mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-20 21:53:56 +08:00
6a000279ad
* Add preglobal Forester and Outback
* Tests and values cleanup
* Update units in carstate
* Remove ()
* Add OUTBACK_PREGLOBAL_2018 to non_tested_cars
* Add replay route for OUTBACK_PREGLOBAL_2018
old-commit-hash: c9adc4900b
570 lines
16 KiB
Python
Executable File
570 lines
16 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import signal
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import subprocess
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import sys
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import time
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from typing import List, cast
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import requests
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import cereal.messaging as messaging
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import selfdrive.manager as manager
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from cereal import car
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from common.basedir import BASEDIR
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from common.params import Params
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from selfdrive.car.chrysler.values import CAR as CHRYSLER
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.ford.values import CAR as FORD
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from selfdrive.car.gm.values import CAR as GM
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from selfdrive.car.honda.values import CAR as HONDA
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from selfdrive.car.hyundai.values import CAR as HYUNDAI
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from selfdrive.car.nissan.values import CAR as NISSAN
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from selfdrive.car.mazda.values import CAR as MAZDA
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from selfdrive.car.subaru.values import CAR as SUBARU
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
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os.environ['NOCRASH'] = '1'
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def wait_for_sockets(socks, timeout=10.0):
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sm = messaging.SubMaster(socks)
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t = time.time()
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recvd = []
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while time.time() - t < timeout and len(recvd) < len(socks):
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sm.update()
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for s in socks:
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if s not in recvd and sm.updated[s]:
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recvd.append(s)
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return recvd
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def get_route_log(route_name):
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log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), "rlog.bz2"))
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if not os.path.isfile(log_path):
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log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), "rlog.bz2")
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# if request fails, try again once and let it throw exception if fails again
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try:
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r = requests.get(log_url, timeout=15)
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except Exception:
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r = requests.get(log_url, timeout=15)
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if r.status_code == 200:
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with open(log_path, "wb") as f:
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f.write(r.content)
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else:
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print("failed to download test log %s" % route_name)
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sys.exit(-1)
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routes = {
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"420a8e183f1aed48|2020-03-05--07-15-29": {
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'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
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'enableCamera': True,
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},
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"8190c7275a24557b|2020-01-29--08-33-58": { # 2020 model year
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'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
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'enableCamera': True,
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},
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# This pacifica was removed because the fingerprint seemed from a Volt
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"f1b4c567731f4a1b|2018-04-18--11-29-37": {
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'carFingerprint': FORD.FUSION,
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'enableCamera': False,
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},
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"f1b4c567731f4a1b|2018-04-30--10-15-35": {
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'carFingerprint': FORD.FUSION,
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'enableCamera': True,
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},
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"c950e28c26b5b168|2018-05-30--22-03-41": {
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'carFingerprint': GM.VOLT,
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'enableCamera': True,
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},
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# TODO: use another route that has radar data at start
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"7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
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'carFingerprint': GM.ACADIA,
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'enableCamera': True,
