You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
53 lines
2.0 KiB
53 lines
2.0 KiB
import pytest
|
|
import cereal.messaging as messaging
|
|
from cereal import car
|
|
from openpilot.common.params import Params
|
|
from openpilot.system.manager.process_config import managed_processes
|
|
|
|
|
|
@pytest.mark.skip("tmp disabled")
|
|
class TestFeedbackd:
|
|
def setup_method(self):
|
|
self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
|
|
self.sm = messaging.SubMaster(['audioFeedback'])
|
|
|
|
def _send_lkas_button(self, pressed: bool):
|
|
msg = messaging.new_message('carState')
|
|
msg.carState.canValid = True
|
|
msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
|
|
self.pm.send('carState', msg)
|
|
|
|
def _send_audio_data(self, count: int = 5):
|
|
for _ in range(count):
|
|
audio_msg = messaging.new_message('rawAudioData')
|
|
audio_msg.rawAudioData.data = bytes(1600) # 800 samples of int16
|
|
audio_msg.rawAudioData.sampleRate = 16000
|
|
self.pm.send('rawAudioData', audio_msg)
|
|
self.sm.update(timeout=100)
|
|
|
|
@pytest.mark.parametrize("record_feedback", [False, True])
|
|
def test_audio_feedback(self, record_feedback):
|
|
Params().put_bool("RecordAudioFeedback", record_feedback)
|
|
|
|
managed_processes["feedbackd"].start()
|
|
assert self.pm.wait_for_readers_to_update('carState', timeout=5)
|
|
assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
|
|
|
|
self._send_lkas_button(pressed=True)
|
|
self._send_audio_data()
|
|
self._send_lkas_button(pressed=False)
|
|
self._send_audio_data()
|
|
|
|
if record_feedback:
|
|
assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
|
|
else:
|
|
assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
|
|
|
|
self._send_lkas_button(pressed=True)
|
|
self._send_audio_data()
|
|
self._send_lkas_button(pressed=False)
|
|
self._send_audio_data()
|
|
|
|
assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
|
|
|
|
managed_processes["feedbackd"].stop()
|
|
|