sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/selfdrive/ui/tests/test_soundd.py

@@ -0,0 +1,60 @@
+from openpilot.cereal import log, messaging
+from openpilot.cereal.messaging import SubMaster, PubMaster
+from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
+
+import time
+
+AudibleAlert = log.SelfdriveState.AudibleAlert
+
+
+class TestSoundd:
+  def test_check_selfdrive_timeout_alert(self):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    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)
+
+  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    for _ in range(100):
+      cs = messaging.new_message('selfdriveState')
+      cs.selfdriveState.enabled = False
+
+      ss_sp = messaging.new_message('selfdriveStateSP')
+      ss_sp.selfdriveStateSP.mads.enabled = True
+
+      pm.send("selfdriveState", cs)
+      pm.send("selfdriveStateSP", ss_sp)
+
+      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
+