#!/usr/bin/env python3
import unittest
import cereal.messaging as messaging
from openpilot.selfdrive.test.process_replay import replay_process_with_name
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
[docs]
class TestLeads(unittest.TestCase):
[docs]
def test_radar_fault(self):
# if there's no radar-related can traffic, radard should either not respond or respond with an error
# this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
def single_iter_pkg():
# single iter package, with meaningless cans and empty carState/modelV2
msgs = []
for _ in range(5):
can = messaging.new_message("can", 1)
cs = messaging.new_message("carState")
msgs.append(can.as_reader())
msgs.append(cs.as_reader())
model = messaging.new_message("modelV2")
msgs.append(model.as_reader())
return msgs
msgs = [m for _ in range(3) for m in single_iter_pkg()]
out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
states = [m for m in out if m.which() == "radarState"]
failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
self.assertTrue(len(states) == 0 or all(failures))
if __name__ == "__main__":
unittest.main()