Run CI tests in parallel (#1962)

* run car model unit tests in parallel

* remove refs to deleted file

* run with coverage

* that wasn't necessary

* as builder

* need a new route for this one too
old-commit-hash: 9ee1cc9b82

.coveragerc-app

@@ -1,3 +0,0 @@
-[run]
-concurrency=multiprocessing
-

.github/workflows/test.yaml

@@ -37,7 +37,7 @@ jobs:
                          external/bin selfdrive/modeld/runners $TEST_DIR
 
         # need these so docker copy won't fail
-        cp Pipfile Pipfile.lock .pylintrc .coveragerc-app .pre-commit-config.yaml $TEST_DIR
+        cp Pipfile Pipfile.lock .pylintrc .pre-commit-config.yaml $TEST_DIR
         cd $TEST_DIR
         mkdir laika laika_repo tools
     - name: Build Docker image
@@ -199,8 +199,8 @@ jobs:
         run: |
           $PERSIST "cd /tmp/openpilot && \
                     scons -j$(nproc) && \
-                    coverage run --parallel-mode --concurrency=multiprocessing \
-                                 --rcfile=./.coveragerc-app selfdrive/test/test_models.py && \
+                    coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \
+                                 selfdrive/test/test_models.py && \
                     coverage combine"
       - name: Upload coverage to Codecov
         run: |

Dockerfile.openpilot

@@ -81,7 +81,6 @@ RUN mkdir -p /tmp/openpilot
 COPY SConstruct \
      .pylintrc \
      .pre-commit-config.yaml \
-     .coveragerc-app \
      /tmp/openpilot/
 
 COPY ./pyextra /tmp/openpilot/pyextra

selfdrive/car/volkswagen/interface.py

@@ -1,6 +1,5 @@
 from cereal import car
 from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
-from common.params import put_nonblocking
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -76,10 +75,11 @@ class CarInterface(CarInterfaceBase):
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
+    # TODO: add a field for this to carState, car interface code shouldn't write params
     # Update the device metric configuration to match the car at first startup,
     # or if there's been a change.
-    if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
-      put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
+    #if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
+    #  put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
 
     # Check for and process state-change events (button press or release) from
     # the turn stalk switch or ACC steering wheel/control stalk buttons.

selfdrive/test/test_models.py

@@ -7,7 +7,6 @@ from collections import Counter
 from parameterized import parameterized_class
 
 from cereal import log, car
-import cereal.messaging as messaging
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.test.test_car_models import routes, non_tested_cars
@@ -29,6 +28,7 @@ ignore_can_valid = [
   "TOYOTA COROLLA 2017",
   "LEXUS RX HYBRID 2017",
   "TOYOTA AVALON 2016",
+  "HONDA PILOT 2019 ELITE",
 ]
 
 @parameterized_class(('car_model'), [(car,) for car in all_known_cars()])
@@ -99,14 +99,10 @@ class TestCarModel(unittest.TestCase):
     can_invalid_cnt = 0
     CC = car.CarControl.new_message()
     for msg in self.can_msgs:
-      # filter out openpilot msgs
-      can = [m for m in msg.can if m.src < 128]
-      can_pkt = messaging.new_message('can', len(can))
-      can_pkt.can = can
-
-      CS = self.CI.update(CC, (can_pkt.to_bytes(),))
+      CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
       self.CI.apply(CC)
       can_invalid_cnt += not CS.canValid
+
     if self.car_model not in ignore_can_valid:
       self.assertLess(can_invalid_cnt, 50)