Test can valid in car unit tests (#1961)

* check can invalid

* remove bad lexus is route

* blacklist routes from before cam forwarding

* fix rav4 route with missing first segment

selfdrive/test/test_car_models.py

@@ -92,7 +92,7 @@ routes = {
     'carFingerprint': GM.BUICK_REGAL,
     'enableCamera': True,
   },
-  "7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
+  "a74b011b32b51b56|2020-07-26--17-09-36": {
     'carFingerprint': HONDA.CIVIC,
     'enableCamera': True,
   },
@@ -270,6 +270,12 @@ routes = {
     'enableDsu': True,
     'enableGasInterceptor': True,
   },
+  "b14c5b4742e6fc85|2020-07-28--19-50-11": {
+    'carFingerprint': TOYOTA.RAV4,
+    'enableCamera': True,
+    'enableDsu': False,
+    'enableGasInterceptor': True,
+  },
   "32a7df20486b0f70|2020-02-06--16-06-50": {
     'carFingerprint': TOYOTA.RAV4H,
     'enableCamera': True,
@@ -363,11 +369,6 @@ routes = {
     'enableCamera': False,
     'enableDsu': False,
   },
-  "1dd19ceed0ee2b48|2018-12-22--17-36-49": {
-    'carFingerprint': TOYOTA.LEXUS_IS,  # 300 hybrid
-    'enableCamera': True,
-    'enableDsu': False,
-  },
   "76b83eb0245de90e|2019-10-20--15-42-29": {
     'carFingerprint': VOLKSWAGEN.GOLF,
     'enableCamera': True,

selfdrive/test/test_models.py

@@ -21,6 +21,16 @@ HwType = log.HealthData.HwType
 
 ROUTES = {v['carFingerprint']: k for k, v in routes.items() if v['enableCamera']}
 
+# TODO: get updated routes for these cars
+ignore_can_valid = [
+  "VOLKSWAGEN GOLF",
+  "ACURA ILX 2016 ACURAWATCH PLUS",
+  "TOYOTA PRIUS 2017",
+  "TOYOTA COROLLA 2017",
+  "LEXUS RX HYBRID 2017",
+  "TOYOTA AVALON 2016",
+]
+
 @parameterized_class(('car_model'), [(car,) for car in all_known_cars()])
 class TestCarModel(unittest.TestCase):
 
@@ -96,9 +106,9 @@ class TestCarModel(unittest.TestCase):
 
       CS = self.CI.update(CC, (can_pkt.to_bytes(),))
       self.CI.apply(CC)
-      can_invalid_cnt += CS.canValid
-    # TODO: add this back
-    #self.assertLess(can_invalid_cnt, 20)
+      can_invalid_cnt += not CS.canValid
+    if self.car_model not in ignore_can_valid:
+      self.assertLess(can_invalid_cnt, 50)
 
   def test_radar_interface(self):
     os.environ['NO_RADAR_SLEEP'] = "1"