Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars

selfdrive/athena/athenad.py

@@ -1,6 +1,7 @@
-#!/usr/bin/env python2.7
+#!/usr/bin/env python3.7
 import json
 import os
+import io
 import random
 import re
 import select
@@ -10,6 +11,7 @@ import time
 import threading
 import traceback
 import zmq
+import base64
 import requests
 import six.moves.queue
 from functools import partial
@@ -24,6 +26,7 @@ from common.params import Params
 from selfdrive.services import service_list
 from selfdrive.swaglog import cloudlog
 from selfdrive.version import version, dirty
+from functools import reduce
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
@@ -41,10 +44,11 @@ def handle_long_poll(ws):
     threading.Thread(target=ws_send, args=(ws, end_event))
   ] + [
     threading.Thread(target=jsonrpc_handler, args=(end_event,))
-    for x in xrange(HANDLER_THREADS)
+    for x in range(HANDLER_THREADS)
   ]
 
-  map(lambda thread: thread.start(), threads)
+  for thread in threads:
+    thread.start()
   try:
     while not end_event.is_set():
       time.sleep(0.1)
@@ -101,7 +105,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
       raise Exception("Requested local port not whitelisted")
 
     params = Params()
-    dongle_id = params.get("DongleId")
+    dongle_id = params.get("DongleId").decode('utf8')
     identity_token = Api(dongle_id).get_token()
     ws = create_connection(remote_ws_uri,
                            cookie="jwt=" + identity_token,
@@ -117,8 +121,8 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
       threading.Thread(target=ws_proxy_recv, args=(ws, local_sock, ssock, proxy_end_event, global_end_event)),
       threading.Thread(target=ws_proxy_send, args=(ws, local_sock, csock, proxy_end_event))
     ]
-
-    map(lambda thread: thread.start(), threads)
+    for thread in threads:
+      thread.start()
 
     return {"success": 1}
   except Exception as e:
@@ -135,16 +139,15 @@ def getPublicKey():
 
 @dispatcher.add_method
 def getSshAuthorizedKeys():
-  with open('/system/comma/home/.ssh/authorized_keys', 'r') as f:
-    return f.read()
+  return Params().get("GithubSshKeys", encoding='utf8') or ''
 
 @dispatcher.add_method
 def getSimInfo():
-  sim_state = subprocess.check_output(['getprop', 'gsm.sim.state']).strip().split(',')
-  network_type = subprocess.check_output(['getprop', 'gsm.network.type']).strip().split(',')
-  mcc_mnc = subprocess.check_output(['getprop', 'gsm.sim.operator.numeric']).strip() or None
+  sim_state = subprocess.check_output(['getprop', 'gsm.sim.state'], encoding='utf8').strip().split(',')  # pylint: disable=unexpected-keyword-arg
+  network_type = subprocess.check_output(['getprop', 'gsm.network.type'], encoding='utf8').strip().split(',')  # pylint: disable=unexpected-keyword-arg
+  mcc_mnc = subprocess.check_output(['getprop', 'gsm.sim.operator.numeric'], encoding='utf8').strip() or None  # pylint: disable=unexpected-keyword-arg
 
-  sim_id_aidl_out = subprocess.check_output(['service', 'call', 'iphonesubinfo', '11'])
+  sim_id_aidl_out = subprocess.check_output(['service', 'call', 'iphonesubinfo', '11'], encoding='utf8')  # pylint: disable=unexpected-keyword-arg
   sim_id_aidl_lines = sim_id_aidl_out.split('\n')
   if len(sim_id_aidl_lines) > 3:
     sim_id_lines = sim_id_aidl_lines[1:4]
@@ -160,6 +163,20 @@ def getSimInfo():
     'sim_state': sim_state
   }
 
+@dispatcher.add_method
+def takeSnapshot():
+  from selfdrive.visiond.snapshot.snapshot import snapshot, jpeg_write
+  ret = snapshot()
+  if ret is not None:
+    def b64jpeg(x):
+      f = io.BytesIO()
+      jpeg_write(f, x)
+      return base64.b64encode(f.getvalue()).decode("utf-8")
+    return {'jpegBack': b64jpeg(ret[0]),
+            'jpegFront': b64jpeg(ret[1])}
+  else:
+    raise Exception("not available while visiond is started")
+
 def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
@@ -221,7 +238,7 @@ def backoff(retries):
 
 def main(gctx=None):
   params = Params()
-  dongle_id = params.get("DongleId")
+  dongle_id = params.get("DongleId").decode('utf-8')
   ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
 
   crash.bind_user(id=dongle_id)

selfdrive/boardd/Makefile

@@ -78,7 +78,7 @@ boardd.o: boardd.cc
 
 
 boardd_api_impl.so: libcan_list_to_can_capnp.a boardd_api_impl.pyx boardd_setup.py
-	python2 boardd_setup.py build_ext --inplace
+	python3 boardd_setup.py build_ext --inplace
 	rm -rf build
 	rm -f boardd_api_impl.cpp
 

