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Move CAN fingerprinting behind community features (#20993)

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* Move CAN fingerprinting behind community features

* fix typo

* fix startup test

* fix
This commit is contained in:
Adeeb Shihadeh
2021-05-24 19:21:58 -07:00
committed by GitHub
parent df93263a81
commit 726fb9d501
2 changed files with 7 additions and 10 deletions
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selfdrive/controls/controlsd.py
+4 -4
View File
@@ -92,11 +92,11 @@ class Controls:
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
fuzzy_fingerprint = self.CP.fuzzyFingerprint
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature = self.CP.communityFeature or fuzzy_fingerprint
community_feature = self.CP.communityFeature or self.CP.fuzzyFingerprint or \
self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
community_feature_disallowed = community_feature and (not community_feature_toggle)
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
@@ -145,11 +145,11 @@ class Controls:
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
self.startup_event = get_startup_event(car_recognized, controller_available, self.CP.fuzzyFingerprint)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if community_feature_disallowed:
if community_feature_disallowed and car_recognized:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
selfdrive/controls/tests/test_startup.py
+3 -6
View File
@@ -35,11 +35,8 @@ class TestStartup(unittest.TestCase):
# TODO: test EventName.startup for release branches
# officially supported car
(EventName.startupMaster, HYUNDAI.SONATA, False, None),
(EventName.startupMaster, HYUNDAI.SONATA, True, None),
# offically supported car, FW query
(EventName.startupMaster, TOYOTA.COROLLA, False, COROLLA_FW_VERSIONS),
(EventName.startupMaster, TOYOTA.COROLLA, True, COROLLA_FW_VERSIONS),
# DSU unplugged
(EventName.startupMaster, TOYOTA.COROLLA, True, COROLLA_FW_VERSIONS_NO_DSU),
@@ -51,7 +48,7 @@ class TestStartup(unittest.TestCase):
# dashcamOnly car
(EventName.startupNoControl, MAZDA.CX5, True, None),
(EventName.startupNoControl, MAZDA.CX5, False, None),
(EventName.communityFeatureDisallowed, MAZDA.CX5, False, None),
# unrecognized car
(EventName.startupNoCar, None, True, None),
@@ -104,7 +101,7 @@ class TestStartup(unittest.TestCase):
else:
finger = _FINGERPRINTS[car_model][0]
for _ in range(500):
for _ in range(1000):
msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
pm.send('can', can_list_to_can_capnp(msgs))