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},
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"aa20e335f61ba898|2019-02-05--16-59-04": {
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'carFingerprint': GM.BUICK_REGAL,
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'enableCamera': True,
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},
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"a74b011b32b51b56|2020-07-26--17-09-36": {
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'carFingerprint': HONDA.CIVIC,
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'enableCamera': True,
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},
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"a859a044a447c2b0|2020-03-03--18-42-45": {
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'carFingerprint': HONDA.CRV_EU,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"232585b7784c1af4|2019-04-08--14-12-14": {
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'carFingerprint': HONDA.CRV_HYBRID,
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'enableCamera': True,
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},
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"99e3eaed7396619e|2019-08-13--15-07-03": {
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'carFingerprint': HONDA.FIT,
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'enableCamera': True,
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},
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"03be5f2fd5c508d1|2020-04-19--18-44-15": {
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'carFingerprint': HONDA.HRV,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"2ac95059f70d76eb|2018-02-05--15-03-29": {
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'carFingerprint': HONDA.ACURA_ILX,
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'enableCamera': True,
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},
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"81722949a62ea724|2019-03-29--15-51-26": {
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'carFingerprint': HONDA.ODYSSEY_CHN,
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'enableCamera': False,
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},
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"81722949a62ea724|2019-04-06--15-19-25": {
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'carFingerprint': HONDA.ODYSSEY_CHN,
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'enableCamera': True,
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},
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"08a3deb07573f157|2020-03-06--16-11-19": {
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'carFingerprint': HONDA.ACCORD_15,
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'enableCamera': True,
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},
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"f1b4c567731f4a1b|2018-06-06--14-43-46": {
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'carFingerprint': HONDA.ACCORD,
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'enableCamera': True,
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},
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"690c4c9f9f2354c7|2018-09-15--17-36-05": {
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'carFingerprint': HONDA.ACCORDH,
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'enableCamera': True,
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},
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"1ad763dd22ef1a0e|2020-02-29--18-37-03": {
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'carFingerprint': HONDA.CRV_5G,
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'enableCamera': True,
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},
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"0a96f86fcfe35964|2020-02-05--07-25-51": {
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'carFingerprint': HONDA.ODYSSEY,
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'enableCamera': True,
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},
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"d83f36766f8012a5|2020-02-05--18-42-21": {
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'carFingerprint': HONDA.CIVIC_BOSCH_DIESEL,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"fb51d190ddfd8a90|2020-02-25--14-43-43": {
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'carFingerprint': HONDA.INSIGHT,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"07d37d27996096b6|2020-03-04--21-57-27": {
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'carFingerprint': HONDA.PILOT,
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'enableCamera': True,
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},
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"22affd6c545d985e|2020-03-08--01-08-09": {
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'carFingerprint': HONDA.PILOT_2019,
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'enableCamera': True,
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},
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"0a78dfbacc8504ef|2020-03-04--13-29-55": {
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'carFingerprint': HONDA.CIVIC_BOSCH,
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'enableCamera': True,
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},
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"6fe86b4e410e4c37|2020-07-22--16-27-13": {
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'carFingerprint': HYUNDAI.HYUNDAI_GENESIS,
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'enableCamera': True,
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},
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"70c5bec28ec8e345|2020-08-08--12-22-23": {
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'carFingerprint': HYUNDAI.GENESIS_G70,
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'enableCamera': True,
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},
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"38bfd238edecbcd7|2018-08-22--09-45-44": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': False,
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},
