test_models: no CAN invalid tolerance (#25501)

* don't use end of route segment

* no can invalid cnt tolerance

* start checking can valid immediately once available

* we check counter violations

selfdrive/car/tests/routes.py

@@ -83,7 +83,7 @@ routes = [
   TestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
   TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
   TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
-  TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022),
+  TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
   TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
   TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),

selfdrive/car/tests/test_models.py

@@ -138,19 +138,23 @@ class TestCarModelBase(unittest.TestCase):
         raise Exception("unkown tuning")
 
   def test_car_interface(self):
-    # TODO: also check for checkusm and counter violations from can parser
+    # 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)
 
-      # wait 2s for low frequency msgs to be seen
+      if CS.canValid:
-      if i > 200:
+        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.assertLess(can_invalid_cnt, 50)
+    self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
     os.environ['NO_RADAR_SLEEP'] = "1"