selfdrive/boardd/boardd.cc

@@ -32,26 +32,9 @@
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
 
-#define SAFETY_NOOUTPUT  0
-#define SAFETY_HONDA 1
-#define SAFETY_TOYOTA 2
-#define SAFETY_GM 3
-#define SAFETY_HONDA_BOSCH 4
-#define SAFETY_FORD 5
-#define SAFETY_CADILLAC 6
-#define SAFETY_HYUNDAI 7
-#define SAFETY_TESLA 8
-#define SAFETY_CHRYSLER 9
-#define SAFETY_SUBARU 10
-#define SAFETY_GM_PASSIVE 11
-#define SAFETY_TOYOTA_IPAS 0x1335
-#define SAFETY_TOYOTA_NOLIMITS 0x1336
-#define SAFETY_ALLOUTPUT 0x1337
-#define SAFETY_ELM327 0xE327     // diagnostic only
-
 namespace {
 
-volatile int do_exit = 0;
+volatile sig_atomic_t do_exit = 0;
 
 libusb_context *ctx = NULL;
 libusb_device_handle *dev_handle;
@@ -62,6 +45,10 @@ bool fake_send = false;
 bool loopback_can = false;
 cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
 bool is_pigeon = false;
+const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 24 * 3;  // turn off charge after 3 days
+uint32_t no_ignition_cnt = 0;
+bool connected_once = false;
+uint8_t ignition_last = 0;
 
 pthread_t safety_setter_thread_handle = -1;
 pthread_t pigeon_thread_handle = -1;
@@ -89,8 +76,8 @@ void *safety_setter_thread(void *s) {
 
   pthread_mutex_lock(&usb_lock);
 
-  // VIN qury done, stop listening to OBDII
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_NOOUTPUT, 0, NULL, 0, TIMEOUT);
+  // VIN query done, stop listening to OBDII
+  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
 
   pthread_mutex_unlock(&usb_lock);
 
@@ -119,48 +106,6 @@ void *safety_setter_thread(void *s) {
   auto safety_param = car_params.getSafetyParam();
   LOGW("setting safety model: %d with param %d", safety_model, safety_param);
 
-  int safety_setting = 0;
-  switch (safety_model) {
-  case cereal::CarParams::SafetyModel::NO_OUTPUT:
-    safety_setting = SAFETY_NOOUTPUT;
-    break;
-  case cereal::CarParams::SafetyModel::HONDA:
-    safety_setting = SAFETY_HONDA;
-    break;
-  case cereal::CarParams::SafetyModel::TOYOTA:
-    safety_setting = SAFETY_TOYOTA;
-    break;
-  case cereal::CarParams::SafetyModel::ELM327:
-    safety_setting = SAFETY_ELM327;
-    break;
-  case cereal::CarParams::SafetyModel::GM:
-    safety_setting = SAFETY_GM;
-    break;
-  case cereal::CarParams::SafetyModel::GM_PASSIVE:
-    safety_setting = SAFETY_GM_PASSIVE;
-    break;
-  case cereal::CarParams::SafetyModel::HONDA_BOSCH:
-    safety_setting = SAFETY_HONDA_BOSCH;
-    break;
-  case cereal::CarParams::SafetyModel::FORD:
-    safety_setting = SAFETY_FORD;
-    break;
-  case cereal::CarParams::SafetyModel::CADILLAC:
-    safety_setting = SAFETY_CADILLAC;
-    break;
-  case cereal::CarParams::SafetyModel::HYUNDAI:
-    safety_setting = SAFETY_HYUNDAI;
-    break;
-  case cereal::CarParams::SafetyModel::CHRYSLER:
-    safety_setting = SAFETY_CHRYSLER;
-    break;
-  case cereal::CarParams::SafetyModel::SUBARU:
-    safety_setting = SAFETY_SUBARU;
-    break;
-  default:
-    LOGE("unknown safety model: %d", safety_model);
-  }
-
   pthread_mutex_lock(&usb_lock);
 
   // set in the mutex to avoid race
@@ -169,7 +114,7 @@ void *safety_setter_thread(void *s) {
   // set if long_control is allowed by openpilot. Hardcoded to True for now
   libusb_control_transfer(dev_handle, 0x40, 0xdf, 1, 0, NULL, 0, TIMEOUT);
 
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, safety_setting, safety_param, NULL, 0, TIMEOUT);
+  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel(safety_model)), safety_param, NULL, 0, TIMEOUT);
 
   pthread_mutex_unlock(&usb_lock);
 
@@ -180,6 +125,7 @@ void *safety_setter_thread(void *s) {
 bool usb_connect() {
   int err;
   unsigned char hw_query[1] = {0};
+  ignition_last = 0;
 
   dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
   if (dev_handle == NULL) { goto fail; }
@@ -197,25 +143,20 @@ bool usb_connect() {
   // power off ESP
   libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
 