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"38bfd238edecbcd7|2018-08-29--22-02-15": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': True,
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},
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"7653b2bce7bcfdaa|2020-03-04--15-34-32": {
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'carFingerprint': HYUNDAI.KIA_OPTIMA,
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'enableCamera': True,
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},
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"5b7c365c50084530|2020-04-15--16-13-24": {
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'carFingerprint': HYUNDAI.SONATA,
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'enableCamera': True,
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},
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"b2a38c712dcf90bd|2020-05-18--18-12-48": {
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'carFingerprint': HYUNDAI.SONATA_2019,
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'enableCamera': True,
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},
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"5875672fc1d4bf57|2020-07-23--21-33-28": {
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'carFingerprint': HYUNDAI.KIA_SORENTO,
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'enableCamera': True,
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},
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"9c917ba0d42ffe78|2020-04-17--12-43-19": {
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'carFingerprint': HYUNDAI.PALISADE,
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'enableCamera': True,
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},
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"610ebb9faaad6b43|2020-06-13--15-28-36": {
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'carFingerprint': HYUNDAI.IONIQ_EV_LTD,
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'enableCamera': True,
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},
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"2c5cf2dd6102e5da|2020-06-26--16-00-08": {
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'carFingerprint': HYUNDAI.IONIQ,
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'enableCamera': True,
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},
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"5dddcbca6eb66c62|2020-07-26--13-24-19": {
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'carFingerprint': HYUNDAI.KIA_STINGER,
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'enableCamera': True,
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},
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"d624b3d19adce635|2020-08-01--14-59-12": {
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'carFingerprint': HYUNDAI.VELOSTER,
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'enableCamera': True,
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},
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"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
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'carFingerprint': TOYOTA.AVALON,
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'enableCamera': False,
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'enableDsu': False,
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},
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"6cdecc4728d4af37|2020-02-23--15-44-18": {
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'carFingerprint': TOYOTA.CAMRY,
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'enableCamera': True,
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'enableDsu': False,
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'fingerprintSource': 'fixed',
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},
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"f7b6be73e3dfd36c|2019-05-11--22-34-20": {
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'carFingerprint': TOYOTA.AVALON,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-01-26--00-54-32": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': True,
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'enableDsu': True,
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},
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"b0f5a01cf604185c|2018-01-26--10-54-38": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-01-26--10-59-31": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': False,
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'enableDsu': False,
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},
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"5f5afb36036506e4|2019-05-14--02-09-54": {
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'carFingerprint': TOYOTA.COROLLA_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"5ceff72287a5c86c|2019-10-19--10-59-02": {
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'carFingerprint': TOYOTA.COROLLAH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"56fb1c86a9a86404|2017-11-10--10-18-43": {
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'carFingerprint': TOYOTA.PRIUS,
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'enableCamera': True,
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'enableDsu': True,
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},
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"b0f5a01cf604185c|2017-12-18--20-32-32": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': False,
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},
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"b0c9d2329ad1606b|2019-04-02--13-24-43": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': True,
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},
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"b14c5b4742e6fc85|2020-07-28--19-50-11": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': False,
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'enableGasInterceptor': True,
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},
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"32a7df20486b0f70|2020-02-06--16-06-50": {
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'carFingerprint': TOYOTA.RAV4H,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': False,
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'fingerprintSource': 'fixed',
