github-actions[bot]
f8e13417f2
date: 2026-08-15T14:20:10 master commit: d48cfa730bf21593b684efeaf3fd8940695e1dea
60 lines
2.0 KiB
Python
60 lines
2.0 KiB
Python
import threading
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import time
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from openpilot.common.test import OpenpilotTestCase
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from openpilot.cereal import log, messaging
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from openpilot.cereal.messaging import SubMaster, PubMaster
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from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
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AudibleAlert = log.SelfdriveState.AudibleAlert
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class TestSoundd(OpenpilotTestCase):
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def test_check_selfdrive_timeout_alert(self, mocker):
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sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
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pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
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cs = messaging.new_message('selfdriveState')
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cs.selfdriveState.enabled = True
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threading.Timer(0.01, pm.send, args=("selfdriveState", cs)).start()
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sm.update(100)
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assert sm.updated['selfdriveState']
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received_at = sm.recv_time['selfdriveState']
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clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
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assert not check_selfdrive_timeout_alert(sm)
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clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
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assert check_selfdrive_timeout_alert(sm)
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clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
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assert not check_selfdrive_timeout_alert(sm)
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def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
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sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
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pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
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for _ in range(100):
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cs = messaging.new_message('selfdriveState')
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cs.selfdriveState.enabled = False
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ss_sp = messaging.new_message('selfdriveStateSP')
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ss_sp.selfdriveStateSP.mads.enabled = True
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pm.send("selfdriveState", cs)
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pm.send("selfdriveStateSP", ss_sp)
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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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