-  // power on charging (may trigger a reconnection, should be okay)
-  #ifndef __x86_64__
-    libusb_control_transfer(dev_handle, 0xc0, 0xe6, 1, 0, NULL, 0, TIMEOUT);
-  #else
-    LOGW("not enabling charging on x86_64");
-  #endif
-
-  // diagnostic only is the default, needed for VIN query
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_ELM327, 0, NULL, 0, TIMEOUT);
-
-  if (safety_setter_thread_handle == -1) {
-    err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
-    assert(err == 0);
+  // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
+#ifndef __x86_64__
+  if (!connected_once) {
+    libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CDP), 0, NULL, 0, TIMEOUT);
   }
+#endif
+  connected_once = true;
 
   libusb_control_transfer(dev_handle, 0xc0, 0xc1, 0, 0, hw_query, 1, TIMEOUT);
 
   hw_type = (cereal::HealthData::HwType)(hw_query[0]);
-  is_pigeon = (hw_type == cereal::HealthData::HwType::GREY_PANDA) || (hw_type == cereal::HealthData::HwType::BLACK_PANDA);
+  is_pigeon = (hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
+              (hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
+              (hw_type == cereal::HealthData::HwType::UNO);
   if (is_pigeon) {
     LOGW("panda with gps detected");
     pigeon_needs_init = true;
@@ -304,8 +245,9 @@ void can_recv(void *s) {
 
 void can_health(void *s) {
   int cnt;
+  int err;
 
-  // copied from board/main.c
+  // copied from panda/board/main.c
   struct __attribute__((packed)) health {
     uint32_t voltage;
     uint32_t current;
@@ -315,7 +257,8 @@ void can_health(void *s) {
     uint8_t started;
     uint8_t controls_allowed;
     uint8_t gas_interceptor_detected;
-    uint8_t car_harness_status_pkt;
+    uint8_t car_harness_status;
+    uint8_t usb_power_mode;
   } health;
 
   // recv from board
@@ -330,6 +273,42 @@ void can_health(void *s) {
 
   pthread_mutex_unlock(&usb_lock);
 
+  if (health.started == 0) {
+    no_ignition_cnt += 1;
+  } else {
+    no_ignition_cnt = 0;
+  }
+
+#ifndef __x86_64__
+  if ((no_ignition_cnt > NO_IGNITION_CNT_MAX) && (health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP))) {
+    printf("TURN OFF CHARGING!\n");
+    pthread_mutex_lock(&usb_lock);
+    libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
+    pthread_mutex_unlock(&usb_lock);
+  }
+#endif
+
+  // clear VIN, CarParams, and set new safety on car start
+  if ((health.started != 0) && (ignition_last == 0)) {
+
+    int result = delete_db_value(NULL, "CarVin");
+    assert((result == 0) || (result == ERR_NO_VALUE));
+    result = delete_db_value(NULL, "CarParams");
+    assert((result == 0) || (result == ERR_NO_VALUE));
+
+    // diagnostic only is the default, needed for VIN query
+    pthread_mutex_lock(&usb_lock);
+    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
+    pthread_mutex_unlock(&usb_lock);
+
+    if (safety_setter_thread_handle == -1) {
+      err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
+      assert(err == 0);
+    }
+  }
+
+  ignition_last = health.started;
+
   // create message
   capnp::MallocMessageBuilder msg;
   cereal::Event::Builder event = msg.initRoot<cereal::Event>();
@@ -351,6 +330,7 @@ void can_health(void *s) {
   healthData.setCanFwdErrs(health.can_fwd_errs);
   healthData.setGmlanSendErrs(health.gmlan_send_errs);
   healthData.setHwType(hw_type);
+  healthData.setUsbPowerMode(cereal::HealthData::UsbPowerMode(health.usb_power_mode));
 
   // send to health
   auto words = capnp::messageToFlatArray(msg);
@@ -481,7 +461,6 @@ void *can_recv_thread(void *crap) {
 
 void *can_health_thread(void *crap) {
   LOGD("start health thread");
-
   // health = 8011
   void *context = zmq_ctx_new();
   void *publisher = zmq_socket(context, ZMQ_PUB);
@@ -628,7 +607,7 @@ void *pigeon_thread(void *crap) {
     }
     if (alen > 0) {
       if (dat[0] == (char)0x00){
-        LOGW("received invalid ublox message, resetting pigeon");
+        LOGW("received invalid ublox message, resetting panda GPS");
         pigeon_init();
       } else {
         pigeon_publish_raw(publisher, dat, alen);

selfdrive/boardd/boardd_api_impl.pyx

@@ -1,4 +1,5 @@
 # distutils: language = c++
+# cython: language_level=3
 from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool

selfdrive/boardd/boardd_setup.py

@@ -1,25 +1,29 @@
 import subprocess
-from distutils.core import setup, Extension
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
 from Cython.Build import cythonize
 
