fix test_startup (#31103)

* fix test_startup

* real fix

selfdrive/controls/tests/test_startup.py

@@ -1,6 +1,4 @@
-#!/usr/bin/env python3
 import os
-import unittest
 from parameterized import parameterized
 
 from cereal import log, car
@@ -36,12 +34,8 @@ CX5_FW_VERSIONS = [
   (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-class TestStartup(unittest.TestCase):
 
-  def tearDown(self):
-    managed_processes['controlsd'].stop()
-
-  @parameterized.expand([
+@parameterized.expand([
   # TODO: test EventName.startup for release branches
 
   # officially supported car
@@ -63,8 +57,8 @@ class TestStartup(unittest.TestCase):
   # fuzzy match
   (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
   (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  ])
-  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
+])
+def test_startup_alert(expected_event, car_model, fw_versions, brand):
   controls_sock = messaging.sub_sock("controlsState")
   pm = messaging.PubMaster(['can', 'pandaStates'])
 
@@ -97,6 +91,7 @@ class TestStartup(unittest.TestCase):
   assert pm.wait_for_readers_to_update('can', 5)
   pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
 
+  assert pm.wait_for_readers_to_update('pandaStates', 5)
   msg = messaging.new_message('pandaStates', 1)
   msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
   pm.send('pandaStates', msg)
@@ -114,16 +109,12 @@ class TestStartup(unittest.TestCase):
       params.put_bool("ObdMultiplexingChanged", True)
 
     pm.send('can', can_list_to_can_capnp(msgs))
-      assert pm.wait_for_readers_to_update('can', 2, dt=0.001)
+    assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}"
 
     ctrls = messaging.drain_sock(controls_sock)
     if len(ctrls):
       event_name = ctrls[0].controlsState.alertType.split("/")[0]
-        self.assertEqual(EVENT_NAME[expected_event], event_name,
-                         f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
+      assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}"
       break
   else:
-      self.fail(f"failed to fingerprint {car_model}")
-
-if __name__ == "__main__":
-  unittest.main()
+    raise Exception(f"failed to fingerprint {car_model}")