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53 lines
1.9 KiB
53 lines
1.9 KiB
3 days ago
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import pytest
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import cereal.messaging as messaging
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.system.manager.process_config import managed_processes
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class TestFeedbackd:
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def setup_method(self):
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self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
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self.sm = messaging.SubMaster(['audioFeedback'])
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def _send_lkas_button(self, pressed: bool):
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msg = messaging.new_message('carState')
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msg.carState.canValid = True
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msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
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self.pm.send('carState', msg)
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def _send_audio_data(self, count: int = 5):
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for _ in range(count):
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audio_msg = messaging.new_message('rawAudioData')
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audio_msg.rawAudioData.data = bytes(1600) # 800 samples of int16
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audio_msg.rawAudioData.sampleRate = 16000
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self.pm.send('rawAudioData', audio_msg)
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self.sm.update(timeout=100)
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@pytest.mark.parametrize("record_feedback", [False, True])
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def test_audio_feedback(self, record_feedback):
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Params().put_bool("RecordAudioFeedback", record_feedback)
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managed_processes["feedbackd"].start()
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assert self.pm.wait_for_readers_to_update('carState', timeout=5)
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assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
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self._send_lkas_button(pressed=True)
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self._send_audio_data()
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self._send_lkas_button(pressed=False)
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self._send_audio_data()
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if record_feedback:
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assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
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else:
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assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
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self._send_lkas_button(pressed=True)
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self._send_audio_data()
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self._send_lkas_button(pressed=False)
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self._send_audio_data()
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assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
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managed_processes["feedbackd"].stop()
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