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
 PHONELIBS = '../../phonelibs'
 
-ARCH = subprocess.check_output(["uname", "-m"]).rstrip()
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 ARCH_DIR = 'x64' if ARCH == "x86_64" else 'aarch64'
 
 setup(name='Boardd API Implementation',
-  ext_modules=cythonize(
-    Extension(
-      "boardd_api_impl",
-      libraries=[':libcan_list_to_can_capnp.a', ':libcapnp.a', ':libcapnp.a', ':libkj.a'],
-      library_dirs=[
-        './',
-        PHONELIBS + '/capnp-cpp/' + ARCH_DIR + '/lib/',
-        PHONELIBS + '/capnp-c/' + ARCH_DIR + '/lib/'
-      ],
-      sources=['boardd_api_impl.pyx'],
-      language="c++",
-      extra_compile_args=["-std=c++11"],
-    )
-  )
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "boardd_api_impl",
+          libraries=[':libcan_list_to_can_capnp.a', ':libcapnp.a', ':libcapnp.a', ':libkj.a'],
+          library_dirs=[
+            './',
+            PHONELIBS + '/capnp-cpp/' + ARCH_DIR + '/lib/',
+            PHONELIBS + '/capnp-c/' + ARCH_DIR + '/lib/'
+          ],
+          sources=['boardd_api_impl.pyx'],
+          language="c++",
+          extra_compile_args=["-std=c++11"],
+        )
+      )
 )

selfdrive/boardd/tests/boardd_old.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # This file is not used by OpenPilot. Only boardd.cc is used.
 # The python version is slower, but has more options for development.
@@ -15,6 +15,9 @@ from common.realtime import Ratekeeper
 from selfdrive.services import service_list
 from selfdrive.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_capnp_to_can_list
+from cereal import car
+
+SafetyModel = car.CarParams.SafetyModel
 
 # USB is optional
 try:
@@ -23,13 +26,6 @@ try:
 except Exception:
   pass
 
-SAFETY_NOOUTPUT = 0
-SAFETY_HONDA = 1
-SAFETY_TOYOTA = 2
-SAFETY_CHRYSLER = 9
-SAFETY_TOYOTA_NOLIMITS = 0x1336
-SAFETY_ALLOUTPUT = 0x1337
-
 # *** serialization functions ***
 def can_list_to_can_capnp(can_msgs, msgtype='can'):
   dat = messaging.new_message()
@@ -41,7 +37,7 @@ def can_list_to_can_capnp(can_msgs, msgtype='can'):
       cc = dat.can[i]
     cc.address = can_msg[0]
     cc.busTime = can_msg[1]
-    cc.dat = str(can_msg[2])
+    cc.dat = bytes(can_msg[2])
     cc.src = can_msg[3]
   return dat
 
@@ -71,17 +67,17 @@ def can_send_many(arr):
   for addr, _, dat, alt in arr:
     if addr < 0x800:  # only support 11 bit addr
       snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
-      snd = snd.ljust(0x10, '\x00')
+      snd = snd.ljust(0x10, b'\x00')
       snds.append(snd)
   while 1:
     try:
-      handle.bulkWrite(3, ''.join(snds))
+      handle.bulkWrite(3, b''.join(snds))
       break
     except (USBErrorIO, USBErrorOverflow):
       cloudlog.exception("CAN: BAD SEND MANY, RETRYING")
 
 def can_recv():
-  dat = ""
+  dat = b""
   while 1:
     try:
       dat = handle.bulkRead(1, 0x10*256)
@@ -102,10 +98,10 @@ def can_init():
     if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
       handle = device.open()
       handle.claimInterface(0)
-      handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
+      handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
 
   if handle is None:
-    cloudlog.warn("CAN NOT FOUND")
+    cloudlog.warning("CAN NOT FOUND")
     exit(-1)
 
   cloudlog.info("got handle")
@@ -113,7 +109,7 @@ def can_init():
 
 def boardd_mock_loop():
   can_init()
-  handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
+  handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
 
   logcan = messaging.sub_sock(service_list['can'].port)
   sendcan = messaging.pub_sock(service_list['sendcan'].port)
@@ -124,17 +120,17 @@ def boardd_mock_loop():
     snd = []
     for s in snds:
       snd += s
-    snd = filter(lambda x: x[-1] <= 2, snd)
-    snd_0 = len(filter(lambda x: x[-1] == 0, snd))
-    snd_1 = len(filter(lambda x: x[-1] == 1, snd))
-    snd_2 = len(filter(lambda x: x[-1] == 2, snd))
+    snd = list(filter(lambda x: x[-1] <= 2, snd))
+    snd_0 = len(list(filter(lambda x: x[-1] == 0, snd)))
+    snd_1 = len(list(filter(lambda x: x[-1] == 1, snd)))
+    snd_2 = len(list(filter(lambda x: x[-1] == 2, snd)))
     can_send_many(snd)
 
