LogReader  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    import casadi  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    from openpilot.common.params import Params  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    from openpilot.selfdrive.test import helpers  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    import parameterized  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    import cereal.messaging  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    from cereal import log  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    from panda import Panda  # noqa: F401
+except ImportError:
+    pass
+
+try:
+    from openpilot.system.manager.process_config import managed_processes  # noqa: F401
+except ImportError:
+    pass
+
 import pytest
+from typing import Any
+
+# Lazy-loaded modules for fixtures
+_OpenpilotPrefix: Any = None
+_manager: Any = None
+_HARDWARE: Any = None
+
+
+def _get_openpilot_prefix():
+    global _OpenpilotPrefix
+    if _OpenpilotPrefix is None:
+        from openpilot.common.prefix import OpenpilotPrefix
+        _OpenpilotPrefix = OpenpilotPrefix
+    return _OpenpilotPrefix
+
+
+def _get_manager():
+    global _manager
+    if _manager is None:
+        from openpilot.system.manager import manager
+        _manager = manager
+    return _manager
+
+
+def _get_hardware():
+    global _HARDWARE
+    if _HARDWARE is None:
+        from openpilot.system.hardware import HARDWARE
+        _HARDWARE = HARDWARE
+    return _HARDWARE
+
+
+def _is_tici():
+    return os.path.isfile('/TICI')
 
-from openpilot.common.prefix import OpenpilotPrefix
-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
@@ -47,6 +145,9 @@ def clean_env():
 
 @pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture(request):
+  OpenpilotPrefix = _get_openpilot_prefix()
+  manager = _get_manager()
+
   with clean_env():
     # setup a clean environment for each test
     with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
@@ -78,6 +179,7 @@ def tici_setup_fixture(request, openpilot_function_fixture):
   """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
   if 'skip_tici_setup' in request.keywords:
     return
+  HARDWARE = _get_hardware()
   HARDWARE.initialize_hardware()
   HARDWARE.set_power_save(False)
   os.system("pkill -9 -f athena")
@@ -86,9 +188,10 @@ def tici_setup_fixture(request, openpilot_function_fixture):
 @pytest.hookimpl(tryfirst=True)
 def pytest_collection_modifyitems(config, items):
   skipper = pytest.mark.skip(reason="Skipping tici test on PC")
+  is_tici = _is_tici()
   for item in items:
     if "tici" in item.keywords:
-      if not TICI:
+      if not is_tici:
         item.add_marker(skipper)
       else:
         item.fixturenames.append('tici_setup_fixture')
diff --git a/pyproject.toml b/pyproject.toml
index d5dc95e1b1a7b1..98616476e67496 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -144,7 +144,35 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "-Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+norecursedirs = [
+  ".git",
+  ".github",
+  ".venv",
+  ".vscode",
+  ".pytest_cache",
+  "__pycache__",
+  "*.egg-info",
+  "build",
+  "dist",
+  "openpilot",
+  "opendbc",
+  "opendbc_repo",
+  "panda",
+  "rednose",
+  "rednose_repo",
+  "tinygrad",
+  "tinygrad_repo",
+  "teleoprtc",
+  "teleoprtc_repo",
+  "msgq",
+  "msgq_repo",
+  "third_party",
+  "site_scons",
+  "release",
+  "scripts",
+  "docs",
+]
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"