openpilot_comma/selfdrive/car/toyota/tests/test_toyota.py

#!/usr/bin/env python3
from cereal import car
import unittest

from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS

Ecu = car.CarParams.Ecu


class TestToyotaInterfaces(unittest.TestCase):
  def test_car_sets(self):
    self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
    self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0)

  def test_tss2_dbc(self):
    # We make some assumptions about TSS2 platforms,
    # like looking up certain signals only in this DBC
    for car_model, dbc in DBC.items():
      if car_model in TSS2_CAR:
        self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")

  def test_essential_ecus(self):
    # Asserts standard ECUs exist for each platform
    common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
    for car_model, ecus in FW_VERSIONS.items():
      with self.subTest(car_model=car_model):
        present_ecus = {ecu[0] for ecu in ecus}
        missing_ecus = common_ecus - present_ecus
        self.assertEqual(len(missing_ecus), 0)

        # Some exceptions for other common ECUs
        if car_model not in (CAR.ALPHARD_TSS2,):
          self.assertIn(Ecu.abs, present_ecus)

        if car_model not in (CAR.MIRAI,):
          self.assertIn(Ecu.engine, present_ecus)

        if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
          self.assertIn(Ecu.eps, present_ecus)


if __name__ == "__main__":
  unittest.main()