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},
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"cdf2f7de565d40ae|2019-04-25--03-53-41": {
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'carFingerprint': TOYOTA.RAV4_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"7e34a988419b5307|2019-12-18--19-13-30": {
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'carFingerprint': TOYOTA.RAV4H_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed'
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},
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"e6a24be49a6cd46e|2019-10-29--10-52-42": {
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'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"25057fa6a5a63dfb|2020-03-04--08-44-23": {
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'carFingerprint': TOYOTA.LEXUS_CTH,
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'enableCamera': True,
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'enableDsu': True,
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},
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"f49e8041283f2939|2019-05-29--13-48-33": {
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'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
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'enableCamera': False,
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'enableDsu': False,
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},
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"f49e8041283f2939|2019-05-30--11-51-51": {
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'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"886fcd8408d570e9|2020-01-29--05-11-22": {
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'carFingerprint': TOYOTA.LEXUS_RX,
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'enableCamera': True,
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'enableDsu': True,
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},
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"886fcd8408d570e9|2020-01-29--02-18-55": {
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'carFingerprint': TOYOTA.LEXUS_RX,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-02-01--21-12-28": {
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'carFingerprint': TOYOTA.LEXUS_RXH,
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'enableCamera': True,
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'enableDsu': True,
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},
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"01b22eb2ed121565|2020-02-02--11-25-51": {
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'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"b74758c690a49668|2020-05-20--15-58-57": {
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'carFingerprint': TOYOTA.LEXUS_RXH_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"ec429c0f37564e3c|2020-02-01--17-28-12": {
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'carFingerprint': TOYOTA.LEXUS_NXH,
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'enableCamera': True,
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'enableDsu': False,
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},
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# TODO: missing some combos for highlander
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"0a302ffddbb3e3d3|2020-02-08--16-19-08": {
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'carFingerprint': TOYOTA.HIGHLANDER_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"aa659debdd1a7b54|2018-08-31--11-12-01": {
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'carFingerprint': TOYOTA.HIGHLANDER,
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'enableCamera': False,
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'enableDsu': False,
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},
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"eb6acd681135480d|2019-06-20--20-00-00": {
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'carFingerprint': TOYOTA.SIENNA,
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'enableCamera': True,
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'enableDsu': False,
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},
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"2e07163a1ba9a780|2019-08-25--13-15-13": {
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'carFingerprint': TOYOTA.LEXUS_IS,
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'enableCamera': True,
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'enableDsu': False,
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},
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"2e07163a1ba9a780|2019-08-29--09-35-42": {
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'carFingerprint': TOYOTA.LEXUS_IS,
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'enableCamera': False,
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'enableDsu': False,
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},
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"76b83eb0245de90e|2019-10-20--15-42-29": {
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'carFingerprint': VOLKSWAGEN.GOLF,
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'enableCamera': True,
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},
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"3c8f0c502e119c1c|2020-06-30--12-58-02": {
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'carFingerprint': SUBARU.ASCENT,
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'enableCamera': True,
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},
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"c321c6b697c5a5ff|2020-06-23--11-04-33": {
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'carFingerprint': SUBARU.FORESTER,
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'enableCamera': True,
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},
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"791340bc01ed993d|2019-03-10--16-28-08": {
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'carFingerprint': SUBARU.IMPREZA,
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'enableCamera': True,
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},
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# Dashcam