     # recv @ 100hz
     can_msgs = can_recv()
-    got_0 = len(filter(lambda x: x[-1] == 0+0x80, can_msgs))
-    got_1 = len(filter(lambda x: x[-1] == 1+0x80, can_msgs))
-    got_2 = len(filter(lambda x: x[-1] == 2+0x80, can_msgs))
+    got_0 = len(list(filter(lambda x: x[-1] == 0+0x80, can_msgs)))
+    got_1 = len(list(filter(lambda x: x[-1] == 1+0x80, can_msgs)))
+    got_2 = len(list(filter(lambda x: x[-1] == 2+0x80, can_msgs)))
     print("sent %3d (%3d/%3d/%3d) got %3d (%3d/%3d/%3d)" %
       (len(snd), snd_0, snd_1, snd_2, len(can_msgs), got_0, got_1, got_2))
     m = can_list_to_can_capnp(can_msgs, msgtype='sendcan')

selfdrive/boardd/tests/fuzzer.py

@@ -1,4 +1,5 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
+from __future__ import print_function
 import time
 import random
 
@@ -9,9 +10,9 @@ if __name__ == "__main__":
   while 1:
     c = random.randint(0, 3)
     if c == 0:
-      print can_recv()
+      print(can_recv())
     elif c == 1:
-      print can_health()
+      print(can_health())
     elif c == 2:
       many = [[0x123, 0, "abcdef", 0]] * random.randint(1, 10)
       can_send_many(many)

selfdrive/boardd/tests/replay_many.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import time
 import signal

selfdrive/boardd/tests/test_boardd_api.py

@@ -1,7 +1,7 @@
 import random
 import numpy as np
 
-import boardd_old
+import selfdrive.boardd.tests.boardd_old as boardd_old
 import selfdrive.boardd.boardd as boardd
 
 from common.realtime import sec_since_boot
@@ -12,7 +12,7 @@ import unittest
 def generate_random_can_data_list():
   can_list = []
   cnt = random.randint(1, 64)
-  for j in xrange(cnt):
+  for j in range(cnt):
     can_data = np.random.bytes(random.randint(1, 8))
     can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
   return can_list, cnt
@@ -20,7 +20,7 @@ def generate_random_can_data_list():
 
 class TestBoarddApiMethods(unittest.TestCase):
   def test_correctness(self):
-    for i in xrange(1000):
+    for i in range(1000):
       can_list, _ = generate_random_can_data_list()
 
       # Sendcan
@@ -31,9 +31,10 @@ class TestBoarddApiMethods(unittest.TestCase):
 
       ev_old = log.Event.from_bytes(m_old)
       ev = log.Event.from_bytes(m)
+
       self.assertEqual(ev_old.which(), ev.which())
       self.assertEqual(len(ev.sendcan), len(ev_old.sendcan))
-      for i in xrange(len(ev.sendcan)):
+      for i in range(len(ev.sendcan)):
         attrs = ['address', 'busTime', 'dat', 'src']
         for attr in attrs:
           self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old'))
@@ -47,7 +48,7 @@ class TestBoarddApiMethods(unittest.TestCase):
       ev = log.Event.from_bytes(m)
       self.assertEqual(ev_old.which(), ev.which())
       self.assertEqual(len(ev.can), len(ev_old.can))
-      for i in xrange(len(ev.can)):
+      for i in range(len(ev.can)):
         attrs = ['address', 'busTime', 'dat', 'src']
         for attr in attrs:
           self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old'))
@@ -57,14 +58,14 @@ class TestBoarddApiMethods(unittest.TestCase):
     recursions = 1000
 
     n1 = sec_since_boot()
-    for i in xrange(recursions):
+    for i in range(recursions):
       boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
     n2 = sec_since_boot()
     elapsed_old = n2 - n1
 
     # print('Old API, elapsed time: {} secs'.format(elapsed_old))
     n1 = sec_since_boot()
-    for i in xrange(recursions):
+    for i in range(recursions):
       boardd.can_list_to_can_capnp(can_list)
     n2 = sec_since_boot()
     elapsed_new = n2 - n1

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """Run boardd with the BOARDD_LOOPBACK envvar before running this test."""
 
 import os

selfdrive/can/Makefile

@@ -36,7 +36,7 @@ endif
 
 OBJDIR = obj
 
-OPENDBC_PATH := $(shell python2 -c 'import opendbc; print opendbc.DBC_PATH')
+OPENDBC_PATH := $(shell python3 -c 'import opendbc; print(opendbc.DBC_PATH)')
 
