mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-12 03:03:51 +08:00
firestar5683
75 lines
2.7 KiB
Python
75 lines
2.7 KiB
Python
from cereal import log
|
|
from cereal import messaging
|
|
from cereal.messaging import SubMaster, PubMaster
|
|
from openpilot.selfdrive.ui.soundd import (
|
|
SELFDRIVE_STATE_TIMEOUT,
|
|
SOUNDD_SERVICES,
|
|
Soundd,
|
|
check_selfdrive_timeout_alert,
|
|
is_turn_steering_limit_alert,
|
|
should_mute_turn_steering_limit_alert,
|
|
)
|
|
|
|
import numpy as np
|
|
import time
|
|
|
|
AudibleAlert = log.SelfdriveState.AudibleAlert
|
|
|
|
|
|
class TestSoundd:
|
|
def test_does_not_consume_car_state_reader(self):
|
|
assert "carState" not in SOUNDD_SERVICES
|
|
assert "starpilotSelfdriveState" in SOUNDD_SERVICES
|
|
|
|
def test_turn_steering_limit_alert_detection(self):
|
|
assert is_turn_steering_limit_alert("steerSaturated/warning")
|
|
assert is_turn_steering_limit_alert("goatSteerSaturated/warning")
|
|
assert is_turn_steering_limit_alert("thisIsFineSteerSaturated/warning")
|
|
assert not is_turn_steering_limit_alert("laneChangeBlocked/warning")
|
|
|
|
def test_turn_steering_limit_alert_is_muted_only_below_threshold(self):
|
|
assert should_mute_turn_steering_limit_alert("steerSaturated/warning", 10.0, 25.0)
|
|
assert not should_mute_turn_steering_limit_alert("steerSaturated/warning", 25.0, 25.0)
|
|
assert not should_mute_turn_steering_limit_alert("steerSaturated/warning", 30.0, 25.0)
|
|
assert not should_mute_turn_steering_limit_alert("steerSaturated/warning", 10.0, 0.0)
|
|
assert not should_mute_turn_steering_limit_alert("laneChangeBlocked/warning", 10.0, 25.0)
|
|
|
|
def test_bluetooth_audio_mutes_local_only_while_healthy(self):
|
|
soundd = Soundd.__new__(Soundd)
|
|
samples = np.array([0.25, -0.5], dtype=np.float32)
|
|
soundd.get_sound_data = lambda _frames: samples
|
|
data_out = np.zeros((2, 1), dtype=np.float32)
|
|
soundd.pending_stream_status = None
|
|
|
|
soundd.bluetooth_audio = type("Sink", (), {"submit": lambda self, _samples: True})()
|
|
soundd.callback(data_out, 2, None, None)
|
|
np.testing.assert_array_equal(data_out[:, 0], np.zeros(2, dtype=np.float32))
|
|
|
|
soundd.bluetooth_audio = type("Sink", (), {"submit": lambda self, _samples: False})()
|
|
soundd.callback(data_out, 2, None, None)
|
|
np.testing.assert_array_equal(data_out[:, 0], samples)
|
|
|
|
def test_check_selfdrive_timeout_alert(self):
|
|
sm = SubMaster(['selfdriveState'])
|
|
pm = PubMaster(['selfdriveState'])
|
|
|
|
for _ in range(100):
|
|
cs = messaging.new_message('selfdriveState')
|
|
cs.selfdriveState.enabled = True
|
|
|
|
pm.send("selfdriveState", cs)
|
|
|
|
time.sleep(0.01)
|
|
|
|
sm.update(0)
|
|
|
|
assert not check_selfdrive_timeout_alert(sm)
|
|
|
|
for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
|
|
sm.update(0)
|
|
time.sleep(0.01)
|
|
|
|
assert check_selfdrive_timeout_alert(sm)
|
|
|
|
# TODO: add test with micd for checking that soundd actually outputs sounds
|