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test_models: no CAN invalid tolerance (#25501)

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* don't use end of route segment

* no can invalid cnt tolerance

* start checking can valid immediately once available

* we check counter violations
This commit is contained in:
Shane Smiskol
2022-08-20 14:47:18 -07:00
committed by GitHub
parent 992ee329e9
commit beae985f98
2 changed files with 9 additions and 5 deletions
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selfdrive/car/tests/routes.py
+1 -1
View File
@@ -83,7 +83,7 @@ routes = [
TestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022),
TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
selfdrive/car/tests/test_models.py
+8 -4
View File
@@ -138,19 +138,23 @@ class TestCarModelBase(unittest.TestCase):
raise Exception("unkown tuning")
def test_car_interface(self):
# TODO: also check for checkusm and counter violations from can parser
# TODO: also check for checksum violations from can parser
can_invalid_cnt = 0
can_valid = False
CC = car.CarControl.new_message()
for i, msg in enumerate(self.can_msgs):
CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
self.CI.apply(CC)
# wait 2s for low frequency msgs to be seen
if i > 200:
if CS.canValid:
can_valid = True
# wait max of 2s for low frequency msgs to be seen
if i > 200 or can_valid:
can_invalid_cnt += not CS.canValid
self.assertLess(can_invalid_cnt, 50)
self.assertEqual(can_invalid_cnt, 0)
def test_radar_interface(self):
os.environ['NO_RADAR_SLEEP'] = "1"