no tolerance

selfdrive/car/tests/test_models.py

@@ -26,6 +26,8 @@ from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
 
+RELAY_CLOSED_MODES = (SafetyModel.silent, SafetyModel.elm327, SafetyModel.noOutput)
+
 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", "")
@@ -72,6 +74,7 @@ class TestCarModelBase(unittest.TestCase):
 
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
   elm_frame: Optional[int]
+  relay_open_frame: Optional[int]
 
   @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
@@ -107,11 +110,11 @@ class TestCarModelBase(unittest.TestCase):
 
       car_fw = []
       can_msgs = []
-      cls.elm_frame = None
+      cls.elm_frame = None  # can frame when bus 1 is not multiplexed (from fingerprinting)
+      cls.relay_open_frame = None  # can frame when/if relay opens
       fingerprint = defaultdict(dict)
       experimental_long = False
-      enabled_toggle = True
+      safety_models: List[SafetyModel] = [SafetyModel.elm327]
-      dashcam_only = False
       for msg in lr:
         if msg.which() == "can":
           can_msgs.append(msg)
@@ -120,37 +123,31 @@ class TestCarModelBase(unittest.TestCase):
               if m.src < 64:
                 fingerprint[m.src][m.address] = len(m.dat)
 
+          # Log which can frame the panda safety mode left ELM327, for CAN validity checks.
+          # And when the relay opened for the relay malfunction check
+          if cls.elm_frame is None and any(model != SafetyModel.elm327 for model in safety_models):
+            cls.elm_frame = len(can_msgs)
+          if cls.relay_open_frame is None and any(model not in RELAY_CLOSED_MODES for model in safety_models):
+            cls.relay_open_frame = len(can_msgs)
+
         elif msg.which() == "carParams":
           car_fw = msg.carParams.carFw
-          dashcam_only = msg.carParams.dashcamOnly
           if msg.carParams.openpilotLongitudinalControl:
             experimental_long = True
           if cls.car_model is None and not cls.ci:
             cls.car_model = msg.carParams.carFingerprint
 
-        elif msg.which() == 'initData':
-          for param in msg.initData.params.entries:
-            if param.key == 'OpenpilotEnabledToggle':
-              enabled_toggle = param.value.strip(b'\x00') == b'1'
-
-        # Log which can frame the panda safety mode left ELM327, for CAN validity checks
         if msg.which() == 'pandaStates':
-          for ps in msg.pandaStates:
+          safety_models = [ps.safetyModel for ps in msg.pandaStates]
-            if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
-              cls.elm_frame = len(can_msgs)
 
         elif msg.which() == 'pandaStateDEPRECATED':
-          if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
+          safety_models = [msg.pandaStateDEPRECATED.safetyModel]
-            cls.elm_frame = len(can_msgs)
 
       if len(can_msgs) > int(50 / DT_CTRL):
         break
     else:
       raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")
 
-    # if relay is expected to be open in the route
-    cls.openpilot_enabled = enabled_toggle and not dashcam_only
-
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]