From 5e7c5ba438db20e60620c4f8015438a2b7d250b7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Sep 2023 16:48:40 -0700 Subject: [PATCH] enable for relay malfunc check --- selfdrive/car/tests/test_models.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ea7515a2e7..087b3230ed 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -232,10 +232,11 @@ class TestCarModelBase(unittest.TestCase): if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") - start_ts = self.can_msgs[0].logMonoTime + start_ts = self.can_msgs[self.elm_frame].logMonoTime + self.safety.set_relay_malfunction(False) failed_addrs = Counter() - for can in self.can_msgs: + for can in self.can_msgs[self.elm_frame:]: # update panda timer t = (can.logMonoTime - start_ts) / 1e3 self.safety.set_timer(int(t)) @@ -255,12 +256,11 @@ class TestCarModelBase(unittest.TestCase): if t > 1e6: self.assertTrue(self.safety.addr_checks_valid()) - # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time - # TODO: detect when relay has flipped to properly check relay malfunction - if self.openpilot_enabled and t > 5e6: + # No need to check relay malfunction on disabled routes (relay closed) + if self.openpilot_enabled: self.assertFalse(self.safety.get_relay_malfunction()) - else: - self.safety.set_relay_malfunction(False) + else: + self.safety.set_relay_malfunction(False) self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")