Test Radar Publication Fault Semantics

openpilot/selfdrive/car/tests/test_radar_validity.py

@@ -0,0 +1,30 @@
+from itertools import product
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+import pytest
+
+from opendbc.car.structs import car
+from openpilot.selfdrive.car.card import Car
+
+
+@pytest.mark.parametrize("can_error,radar_fault,wrong_config,unavailable", list(product((False, True), repeat=4)))
+def test_radar_publication_retains_faults(can_error, radar_fault, wrong_config, unavailable):
+  rd = car.RadarData()
+  rd.errors.canError = can_error
+  rd.errors.radarFault = radar_fault
+  rd.errors.wrongConfig = wrong_config
+  rd.errors.radarUnavailableTemporary = unavailable
+  owner = SimpleNamespace(pm=SimpleNamespace(send=Mock()))
+  Car.radar_publish(owner, rd)
+  owner.pm.send.assert_called_once()
+  service, message = owner.pm.send.call_args.args
+  assert service == 'radarTracks'
+  assert message.valid == (not can_error)
+  assert message.radarTracks.to_dict() == rd.to_dict()
+
+
+def test_no_completed_radar_batch_does_not_publish():
+  owner = SimpleNamespace(pm=SimpleNamespace(send=Mock()))
+  Car.radar_publish(owner, None)
+  owner.pm.send.assert_not_called()