Release 260111

selfdrive/ui/tests/test_soundd.py

@@ -0,0 +1,35 @@
+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'])
+    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
+