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MoreTore/selfdrive/car/tests/routes.py
T
Shane Smiskol 5f1990aa05 test_models: support for running on any route (#24002) 
* run test_models on route

* clean up a bit

clean up a bit

clean up a bit

* remove

remove

* make route positional

* fixes from merge

* not working as I expected

* finally working, easiest way seems to make a new subclass dynamically

* bring back routes

* remove comments

* revert skiptest

* fix subclass name

* car first

* this should be here...

* this should work

* comment

* pytest doesn't support dynamically loading with load_tests

* minimize test_models.py diff, and make new file for running on a route

* fix static analysis

* remove print

* clean up a tiny bit

* rename and make required

* auto detect car fingerprint if not given

* move to location that makes more sense

* Add ci argument for running route from routes.py
old-commit-hash: e5b189416d
2022-06-02 17:23:05 -07:00

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#!/usr/bin/env python3
from collections import namedtuple
from selfdrive.car.chrysler.values import CAR as CHRYSLER
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.ford.values import CAR as FORD
from selfdrive.car.honda.values import CAR as HONDA
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.car.nissan.values import CAR as NISSAN
from selfdrive.car.mazda.values import CAR as MAZDA
from selfdrive.car.subaru.values import CAR as SUBARU
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
from selfdrive.car.tesla.values import CAR as TESLA
from selfdrive.car.body.values import CAR as COMMA
# TODO: add routes for these cars
non_tested_cars = [
FORD.ESCAPE_MK4,
FORD.FOCUS_MK4,
GM.CADILLAC_ATS,
GM.HOLDEN_ASTRA,
GM.MALIBU,
HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_OPTIMA_H,
]
TestRoute = namedtuple('TestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
routes = [
TestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
TestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE),
TestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019),
TestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID),
TestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018),
TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
TestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
TestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
TestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
TestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
TestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
TestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
TestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
TestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T
TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD), # 2021 with new style HUD msgs
TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
TestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
TestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
TestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT),
TestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
TestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
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("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),
TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019),
TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
TestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),
TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),
TestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
TestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
TestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
TestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
TestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
TestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
TestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
TestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
TestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
TestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
TestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
TestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
TestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
TestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
TestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
TestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
TestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
TestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
TestRoute("886fcd8408d570e9|2020-01-29--05-11-22", TOYOTA.LEXUS_RX),
TestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
TestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
TestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
TestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2),
TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
TestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
TestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
TestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
TestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
TestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
TestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
TestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
TestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
TestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
TestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
TestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
TestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
TestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
TestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
TestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
TestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
TestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
TestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
TestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
TestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
TestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
TestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
TestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
TestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
TestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1),
TestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
TestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
# Dashcam
TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
# Dashcam
TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
# Dashcam
TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
# Dashcam
TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
TestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF),
TestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC),
TestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE),
TestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA),
TestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5),
TestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9),
TestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
TestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
TestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021),
TestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022),
TestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
TestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
# Segments that test specific issues
# Controls mismatch due to interceptor threshold
TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
TestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
# Controls mismatch due to standstill threshold
TestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
]
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