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https://github.com/firestar5683/StarPilot.git
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firestar5683
53 lines
1.8 KiB
Python
53 lines
1.8 KiB
Python
from cereal import log
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from cereal import messaging
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from cereal.messaging import SubMaster, PubMaster
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from openpilot.selfdrive.ui.soundd import (
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SELFDRIVE_STATE_TIMEOUT,
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check_selfdrive_timeout_alert,
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is_turn_steering_limit_alert,
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should_mute_turn_steering_limit_alert,
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)
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import time
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AudibleAlert = log.SelfdriveState.AudibleAlert
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class TestSoundd:
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def test_turn_steering_limit_alert_detection(self):
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assert is_turn_steering_limit_alert("steerSaturated/warning")
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assert is_turn_steering_limit_alert("goatSteerSaturated/warning")
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assert is_turn_steering_limit_alert("thisIsFineSteerSaturated/warning")
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assert not is_turn_steering_limit_alert("laneChangeBlocked/warning")
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def test_turn_steering_limit_alert_is_muted_only_below_threshold(self):
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assert should_mute_turn_steering_limit_alert("steerSaturated/warning", 10.0, 25.0)
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assert not should_mute_turn_steering_limit_alert("steerSaturated/warning", 25.0, 25.0)
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assert not should_mute_turn_steering_limit_alert("steerSaturated/warning", 30.0, 25.0)
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assert not should_mute_turn_steering_limit_alert("steerSaturated/warning", 10.0, 0.0)
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assert not should_mute_turn_steering_limit_alert("laneChangeBlocked/warning", 10.0, 25.0)
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def test_check_selfdrive_timeout_alert(self):
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sm = SubMaster(['selfdriveState'])
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pm = PubMaster(['selfdriveState'])
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for _ in range(100):
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cs = messaging.new_message('selfdriveState')
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cs.selfdriveState.enabled = True
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pm.send("selfdriveState", cs)
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time.sleep(0.01)
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sm.update(0)
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assert not check_selfdrive_timeout_alert(sm)
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for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
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sm.update(0)
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time.sleep(0.01)
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assert check_selfdrive_timeout_alert(sm)
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# TODO: add test with micd for checking that soundd actually outputs sounds
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