CAN fingerprinting test (#29427)

* timing test

* test

* fix

* print

* loop

* clean up

* wider range

* Update selfdrive/car/tests/test_models.py

* Apply suggestions from code review

* run many times

* Update selfdrive/car/tests/test_models.py

* run for many its

* run with unittest and print as list

* Update .github/workflows/selfdrive_tests.yaml

* Update .github/workflows/selfdrive_tests.yaml

* total time is super inconsistent (body)

* Update selfdrive/car/tests/test_models.py

* clean up

* clean up

* clean up

* this works!

* draft

* test suite not as modular

* try something like this

* can do kb, but not too representative

* clean up

* remove kb? it depends on signals

* clean up

* more clean up

* rename

* just measure all CANParsers

* can do all this manually

* but this is way simpler

* comment

* stash

* draft

* draft

* remove old script

* clean up

* revert

* use it

* remove test

* opt

* no partial

* remove

* revert test_models

* test can fingerprinting

* so much simpler!

* fix dict resizing

* simplify

* need to do this

* fix

* move to new file

* rename

* comment

* ignore function-uses-loop-variable
old-commit-hash: fd8f8d8785

selfdrive/car/gm/values.py

@@ -212,10 +212,10 @@ FINGERPRINTS = {
   }],
   # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
   # TODO: split with FW versions
-  CAR.TRAILBLAZER: [
-  {
+  # CAR.TRAILBLAZER: [
+  # {
   #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
-  }],
+  # }],
 }
 
 GM_RX_OFFSET = 0x400

selfdrive/car/tests/test_can_fingerprint.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+from parameterized import parameterized
+import unittest
+
+from cereal import log, messaging
+from selfdrive.car.car_helpers import can_fingerprint
+from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+
+
+class TestCanFingerprint(unittest.TestCase):
+  @parameterized.expand([(c, f) for c, f in FINGERPRINTS.items()])
+  def test_can_fingerprint(self, car_model, fingerprints):
+    # Tests online fingerprinting function on offline fingerprints
+    for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
+      can = messaging.new_message('can', 1)
+      can.can = [log.CanData(address=address, dat=b'\x00' * length)
+                 for address, length in fingerprint.items()]
+
+      fingerprint_iter = iter([can])
+      empty_can = messaging.new_message('can', 0)
+      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
+
+      self.assertEqual(car_fingerprint, car_model)
+
+
+if __name__ == "__main__":
+  unittest.main()