 DBC_SOURCES := $(sort $(wildcard $(OPENDBC_PATH)/*.dbc))
 DBC_OBJS := $(patsubst $(OPENDBC_PATH)/%.dbc,$(OBJDIR)/%.o,$(DBC_SOURCES))
@@ -70,12 +70,12 @@ libdbc.so:: $(LIBDBC_OBJS) $(DBC_OBJS)
 		$(CEREAL_LIBS)
 
 packer_impl.so: packer_impl.pyx packer_setup.py
-	python2 packer_setup.py build_ext --inplace
+	python3 packer_setup.py build_ext --inplace
 	rm -rf build
 	rm -f packer_impl.cpp
 
 parser_pyx.so: parser_pyx_setup.py parser_pyx.pyx parser_pyx.pxd
-	python $< build_ext --inplace
+	python3 $< build_ext --inplace
 	rm -rf build
 	rm -f parser_pyx.cpp
 

selfdrive/can/can_define.py

@@ -1,11 +1,11 @@
 from collections import defaultdict
 from selfdrive.can.libdbc_py import libdbc, ffi
 
-class CANDefine(object):
+class CANDefine():
   def __init__(self, dbc_name):
     self.dv = defaultdict(dict)
     self.dbc_name = dbc_name
-    self.dbc = libdbc.dbc_lookup(dbc_name)
+    self.dbc = libdbc.dbc_lookup(dbc_name.encode('utf8'))
 
     num_vals = self.dbc[0].num_vals
 
@@ -13,16 +13,16 @@ class CANDefine(object):
     num_msgs = self.dbc[0].num_msgs
     for i in range(num_msgs):
       msg = self.dbc[0].msgs[i]
-      name = ffi.string(msg.name)
+      name = ffi.string(msg.name).decode('utf8')
       address = msg.address
       self.address_to_msg_name[address] = name
 
     for i in range(num_vals):
       val = self.dbc[0].vals[i]
 
-      sgname = ffi.string(val.name)
+      sgname = ffi.string(val.name).decode('utf8')
       address = val.address
-      def_val = ffi.string(val.def_val)
+      def_val = ffi.string(val.def_val).decode('utf8')
 
       #separate definition/value pairs
       def_val = def_val.split()

selfdrive/can/packer_impl.pyx

@@ -1,4 +1,6 @@
 # distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp.vector cimport vector
 from libcpp.map cimport map
@@ -54,7 +56,7 @@ ctypedef uint64_t (*canpack_pack_vector_func)(void* inst, uint32_t address, cons
 ctypedef const DBC * (*dbc_lookup_func)(const char* dbc_name)
 
 
-cdef class CANPacker(object):
+cdef class CANPacker():
   cdef void *packer
   cdef const DBC *dbc
   cdef map[string, (int, int)] name_to_address_and_size
@@ -66,11 +68,14 @@ cdef class CANPacker(object):
   def __init__(self, dbc_name):
     can_dir = os.path.dirname(os.path.abspath(__file__))
     libdbc_fn = os.path.join(can_dir, "libdbc.so")
+    libdbc_fn = str(libdbc_fn).encode('utf8')
     subprocess.check_call(["make"], cwd=can_dir)
+
     cdef void *libdbc = dlopen(libdbc_fn, RTLD_LAZY)
     self.canpack_init = <canpack_init_func>dlsym(libdbc, 'canpack_init')
     self.canpack_pack_vector = <canpack_pack_vector_func>dlsym(libdbc, 'canpack_pack_vector')
     self.dbc_lookup = <dbc_lookup_func>dlsym(libdbc, 'dbc_lookup')
+
     self.packer = self.canpack_init(dbc_name)
     self.dbc = self.dbc_lookup(dbc_name)
     num_msgs = self.dbc[0].num_msgs
@@ -82,8 +87,14 @@ cdef class CANPacker(object):
   cdef uint64_t pack(self, addr, values, counter):
     cdef vector[SignalPackValue] values_thing
     cdef SignalPackValue spv
+
+    names = []
+
     for name, value in values.iteritems():
-      spv.name = name
+      n = name.encode('utf8')
+      names.append(n) # TODO: find better way to keep reference to temp string arround
+
+      spv.name = n
       spv.value = value
       values_thing.push_back(spv)
 
@@ -105,7 +116,7 @@ cdef class CANPacker(object):
       addr = name_or_addr
       size = self.address_to_size[name_or_addr]
     else:
-      addr, size = self.name_to_address_and_size[name_or_addr]
+      addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
     cdef uint64_t val = self.pack(addr, values, counter)
     val = self.ReverseBytes(val)
     return [addr, 0, (<char *>&val)[:size], bus]

selfdrive/can/packer_setup.py

@@ -1,5 +1,9 @@
-from distutils.core import setup, Extension
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
 from Cython.Build import cythonize
 
