revert test_moedls

revert test_moedls

selfdrive/car/hyundai/carstate.py

@@ -33,7 +33,7 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
 
     # When available we use CLU15->CF_Clu_VehicleSpeed2 to populate vEgoCluster which is the actual dash speed
-    # However, on some cars this is not always present, so we use the less accurate CLU15->CF_Clu_VehicleSpeed signal
+    # However, on some cars this is not always present, so we use the less accurate CF_Clu_VehicleSpeed signal
     self.accurate_dash_speed_seen = False
 
     self.params = CarControllerParams(CP)

selfdrive/car/tests/test_models.py

@@ -121,83 +121,83 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
     self.safety.init_tests()
 
-  # def test_car_params(self):
-  #   if self.CP.dashcamOnly:
-  #     self.skipTest("no need to check carParams for dashcamOnly")
-  #
-  #   # make sure car params are within a valid range
-  #   self.assertGreater(self.CP.mass, 1)
-  #
-  #   if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
-  #     tuning = self.CP.lateralTuning.which()
-  #     if tuning == 'pid':
-  #       self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
-  #     elif tuning == 'torque':
-  #       self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
-  #     elif tuning == 'indi':
-  #       self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
-  #     else:
-  #       raise Exception("unknown tuning")
-  #
-  # def test_car_interface(self):
-  #   # TODO: also check for checksum violations from can parser
-  #   can_invalid_cnt = 0
-  #   can_valid = False
-  #   CC = car.CarControl.new_message()
-  #
-  #   for i, msg in enumerate(self.can_msgs):
-  #     CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
-  #     self.CI.apply(CC)
-  #
-  #     if CS.canValid:
-  #       can_valid = True
-  #
-  #     # wait max of 2s for low frequency msgs to be seen
-  #     if i > 200 or can_valid:
-  #       can_invalid_cnt += not CS.canValid
-  #
-  #   self.assertEqual(can_invalid_cnt, 0)
-  #
-  # def test_radar_interface(self):
-  #   os.environ['NO_RADAR_SLEEP'] = "1"
-  #   RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
-  #   RI = RadarInterface(self.CP)
-  #   assert RI
-  #
-  #   error_cnt = 0
-  #   for i, msg in enumerate(self.can_msgs):
-  #     rr = RI.update((msg.as_builder().to_bytes(),))
-  #     if rr is not None and i > 50:
-  #       error_cnt += car.RadarData.Error.canError in rr.errors
-  #   self.assertEqual(error_cnt, 0)
-  #
-  # def test_panda_safety_rx_valid(self):
-  #   if self.CP.dashcamOnly:
-  #     self.skipTest("no need to check panda safety for dashcamOnly")
-  #
-  #   start_ts = self.can_msgs[0].logMonoTime
-  #
-  #   failed_addrs = Counter()
-  #   for can in self.can_msgs:
-  #     # update panda timer
-  #     t = (can.logMonoTime - start_ts) / 1e3
-  #     self.safety.set_timer(int(t))
-  #
-  #     # run all msgs through the safety RX hook
-  #     for msg in can.can:
-  #       if msg.src >= 64:
-  #         continue
-  #
-  #       to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
-  #       if self.safety.safety_rx_hook(to_send) != 1:
-  #         failed_addrs[hex(msg.address)] += 1
-  #
-  #     # ensure all msgs defined in the addr checks are valid
-  #     if self.car_model not in ignore_addr_checks_valid:
-  #       self.safety.safety_tick_current_rx_checks()
-  #       if t > 1e6:
-  #         self.assertTrue(self.safety.addr_checks_valid())
-  #   self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
+  def test_car_params(self):
+    if self.CP.dashcamOnly:
+      self.skipTest("no need to check carParams for dashcamOnly")
+
+    # make sure car params are within a valid range
+    self.assertGreater(self.CP.mass, 1)
+
+    if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
+      tuning = self.CP.lateralTuning.which()
+      if tuning == 'pid':
+        self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
+      elif tuning == 'torque':
+        self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
+      elif tuning == 'indi':
+        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
+      else:
+        raise Exception("unknown tuning")
+
+  def test_car_interface(self):
+    # TODO: also check for checksum violations from can parser
+    can_invalid_cnt = 0
+    can_valid = False
+    CC = car.CarControl.new_message()
+
+    for i, msg in enumerate(self.can_msgs):
+      CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
+      self.CI.apply(CC)
+
+      if CS.canValid:
+        can_valid = True
+
+      # wait max of 2s for low frequency msgs to be seen
+      if i > 200 or can_valid:
+        can_invalid_cnt += not CS.canValid
+
+    self.assertEqual(can_invalid_cnt, 0)
+
+  def test_radar_interface(self):
+    os.environ['NO_RADAR_SLEEP'] = "1"
+    RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
+    RI = RadarInterface(self.CP)
+    assert RI
+
+    error_cnt = 0
+    for i, msg in enumerate(self.can_msgs):
+      rr = RI.update((msg.as_builder().to_bytes(),))
+      if rr is not None and i > 50:
+        error_cnt += car.RadarData.Error.canError in rr.errors
+    self.assertEqual(error_cnt, 0)
+
+  def test_panda_safety_rx_valid(self):
+    if self.CP.dashcamOnly:
+      self.skipTest("no need to check panda safety for dashcamOnly")
+
+    start_ts = self.can_msgs[0].logMonoTime
+
+    failed_addrs = Counter()
+    for can in self.can_msgs:
+      # update panda timer
+      t = (can.logMonoTime - start_ts) / 1e3
+      self.safety.set_timer(int(t))
+
+      # run all msgs through the safety RX hook
+      for msg in can.can:
+        if msg.src >= 64:
+          continue
+
+        to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
+        if self.safety.safety_rx_hook(to_send) != 1:
+          failed_addrs[hex(msg.address)] += 1
+
+      # ensure all msgs defined in the addr checks are valid
+      if self.car_model not in ignore_addr_checks_valid:
+        self.safety.safety_tick_current_rx_checks()
+        if t > 1e6:
+          self.assertTrue(self.safety.addr_checks_valid())
+    self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
   def test_panda_safety_carstate(self):
     """