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"95441c38ae8c130e|2020-06-08--12-10-17": {
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'carFingerprint': SUBARU.FORESTER_PREGLOBAL,
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'enableCamera': True,
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},
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# Dashcam
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"df5ca7660000fba8|2020-06-16--17-37-19": {
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'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
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'enableCamera': True,
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},
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# Dashcam
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"5ab784f361e19b78|2020-06-08--16-30-41": {
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'carFingerprint': SUBARU.OUTBACK_PREGLOBAL,
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'enableCamera': True,
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},
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# Dashcam
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"e19eb5d5353b1ac1|2020-08-09--14-37-56": {
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'carFingerprint': SUBARU.OUTBACK_PREGLOBAL_2018,
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'enableCamera': True,
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},
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"fbbfa6af821552b9|2020-03-03--08-09-43": {
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'carFingerprint': NISSAN.XTRAIL,
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'enableCamera': True,
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},
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"5b7c365c50084530|2020-03-25--22-10-13": {
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'carFingerprint': NISSAN.LEAF,
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'enableCamera': True,
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},
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"059ab9162e23198e|2020-05-30--09-41-01": {
|
|
'carFingerprint': NISSAN.ROGUE,
|
|
'enableCamera': True,
|
|
},
|
|
"32a319f057902bb3|2020-04-27--15-18-58": {
|
|
'carFingerprint': MAZDA.CX5,
|
|
'enableCamera': True,
|
|
},
|
|
}
|
|
|
|
passive_routes: List[str] = [
|
|
]
|
|
|
|
forced_dashcam_routes = [
|
|
# Ford fusion
|
|
"f1b4c567731f4a1b|2018-04-18--11-29-37",
|
|
"f1b4c567731f4a1b|2018-04-30--10-15-35",
|
|
# Mazda
|
|
"32a319f057902bb3|2020-04-27--15-18-58",
|
|
]
|
|
|
|
# TODO: add routes for these cars
|
|
non_tested_cars = [
|
|
CHRYSLER.JEEP_CHEROKEE,
|
|
CHRYSLER.JEEP_CHEROKEE_2019,
|
|
CHRYSLER.PACIFICA_2018,
|
|
CHRYSLER.PACIFICA_2018_HYBRID,
|
|
CHRYSLER.PACIFICA_2020,
|
|
GM.CADILLAC_ATS,
|
|
GM.HOLDEN_ASTRA,
|
|
GM.MALIBU,
|
|
HONDA.ACURA_RDX,
|
|
HONDA.CRV,
|
|
HONDA.RIDGELINE,
|
|
HYUNDAI.ELANTRA,
|
|
HYUNDAI.ELANTRA_GT_I30,
|
|
HYUNDAI.GENESIS_G80,
|
|
HYUNDAI.GENESIS_G90,
|
|
HYUNDAI.KIA_FORTE,
|
|
HYUNDAI.KIA_OPTIMA_H,
|
|
HYUNDAI.KONA_EV,
|
|
TOYOTA.CAMRYH,
|
|
TOYOTA.CHR,
|
|
TOYOTA.CHRH,
|
|
TOYOTA.HIGHLANDER,
|
|
TOYOTA.HIGHLANDERH,
|
|
TOYOTA.HIGHLANDERH_TSS2,
|
|
]
|
|
|
|
if __name__ == "__main__":
|
|
|
|
tested_procs = ["controlsd", "radard", "plannerd"]
|
|
tested_socks = ["radarState", "controlsState", "carState", "plan"]
|
|
|
|
tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
|
|
for car_model in all_known_cars():
|
|
if car_model not in tested_cars:
|
|
print("***** WARNING: %s not tested *****" % car_model)
|
|
|
|
# TODO: skip these for now, but make sure any new ports get routes
|
|
if car_model not in non_tested_cars:
|
|
print("TEST FAILED: Missing route for car '%s'" % car_model)
|
|
sys.exit(1)
|
|
|
|
print("Preparing processes")
|
|
for p in tested_procs:
|
|
manager.prepare_managed_process(p)
|
|
|
|
results = {}
|
|
for route, checks in routes.items():
|
|
get_route_log(route)
|
|
|
|
params = Params()
|
|
params.clear_all()
|
|
params.manager_start()
|
|
params.put("OpenpilotEnabledToggle", "1")
|
|
params.put("CommunityFeaturesToggle", "1")
|
|
params.put("Passive", "1" if route in passive_routes else "0")
|
|
|
|
os.environ['SKIP_FW_QUERY'] = "1"
|
|
if checks.get('fingerprintSource', None) == 'fixed':
|
|
os.environ['FINGERPRINT'] = cast(str, checks['carFingerprint'])
|
|
else:
|
|
os.environ['FINGERPRINT'] = ""
|
|
|
|
print("testing ", route, " ", checks['carFingerprint'])
|
|
print("Starting processes")
|
|
for p in tested_procs:
|
|
manager.start_managed_process(p)
|
|
|
|
# Start unlogger
|
|
print("Start unlogger")
|
|
unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
|
|
disable_socks = 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
|
|
unlogger = subprocess.Popen(unlogger_cmd + ['--disable', disable_socks, '--no-interactive'], preexec_fn=os.setsid) # pylint: disable=subprocess-popen-preexec-fn
|
|
|
|
print("Check sockets")
|
|
extra_socks = []
|
|
has_camera = checks.get('enableCamera', False)
|
|
if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
|
|
extra_socks.append("sendcan")
|
|
if route not in passive_routes:
|
|
extra_socks.append("pathPlan")
|
|
|
|
recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
|
|
failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
|
|
|
|
print("Check if everything is running")
|
|
running = manager.get_running()
|
|
for p in tested_procs:
|
|
if not running[p].is_alive:
|
|
failures.append(p)
|
|
manager.kill_managed_process(p)
|
|
os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
|
|
|
|
sockets_ok = len(failures) == 0
|
|
params_ok = True
|
|
|
|
try:
|
|
car_params = car.CarParams.from_bytes(params.get("CarParams"))
|
|
for k, v in checks.items():
|
|
if not v == getattr(car_params, k):
|
|
params_ok = False
|
|
failures.append(k)
|
|
except Exception:
|
|
params_ok = False
|
|
|
|
if sockets_ok and params_ok:
|
|
print("Success")
|
|
results[route] = True, failures
|
|
else:
|
|
print("Failure")
|
|
results[route] = False, failures
|
|
break
|
|
|
|
# put back not passive to not leave the params in an unintended state
|
|
Params().put("Passive", "0")
|
|
|
|
for route in results:
|
|
print(results[route])
|
|
|
|
if not all(passed for passed, _ in results.values()):
|
|
print("TEST FAILED")
|
|
sys.exit(1)
|
|
else:
|
|
print("TEST SUCCESSFUL")
|