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
 setup(name='CAN Packer API Implementation',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(Extension("packer_impl", ["packer_impl.pyx"], language="c++", extra_compile_args=["-std=c++11"])))

selfdrive/can/parser_pyx.pxd

@@ -1,4 +1,6 @@
 # distutils: language = c++
+#cython: language_level=3
+
 from libc.stdint cimport uint32_t, uint64_t, uint16_t
 from libcpp.vector cimport vector
 from libcpp.map cimport map

selfdrive/can/parser_pyx.pyx

@@ -1,4 +1,6 @@
 # distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
 from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
 
 from libcpp cimport bool
@@ -8,10 +10,11 @@ import numbers
 cdef int CAN_INVALID_CNT = 5
 
 cdef class CANParser:
-  def __init__(self, dbc_name, signals, checks=None, bus=0, sendcan=False, tcp_addr="", timeout=-1):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, sendcan=False, tcp_addr=b"", timeout=-1):
     self.test_mode_enabled = False
     can_dir = os.path.dirname(os.path.abspath(__file__))
     libdbc_fn = os.path.join(can_dir, "libdbc.so")
+    libdbc_fn = str(libdbc_fn).encode('utf8')
 
     cdef void *libdbc = dlopen(libdbc_fn, RTLD_LAZY)
     self.can_init_with_vectors = <can_init_with_vectors_func>dlsym(libdbc, 'can_init_with_vectors')
@@ -33,24 +36,28 @@ cdef class CANParser:
     num_msgs = self.dbc[0].num_msgs
     for i in range(num_msgs):
       msg = self.dbc[0].msgs[i]
-      self.msg_name_to_address[string(msg.name)] = msg.address
-      self.address_to_msg_name[msg.address] = string(msg.name)
+      name = msg.name.decode('utf8')
+
+      self.msg_name_to_address[name] = msg.address
+      self.address_to_msg_name[msg.address] = name
       self.vl[msg.address] = {}
-      self.vl[str(msg.name)] = {}
+      self.vl[name] = {}
       self.ts[msg.address] = {}
-      self.ts[str(msg.name)] = {}
+      self.ts[name] = {}
 
     # Convert message names into addresses
     for i in range(len(signals)):
       s = signals[i]
       if not isinstance(s[1], numbers.Number):
-        s = (s[0], self.msg_name_to_address[s[1]], s[2])
+        name = s[1].encode('utf8')
+        s = (s[0], self.msg_name_to_address[name], s[2])
         signals[i] = s
 
     for i in range(len(checks)):
       c = checks[i]
       if not isinstance(c[0], numbers.Number):
-        c = (self.msg_name_to_address[c[0]], c[1])
+        name = c[0].encode('utf8')
+        c = (self.msg_name_to_address[name], c[1])
         checks[i] = c
 
     cdef vector[SignalParseOptions] signal_options_v
@@ -89,12 +96,15 @@ cdef class CANParser:
 
 
     for cv in self.can_values:
-      self.vl[cv.address][string(cv.name)] = cv.value
-      self.ts[cv.address][string(cv.name)] = cv.ts
+      # Cast char * directly to unicde
+      name = <unicode>self.address_to_msg_name[cv.address].c_str()
+      cv_name = <unicode>cv.name
 
-      sig_name = self.address_to_msg_name[cv.address]
-      self.vl[sig_name][string(cv.name)] = cv.value
-      self.ts[sig_name][string(cv.name)] = cv.ts
+      self.vl[cv.address][cv_name] = cv.value
+      self.ts[cv.address][cv_name] = cv.ts
+
+      self.vl[name][cv_name] = cv.value
+      self.ts[name][cv_name] = cv.ts
 
       updated_val.insert(cv.address)
 

selfdrive/can/parser_pyx_setup.py

@@ -1,14 +1,19 @@
-from distutils.core import setup, Extension
-from Cython.Build import cythonize
 import subprocess
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
 
 sourcefiles = ['parser_pyx.pyx']
 extra_compile_args = ["-std=c++11"]
-ARCH = subprocess.check_output(["uname", "-m"]).rstrip()
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+
 if ARCH == "aarch64":
   extra_compile_args += ["-Wno-deprecated-register"]
 
 setup(name='Radard Thread',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(
         Extension(
           "parser_pyx",

selfdrive/can/plant_can_parser.py

@@ -7,7 +7,7 @@ from selfdrive.car.honda.hondacan import fix
 from common.realtime import sec_since_boot
 from common.dbc import dbc
 
-class CANParser(object):
+class CANParser():
   def __init__(self, dbc_f, signals, checks=None):
     ### input:
     # dbc_f   : dbc file
@@ -73,7 +73,7 @@ class CANParser(object):
         self.ck[msg] = True
         if "CHECKSUM" in out.keys() and msg in self.msgs_ck:
           # remove checksum (half byte)
-          ck_portion = cdat[:-1] + chr(ord(cdat[-1]) & 0xF0)
+          ck_portion = cdat[:-1] + (cdat[-1] & 0xF0).to_bytes(1, 'little')
           # recalculate checksum
           msg_vl = fix(ck_portion, msg)
           # compare recalculated vs received checksum

selfdrive/can/process_dbc.py

@@ -1,4 +1,5 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
+from __future__ import print_function
 import os
 import glob
 import sys
@@ -10,7 +11,7 @@ from common.dbc import dbc
 
 def main():
   if len(sys.argv) != 3:
-    print "usage: %s dbc_directory output_directory" % (sys.argv[0],)
+    print("usage: %s dbc_directory output_directory" % (sys.argv[0],))
     sys.exit(0)
 
   dbc_dir = sys.argv[1]
@@ -38,7 +39,7 @@ def main():
     if dbc_mtime < out_mtime and template_mtime < out_mtime and this_file_mtime < out_mtime:
       continue #skip output is newer than template and dbc
 
