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31 lines
1.2 KiB
31 lines
1.2 KiB
import cereal.messaging as messaging
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.test.process_replay import replay_process_with_name
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class TestLeads:
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def test_radar_fault(self):
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# if there's no radar-related can traffic, radard should either not respond or respond with an error
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# this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
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def single_iter_pkg():
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# single iter package, with meaningless cans and empty carState/modelV2
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msgs = []
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for _ in range(500):
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can = messaging.new_message("can", 1)
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cs = messaging.new_message("carState")
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cp = messaging.new_message("carParams")
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msgs.append(can.as_reader())
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msgs.append(cs.as_reader())
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msgs.append(cp.as_reader())
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model = messaging.new_message("modelV2")
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msgs.append(model.as_reader())
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return msgs
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msgs = [m for _ in range(3) for m in single_iter_pkg()]
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out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
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states = [m for m in out if m.which() == "liveTracks"]
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failures = [not state.valid and len(state.liveTracks.errors) for state in states]
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assert len(states) == 0 or all(failures)
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