from cereal import car
from cereal import messaging
from cereal.messaging import SubMaster, PubMaster
from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert

import time

AudibleAlert = car.CarControl.HUDControl.AudibleAlert


class TestSoundd:
  def test_check_selfdrive_timeout_alert(self):
    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])

    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)

  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])

    for _ in range(100):
      cs = messaging.new_message('selfdriveState')
      cs.selfdriveState.enabled = False

      ss_sp = messaging.new_message('selfdriveStateSP')
      ss_sp.selfdriveStateSP.mads.enabled = True

      pm.send("selfdriveState", cs)
      pm.send("selfdriveStateSP", ss_sp)

      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