diff --git a/opendbc_repo b/opendbc_repo index d4c6f68c3..58e07d4aa 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d4c6f68c39dbab1c2663bd3c72a0087f93858213 +Subproject commit 58e07d4aaa82147a631d2f38e23013780442dd4f diff --git a/openpilot/selfdrive/car/tests/big_cars_test.sh b/openpilot/selfdrive/car/tests/big_cars_test.sh deleted file mode 100755 index 8c0ecee41..000000000 --- a/openpilot/selfdrive/car/tests/big_cars_test.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env bash - -SCRIPT_DIR=$(dirname "$0") -BASEDIR=$(realpath "$SCRIPT_DIR/../../../../") -cd $BASEDIR - -export MAX_EXAMPLES=300 -export INTERNAL_SEG_CNT=300 -export INTERNAL_SEG_LIST=openpilot/selfdrive/car/tests/test_models_segs.txt - -pytest -n logical --dist worksteal openpilot/selfdrive/car/tests/test_models.py openpilot/selfdrive/car/tests/test_car_interfaces.py diff --git a/openpilot/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py deleted file mode 100644 index 29d4eabcc..000000000 --- a/openpilot/selfdrive/car/tests/test_models.py +++ /dev/null @@ -1,473 +0,0 @@ -import time -import os -import random -import unittest -from collections import defaultdict, Counter -from openpilot.common.fuzzy import fuzzy_test -from openpilot.common.parameterized import parameterized_class -from openpilot.common.test import OpenpilotTestCase -from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs -from opendbc.car.can_definitions import CanData -from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces -from opendbc.car.fingerprints import MIGRATION -from opendbc.car.honda.values import HondaFlags -from opendbc.car.structs import car -from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute -from opendbc.car.values import Platform, PLATFORMS -from opendbc.safety.tests.libsafety import libsafety_py -from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.pandad import can_capnp_to_list -from openpilot.selfdrive.test.helpers import read_segment_list -from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT -from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source -from openpilot.tools.lib.file_sources import Source -from openpilot.tools.lib.route import SegmentName - -SafetyModel = car.CarParams.SafetyModel -SteerControlType = structs.CarParams.SteerControlType - -# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h). -ANGLE_DEG_TO_CAN = { - "tesla": -10, - "toyota": 17.452007, - "nissan": 100, - "psa": 10, -} - -NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) -JOB_ID = int(os.environ.get("JOB_ID", "0")) -INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") -INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) -CI = os.environ.get("CI", None) is not None - - -def get_test_cases() -> list[tuple[str, CarTestRoute | None]]: - # build list of test cases - test_cases = [] - if not len(INTERNAL_SEG_LIST): - routes_by_car = defaultdict(set) - for r in routes: - routes_by_car[str(r.car_model)].add(r) - - for i, c in enumerate(sorted(PLATFORMS)): - if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) - - else: - segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) - segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) - for platform, segment in segment_list: - platform = MIGRATION.get(platform, platform) - segment_name = SegmentName(segment) - test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, - segment=segment_name.segment_num))) - return test_cases - - -class TestCarModelBase(OpenpilotTestCase): - SLOW_TEST = True - SHARED_DOWNLOAD_CACHE = True - platform: Platform | None = None - test_route: CarTestRoute | None = None - - can_msgs: list[tuple[int, list[CanData]]] - fingerprint: dict[int, dict[int, int]] - elm_frame: int | None - car_safety_mode_frame: int | None - - @classmethod - def get_testing_data_from_logreader(cls, lr): - car_fw = [] - can_msgs = [] - cls.elm_frame = None - cls.car_safety_mode_frame = None - cls.fingerprint = gen_empty_fingerprint() - alpha_long = False - for msg in lr: - if msg.which() == "can": - can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0] - can_msgs.append((can[0], [CanData(*can) for can in can[1]])) - if len(can_msgs) <= FRAME_FINGERPRINT: - for m in msg.can: - if m.src < 64: - cls.fingerprint[m.src][m.address] = len(m.dat) - - elif msg.which() == "carParams": - car_fw = msg.carParams.carFw - if msg.carParams.openpilotLongitudinalControl: - alpha_long = True - if cls.platform is None: - live_fingerprint = msg.carParams.carFingerprint - cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint) - - # Log which can frame the panda safety mode left ELM327, for CAN validity checks - elif msg.which() == 'pandaStates': - for ps in msg.pandaStates: - if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - if cls.car_safety_mode_frame is None and ps.safetyModel not in \ - (SafetyModel.elm327, SafetyModel.noOutput): - cls.car_safety_mode_frame = len(can_msgs) - - elif msg.which() == 'pandaStateDEPRECATED': - if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ - (SafetyModel.elm327, SafetyModel.noOutput): - cls.car_safety_mode_frame = len(can_msgs) - - assert len(can_msgs) > int(50 / DT_CTRL), "no can data found" - return car_fw, can_msgs, alpha_long - - @classmethod - def get_testing_data(cls): - test_segs = (2, 1, 0) - if cls.test_route.segment is not None: - test_segs = (cls.test_route.segment,) - - for seg in test_segs: - segment_range = f"{cls.test_route.route}/{seg}" - - try: - sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source] - lr = LogReader(segment_range, sources=sources, sort_by_time=True) - return cls.get_testing_data_from_logreader(lr) - except (LogsUnavailable, AssertionError): - pass - - raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") - - - @classmethod - def setUpClass(cls): - if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): - raise unittest.SkipTest - - if cls.test_route is None: - if cls.platform in non_tested_cars: - print(f"Skipping tests for {cls.platform}: missing route") - raise unittest.SkipTest - raise Exception(f"missing test route for {cls.platform}") - - car_fw, cls.can_msgs, alpha_long = cls.get_testing_data() - - # if relay is expected to be open in the route - cls.openpilot_enabled = cls.car_safety_mode_frame is not None - - cls.CarInterface = interfaces[cls.platform] - cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False) - assert cls.CP - assert cls.CP.carFingerprint == cls.platform - - os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT - - @classmethod - def tearDownClass(cls): - del cls.can_msgs - - def setUp(self): - self.CI = self.CarInterface(self.CP.copy()) - assert self.CI - - # TODO: check safetyModel is in release panda build - self.safety = libsafety_py.libsafety - - cfg = self.CP.safetyConfigs[-1] - set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) - self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") - self.safety.init_tests() - - def test_car_params(self): - if self.CP.dashcamOnly: - self.skipTest("no need to check carParams for dashcamOnly") - - # make sure car params are within a valid range - self.assertGreater(self.CP.mass, 1) - - if self.CP.steerControlType not in (SteerControlType.angle, SteerControlType.curvature): - tuning = self.CP.lateralTuning.which() - if tuning == 'pid': - self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) - elif tuning == 'torque': - self.assertTrue(self.CP.lateralTuning.torque.latAccelFactor > 0) - else: - raise Exception("unknown tuning") - - def test_car_interface(self): - # TODO: also check for checksum violations from can parser - can_invalid_cnt = 0 - CC = structs.CarControl().as_reader() - - for i, msg in enumerate(self.can_msgs): - CS = self.CI.update(msg) - self.CI.apply(CC, msg[0]) - - # wait max of 2s for low frequency msgs to be seen - if i > 250: - can_invalid_cnt += not CS.canValid - - self.assertEqual(can_invalid_cnt, 0) - - def test_radar_interface(self): - RI = self.CarInterface.RadarInterface(self.CP) - assert RI - - # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, - # start parsing CAN messages after we've left ELM mode and can expect CAN traffic - error_cnt = 0 - for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - rr: structs.RadarData | None = RI.update(msg) - if rr is not None and i > 50: - error_cnt += rr.errors.canError - self.assertEqual(error_cnt, 0) - - def test_panda_safety_rx_checks(self): - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - start_ts = self.can_msgs[0][0] - - failed_addrs = Counter() - for can in self.can_msgs: - # update panda timer - t = (can[0] - start_ts) / 1e3 - self.safety.set_timer(int(t)) - - # run all msgs through the safety RX hook - for msg in can[1]: - if msg.src >= 64: - continue - - to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - if self.safety.safety_rx_hook(to_send) != 1: - failed_addrs[hex(msg.address)] += 1 - - # ensure all msgs defined in the addr checks are valid - self.safety.safety_tick_current_safety_config() - if t > 1e6: - self.assertTrue(self.safety.safety_config_valid()) - - # Don't check relay malfunction on disabled routes (relay closed), - # or before fingerprinting is done (elm327 and noOutput) - if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame: - 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}") - - # ensure RX checks go invalid after small time with no traffic - self.safety.set_timer(int(t + (2*1e6))) - self.safety.safety_tick_current_safety_config() - self.assertFalse(self.safety.safety_config_valid()) - - def test_panda_safety_tx_cases(self, data=None): - """Asserts we can tx common messages""" - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - if self.CP.notCar: - self.skipTest("Skipping test for notCar") - - def test_car_controller(car_control): - now_nanos = 0 - msgs_sent = 0 - CI = self.CarInterface(self.CP) - for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages - CI.update([]) - _, sendcan = CI.apply(car_control, now_nanos) - - now_nanos += DT_CTRL * 1e9 - msgs_sent += len(sendcan) - for addr, dat, bus in sendcan: - to_send = libsafety_py.make_CANPacket(addr, bus % 4, dat) - self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) - - # Make