wip

selfdrive/car/tests/routes.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
@@ -29,7 +30,7 @@ non_tested_cars = [
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: str | None
+  car_model: Platform | None
   segment: int | None = None
 
 
@@ -229,7 +230,7 @@ routes = [
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
   CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  #CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3),
+  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3),
   CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
   CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
   CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
@@ -289,7 +290,7 @@ routes = [
 
   CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
   CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
-  #CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
+  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
 
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold

selfdrive/car/tests/test_car_interfaces.py

@@ -9,7 +9,6 @@ from parameterized import parameterized
 
 from cereal import car, messaging
 from openpilot.common.realtime import DT_CTRL
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
@@ -19,7 +18,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
@@ -46,6 +44,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
   params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']]
   return params
 
+
 class TestCarInterfaces(unittest.TestCase):
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
@@ -57,11 +56,9 @@ class TestCarInterfaces(unittest.TestCase):
     CarInterface, CarController, CarState = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
-    params = Params()
 
-    car_params = CarInterface.get_params(params, car_name, args['fingerprints'], args['car_fw'],
+    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
-      
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -97,19 +94,18 @@ class TestCarInterfaces(unittest.TestCase):
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
-    controls = Controls(CI=car_interface)
     for _ in range(10):
-      car_interface.update(CC, [], controls.frogpilot_variables)
-      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
-      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
+      car_interface.update(CC, [])
+      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
-      car_interface.update(CC, [], controls.frogpilot_variables)
-      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
-      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
+      car_interface.update(CC, [])
+      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_docs.py

@@ -6,18 +6,18 @@ import unittest
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.debug.dump_car_info import dump_car_info
-from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
+from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
+from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 
 
 class TestCarDocs(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    cls.all_cars = get_all_car_info()
+    cls.all_cars = get_all_car_docs()
 
   def test_generator(self):
     generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
@@ -29,24 +29,24 @@ class TestCarDocs(unittest.TestCase):
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_info(dump_path)
-    print_car_info_diff(dump_path)
+    dump_car_docs(dump_path)
+    print_car_docs_diff(dump_path)
     os.remove(dump_path)
 
   def test_duplicate_years(self):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
-      with self.subTest(car_info_name=car.name):
+      with self.subTest(car_docs_name=car.name):
         make_model = (car.make, car.model)
         for year in car.year_list:
           self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year")
           make_model_years[make_model].append(year)
 
-  def test_missing_car_info(self):
-    all_car_info_platforms = [name for name, config in PLATFORMS.items()]
+  def test_missing_car_docs(self):
+    all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
     for platform in sorted(interfaces.keys()):
       with self.subTest(platform=platform):
-        self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't have a CarInfo entry")
+        self.assertTrue(platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry")
 
   def test_naming_conventions(self):
     # Asserts market-standard car naming conventions by brand

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.4, 2: 9.3}
+    total_ref_time = {1: 8.6, 2: 9.5}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -274,7 +274,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
-        'subaru': 0.45,
+        'subaru': 0.65,
         'tesla': 0.3,
         'toyota': 1.6,
         'volkswagen': 0.65,

selfdrive/car/tests/test_models.py

@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -64,7 +65,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: str | None = None
+  platform: Platform | None = None
   test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
@@ -93,8 +94,8 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.car_model is None and not cls.ci:
-          cls.car_model = msg.carParams.carFingerprint
+        if cls.platform is None and not cls.ci:
+          cls.platform = msg.carParams.carFingerprint
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -155,15 +156,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
-    if 'FILTER' in os.environ:
-      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
-        raise unittest.SkipTest
-
     if cls.test_route is None:
-      if cls.car_model in non_tested_cars:
-        print(f"Skipping tests for {cls.car_model}: missing route")
+      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.car_model}")
+      raise Exception(f"missing test route for {cls.platform}")
 
     car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
@@ -172,10 +169,10 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP.carFingerprint == cls.car_model
+    assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -478,7 +475,7 @@ class TestCarModelBase(unittest.TestCase):
                     "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
 
 
-@parameterized_class(('car_model', 'test_route'), get_test_cases())
+@parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass