Add unittest for alert callbacks (#24551)

add alert callback test
old-commit-hash: 31af13101b

selfdrive/controls/tests/test_alerts.py

@@ -10,6 +10,7 @@ from common.basedir import BASEDIR
 from common.params import Params
 from selfdrive.controls.lib.events import Alert, EVENTS, ET
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from selfdrive.test.process_replay.process_replay import FakeSubMaster, CONFIGS
 
 AlertSize = log.ControlsState.AlertSize
 
@@ -19,8 +20,7 @@ OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offro
 ALERTS = []
 for event_types in EVENTS.values():
   for alert in event_types.values():
-    if isinstance(alert, Alert):
-      ALERTS.append(alert)
+    ALERTS.append(alert)
 
 
 class TestAlerts(unittest.TestCase):
@@ -30,6 +30,11 @@ class TestAlerts(unittest.TestCase):
     with open(OFFROAD_ALERTS_PATH) as f:
       cls.offroad_alerts = json.loads(f.read())
 
+      # Create fake objects for callback
+      cls.CP = car.CarParams.new_message()
+      cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
+      cls.sm = FakeSubMaster(cfg.pub_sub.keys())
+
   def test_events_defined(self):
     # Ensure all events in capnp schema are defined in events.py
     events = car.CarEvent.EventName.schema.enumerants
@@ -59,6 +64,9 @@ class TestAlerts(unittest.TestCase):
     }
 
     for alert in ALERTS:
+      if not isinstance(alert, Alert):
+        alert = alert(self.CP, self.sm, metric=False, soft_disable_time=100)
+
       # for full size alerts, both text fields wrap the text,
       # so it's unlikely that they  would go past the max width
       if alert.alert_size in (AlertSize.none, AlertSize.full):

selfdrive/test/process_replay/process_replay.py

@@ -242,7 +242,7 @@ CONFIGS = [
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
       "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
-      "modelV2": [], "driverCameraState": [], "roadCameraState": [], "managerState": [],
+      "modelV2": [], "driverCameraState": [], "roadCameraState": [], "managerState": [], "testJoystick": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,