sure we attempted to send messages - self.assertGreater(msgs_sent, 50) - - # Make sure we can send all messages while inactive - CC = structs.CarControl() - test_car_controller(CC.as_reader()) - - # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) - self.safety.set_cruise_engaged_prev(True) - CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True)) - test_car_controller(CC.as_reader()) - - # Test resume + general messages (controls_allowed=True & cruise_engaged=True) - self.safety.set_controls_allowed(True) - CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True)) - test_car_controller(CC.as_reader()) - - # Capturing stdout/stderr here causes elevated memory usage. - @fuzzy_test(max_examples=300) - def test_panda_safety_carstate_fuzzy(self, fuzzy): - """ - For each example, pick a random CAN message on the bus and fuzz its data, - checking for panda state mismatches. - """ - - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()] - address, bus, size = fuzzy.choice(valid_addrs) - - msgs = fuzzy.list(lambda: fuzzy.binary(min_size=size, max_size=size), min_size=20) - - vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar - - for n, dat in enumerate(msgs): - # due to panda updating state selectively, only edges are expected to match - # TODO: warm up CarState with real CAN messages to check edge of both sources - # (eg. toyota's gasPressed is the inverse of a signal being set) - prev_panda_gas = self.safety.get_gas_pressed_prev() - prev_panda_brake = self.safety.get_brake_pressed_prev() - prev_panda_regen_braking = self.safety.get_regen_braking_prev() - prev_panda_steering_disengage = self.safety.get_steering_disengage_prev() - prev_panda_vehicle_moving = self.safety.get_vehicle_moving() - prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min() - prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max() - prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() - prev_panda_acc_main_on = self.safety.get_acc_main_on() - - to_send = libsafety_py.make_CANPacket(address, bus, dat) - self.safety.safety_rx_hook(to_send) - - can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])] - CS = self.CI.update(can) - if n < 5: # CANParser warmup time - continue - - if self.safety.get_gas_pressed_prev() != prev_panda_gas: - self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) - - if self.safety.get_brake_pressed_prev() != prev_panda_brake: - self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev()) - - if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: - self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) - - if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage: - self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev()) - - if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving and not self.CP.notCar: - self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) - - # check vehicle speed if angle control car or available - if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0: - vehicle_speed_seen = True - - if vehicle_speed_seen and (self.safety.get_vehicle_speed_min() != prev_panda_vehicle_speed_min or - self.safety.get_vehicle_speed_max() != prev_panda_vehicle_speed_max): - v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor - self.assertFalse(v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or - v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3)) - - if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): - if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: - self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) - - if self.CP.brand == "honda": - if self.safety.get_acc_main_on() != prev_panda_acc_main_on: - self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) - - def test_panda_safety_carstate(self): - """ - Assert that panda safety matches openpilot's carState - """ - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - # warm up pass, as initial states may be different - for can in self.can_msgs[:300]: - self.CI.update(can) - for msg in filter(lambda m: m.src < 64, can[1]): - to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - self.safety.safety_rx_hook(to_send) - - controls_allowed_prev = False - CS_prev = car.CarState.new_message() - checks = defaultdict(int) - vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar - for idx, can in enumerate(self.can_msgs): - CS = self.CI.update(can).as_reader() - for msg in filter(lambda m: m.src < 64, can[1]): - to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - ret = self.safety.safety_rx_hook(to_send) - self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}") - - # Skip first frame so CS_prev is properly initialized - if idx == 0: - CS_prev = CS - # Button may be left pressed in warm up period - if not self.CP.pcmCruise: - self.safety.set_controls_allowed(0) - continue - - # TODO: check rest of panda's carstate (steering, ACC main on, etc.) - - checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() - checks['standstill'] += (CS.standstill == self.safety.get_vehicle_moving()) and not self.CP.notCar - - # check vehicle speed if angle control car or available - if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0: - vehicle_speed_seen = True - - if vehicle_speed_seen: - v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor - checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or - v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3)) - - # check steering angle for angle control cars (panda stores angle_meas in CAN units) - # ford and VW MEB excluded since they track curvature, not steering angle - # TODO: add curvature check, standardize CAN units to rm brand specific ANGLE_DEG_TO_CAN - if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand not in ("ford", "volkswagen"): - angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand] - checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or - angle_can < (self.safety.get_angle_meas_min() - 1)) - - checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev() - checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() - checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() - - if self.CP.pcmCruise: - # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. - # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but - # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages). - if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH): - # only the rising edges are expected to match - if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: - checks['controlsAllowed'] += not self.safety.get_controls_allowed() - else: - checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed() - - # TODO: fix notCar mismatch - if not self.CP.notCar: - checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() - else: - # Check for user button enable on rising edge of controls allowed - button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill) - mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) - checks['controlsAllowed'] += mismatch - controls_allowed_prev = self.safety.get_controls_allowed() - if button_enable and not mismatch: - self.safety.set_controls_allowed(False) - - if self.CP.brand == "honda": - checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() - - CS_prev = CS - - failed_checks = {k: v for k, v in checks.items() if v > 0} - self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") - - -@parameterized_class(('platform', 'test_route'), get_test_cases()) -class TestCarModel(TestCarModelBase): - pass - - -if __name__ == "__main__": - unittest.main() diff --git a/openpilot/selfdrive/car/tests/test_models_segs.txt b/openpilot/selfdrive/car/tests/test_models_segs.txt deleted file mode 100644 index c983fb08e..000000000 --- a/openpilot/selfdrive/car/tests/test_models_segs.txt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0810a361ec5b5f5f9a2ee73b89ffb2df62ef40e8feff7e97ecb62f80fa53f6f5 -size 124950 diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md index 07ca2d0eb..c4ea80e6a 100644 --- a/tools/car_porting/README.md +++ b/tools/car_porting/README.md @@ -52,9 +52,9 @@ FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_ca Assert that panda safety matches openpilot's carState ---------------------------------------------------------------------- Traceback (most recent call last): - File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate - self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") -AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} + File "/home/batman/openpilot/opendbc_repo/opendbc/car/tests/test_models.py", line 440, in test_panda_safety_carstate + self.assertFalse(failed_checks, f"panda safety doesn't agree with CarState: {failed_checks}") +AssertionError: {'gasPressed': 116} is not false : panda safety doesn't agree with CarState: {'gasPressed': 116} ``` ## Jupyter notebooks diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py index 61ec2e15e..3fb7ec9ae 100755 --- a/tools/car_porting/test_car_model.py +++ b/tools/car_porting/test_car_model.py @@ -3,7 +3,7 @@ import argparse import sys import unittest from opendbc.car.tests.routes import CarTestRoute -from openpilot.selfdrive.car.tests.test_models import TestCarModel +from opendbc.car.tests.test_models import TestCarModelBase from openpilot.tools.lib.route import SegmentRange @@ -12,14 +12,14 @@ def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite: for test_route in routes: # create new test case and discover tests test_case_args = {"platform": test_route.car_model, "test_route": test_route} - CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args) + CarModelTestCase = type("CarModelTestCase", (TestCarModelBase,), test_case_args) test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase)) return test_suite if __name__ == "__main__": parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " + - "Uses openpilot/selfdrive/car/tests/test_models.py") + "Uses opendbc_repo/opendbc/car/tests/test_models.py") parser.add_argument("route_or_segment_name", help="Specify route to run tests on") parser.add_argument("--car", help="Specify car model for test route") args = parser.parse_args()