Toyota: essential ECU test (#28737)

* bump cereal

* more queries (to see the new time)

* fix

* not sure what i want this to do yet

not sure what i want this to do yet

* no body

* no body

* add test

* spacing

* revert

* check len

* static fix

* shorter cmt

selfdrive/car/toyota/tests/test_toyota.py

@@ -1,7 +1,10 @@
 #!/usr/bin/env python3
+from cereal import car
 import unittest
 
-from selfdrive.car.toyota.values import DBC, TSS2_CAR, ANGLE_CONTROL_CAR
+from selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
 
 
 class TestToyotaInterfaces(unittest.TestCase):
@@ -11,10 +14,29 @@ class TestToyotaInterfaces(unittest.TestCase):
   def test_tss2_dbc(self):
     # We make some assumptions about TSS2 platforms,
     # like looking up certain signals only in this DBC
-    for car, dbc in DBC.items():
-      if car in TSS2_CAR:
+    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()