fix these tests

selfdrive/car/tests/test_car_interfaces.py

@@ -7,6 +7,7 @@ from parameterized import parameterized
 
 from cereal import car, messaging
 from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.selfdrive.car.card import convert_carControl
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.fingerprints import all_known_cars
@@ -97,16 +98,18 @@ class TestCarInterfaces:
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
+    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC.as_reader(), 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
+    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
-      car_interface.apply(CC.as_reader(), now_nanos)
+      car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/tests/test_models.py

@@ -21,7 +21,7 @@ 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.car.card import Car
+from openpilot.selfdrive.car.card import Car, convert_carControl
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -310,17 +310,17 @@ class TestCarModelBase(unittest.TestCase):
 
     # Make sure we can send all messages while inactive
     CC = car.CarControl.new_message()
-    test_car_controller(CC.as_reader())
+    test_car_controller(convert_carControl(CC.as_reader()))
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
     CC = car.CarControl.new_message(cruiseControl={'cancel': True})
-    test_car_controller(CC.as_reader())
+    test_car_controller(convert_carControl(CC.as_reader()))
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
     CC = car.CarControl.new_message(cruiseControl={'resume': True})
-    test_car_controller(CC.as_reader())
+    test_car_controller(convert_carControl(CC.as_reader()))
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
   @pytest.mark.nocapture