test_models: check relay malfunction (#29270)

* check relay malfunction in test_models

* draft

* actual relay malfunction (or ASCM was turned on)

* rav4: not dashcam and op enabled, but we're not sending anything

* clean up

* spaces

* more space

* flip

* better?

* combine

* for

* move up

selfdrive/car/tests/routes.py

@@ -165,7 +165,6 @@ routes = [
   CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
   CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
   CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
-  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
   CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),

selfdrive/car/tests/test_models.py

@@ -82,7 +82,6 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.car_model}")
 
-    experimental_long = False
     test_segs = (2, 1, 0)
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
@@ -102,6 +101,9 @@ class TestCarModelBase(unittest.TestCase):
       car_fw = []
       can_msgs = []
       fingerprint = defaultdict(dict)
+      experimental_long = False
+      enabled_toggle = True
+      dashcam_only = False
       for msg in lr:
         if msg.which() == "can":
           for m in msg.can:
@@ -110,16 +112,24 @@ class TestCarModelBase(unittest.TestCase):
           can_msgs.append(msg)
         elif msg.which() == "carParams":
           car_fw = msg.carParams.carFw
+          dashcam_only = msg.carParams.dashcamOnly
           if msg.carParams.openpilotLongitudinalControl:
             experimental_long = True
           if cls.car_model is None and not cls.ci:
             cls.car_model = msg.carParams.carFingerprint
+        elif msg.which() == 'initData':
+          for param in msg.initData.params.entries:
+            if param.key == 'OpenpilotEnabledToggle':
+              enabled_toggle = param.value.strip(b'\x00') == b'1'
 
       if len(can_msgs) > int(50 / DT_CTRL):
         break
     else:
       raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")
 
+    # if relay is expected to be open in the route
+    cls.openpilot_enabled = enabled_toggle and not dashcam_only
+
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
@@ -219,6 +229,14 @@ class TestCarModelBase(unittest.TestCase):
         self.safety.safety_tick_current_rx_checks()
         if t > 1e6:
           self.assertTrue(self.safety.addr_checks_valid())
+
+          # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
+          # TODO: detect when relay has flipped to properly check relay malfunction
+          if self.openpilot_enabled and t > 5e6:
+            self.assertFalse(self.safety.get_relay_malfunction())
+          else:
+            self.safety.set_relay_malfunction(False)
+
     self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
   def test_panda_safety_tx_cases(self, data=None):