github-actions[bot]
f9fcc7adab
date: 2026-06-28T09:48:35 master commit: da6313dbe95b3f24bb5d8018b0e5f950f5823ca7
62 lines
1.6 KiB
Python
62 lines
1.6 KiB
Python
from cereal import car
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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 SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
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import time
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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class TestSoundd:
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def test_check_selfdrive_timeout_alert(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 = 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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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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