From 1e44b99478e22d89e9b5077aa9e9d6b2aeee37dd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 2 Aug 2020 18:11:42 -0700
Subject: [PATCH] Add missing chrysler can parser checks (#1967)

* add missing chrysler can parser checks

* toyota

* toyota cam

* toyota freqs

* chrysler freqs

* doors

* just chrysler for now

* update refs

* update again
---
 selfdrive/car/chrysler/carstate.py       | 13 ++++++++++++-
 selfdrive/test/process_replay/ref_commit |  2 +-
 selfdrive/test/test_models.py            |  7 +++++--
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index d935e8eaa0..b6fdb11314 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -103,6 +103,13 @@ class CarState(CarStateBase):
       ("WHEEL_SPEEDS", 50),
       ("STEERING", 100),
       ("ACC_2", 50),
+      ("GEAR", 50),
+      ("ACCEL_GAS_134", 50),
+      ("DASHBOARD", 15),
+      ("STEERING_LEVERS", 10),
+      ("SEATBELT_STATUS", 2),
+      ("DOORS", 1),
+      ("TRACTION_BUTTON", 1),
     ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@@ -115,6 +122,10 @@ class CarState(CarStateBase):
       ("CAR_MODEL", "LKAS_HUD", -1),
       ("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
     ]
-    checks = []
+    checks = [
+      ("LKAS_COMMAND", 100),
+      ("LKAS_HEARTBIT", 10),
+      ("LKAS_HUD", 4),
+    ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 479987e9fa..8b8abe7eca 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d8944d6eb13c30c2fd5bcc1af5dbad07472c42c0
\ No newline at end of file
+3e8932a5dc0281b00463d40a5435f659259591c4
\ No newline at end of file
diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py
index 2fa1dc3167..c06bdf6e04 100755
--- a/selfdrive/test/test_models.py
+++ b/selfdrive/test/test_models.py
@@ -99,10 +99,13 @@ class TestCarModel(unittest.TestCase):
     # TODO: also check for checkusm and counter violations from can parser
     can_invalid_cnt = 0
     CC = car.CarControl.new_message()
-    for msg in self.can_msgs:
+    for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
       self.CI.apply(CC)
-      can_invalid_cnt += not CS.canValid
+
+      # wait 2s for low frequency msgs to be seen
+      if i > 200:
+        can_invalid_cnt += not CS.canValid
 
     if self.car_model not in ignore_can_valid:
       self.assertLess(can_invalid_cnt, 50)