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43 lines
1.4 KiB
43 lines
1.4 KiB
#!/usr/bin/env python3
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from cereal import car
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import unittest
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from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
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Ecu = car.CarParams.Ecu
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class TestToyotaInterfaces(unittest.TestCase):
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def test_car_sets(self):
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self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
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self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0)
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def test_tss2_dbc(self):
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# We make some assumptions about TSS2 platforms,
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# like looking up certain signals only in this DBC
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for car_model, dbc in DBC.items():
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if car_model in TSS2_CAR:
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self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")
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def test_essential_ecus(self):
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# Asserts standard ECUs exist for each platform
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common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
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for car_model, ecus in FW_VERSIONS.items():
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with self.subTest(car_model=car_model):
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present_ecus = {ecu[0] for ecu in ecus}
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missing_ecus = common_ecus - present_ecus
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self.assertEqual(len(missing_ecus), 0)
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# Some exceptions for other common ECUs
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if car_model not in (CAR.ALPHARD_TSS2,):
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self.assertIn(Ecu.abs, present_ecus)
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if car_model not in (CAR.MIRAI,):
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self.assertIn(Ecu.engine, present_ecus)
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if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
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self.assertIn(Ecu.eps, present_ecus)
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if __name__ == "__main__":
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unittest.main()
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