sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/selfdrive/controls/tests/test_leads.py

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