-    msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+    msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in (b"COUNTER", b"CHECKSUM"))) # process counter and checksums first
             for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
     def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
@@ -55,22 +56,22 @@ def main():
 
     for address, msg_name, msg_size, sigs in msgs:
       for sig in sigs:
-        if checksum_type is not None and sig.name == "CHECKSUM":
+        if checksum_type is not None and sig.name == b"CHECKSUM":
           if sig.size != checksum_size:
             sys.exit("CHECKSUM is not %d bits longs %s" % (checksum_size, msg_name))
           if checksum_type == "honda" and sig.start_bit % 8 != 3:
             sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
           if checksum_type == "toyota" and sig.start_bit % 8 != 7:
             sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
-        if checksum_type == "honda" and sig.name == "COUNTER":
+        if checksum_type == "honda" and sig.name == b"COUNTER":
           if sig.size != 2:
             sys.exit("COUNTER is not 2 bits longs %s" % msg_name)
           if sig.start_bit % 8 != 5:
             sys.exit("COUNTER starts at wrong bit %s" % msg_name)
         if address in [0x200, 0x201]:
-          if sig.name == "COUNTER_PEDAL" and sig.size != 4:
+          if sig.name == b"COUNTER_PEDAL" and sig.size != 4:
             sys.exit("PEDAL COUNTER is not 4 bits longs %s" % msg_name)
-          if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
+          if sig.name == b"CHECKSUM_PEDAL" and sig.size != 8:
             sys.exit("PEDAL CHECKSUM is not 8 bits longs %s" % msg_name)
 
     # Fail on duplicate message names

selfdrive/can/tests/packer_old.py

@@ -2,8 +2,9 @@ import struct
 from selfdrive.can.libdbc_py import libdbc, ffi
 
 
-class CANPacker(object):
+class CANPacker():
   def __init__(self, dbc_name):
+    dbc_name = dbc_name.encode('utf8')
     self.packer = libdbc.canpack_init(dbc_name)
     self.dbc = libdbc.dbc_lookup(dbc_name)
     self.sig_names = {}
@@ -13,16 +14,16 @@ class CANPacker(object):
     for i in range(num_msgs):
       msg = self.dbc[0].msgs[i]
 
-      name = ffi.string(msg.name)
+      name = ffi.string(msg.name).decode('utf8')
       address = msg.address
       self.name_to_address_and_size[name] = (address, msg.size)
       self.name_to_address_and_size[address] = (address, msg.size)
 
   def pack(self, addr, values, counter):
     values_thing = []
-    for name, value in values.iteritems():
+    for name, value in values.items():
       if name not in self.sig_names:
-        self.sig_names[name] = ffi.new("char[]", name)
+        self.sig_names[name] = ffi.new("char[]", name.encode('utf8'))
 
       values_thing.append({
         'name': self.sig_names[name],

selfdrive/can/tests/parser_old.py

@@ -5,7 +5,7 @@ from selfdrive.can.libdbc_py import libdbc, ffi
 
 CAN_INVALID_CNT = 5  # after so many consecutive CAN data with wrong checksum, counter or frequency, flag CAN invalidity
 
-class CANParser(object):
+class CANParser():
   def __init__(self, dbc_name, signals, checks=None, bus=0, sendcan=False, tcp_addr="127.0.0.1", timeout=-1):
     if checks is None:
       checks = []
@@ -16,7 +16,7 @@ class CANParser(object):
     self.ts = {}
 
     self.dbc_name = dbc_name
-    self.dbc = libdbc.dbc_lookup(dbc_name)
+    self.dbc = libdbc.dbc_lookup(dbc_name.encode('utf8'))
     self.msg_name_to_addres = {}
     self.address_to_msg_name = {}
 
@@ -24,7 +24,7 @@ class CANParser(object):
     for i in range(num_msgs):
       msg = self.dbc[0].msgs[i]
 
-      name = ffi.string(msg.name)
+      name = ffi.string(msg.name).decode('utf8')
       address = msg.address
 
       self.msg_name_to_addres[name] = address
@@ -48,7 +48,7 @@ class CANParser(object):
         c = (self.msg_name_to_addres[c[0]], c[1])
         checks[i] = c
 
-    sig_names = dict((name, ffi.new("char[]", name)) for name, _, _ in signals)
+    sig_names = dict((name, ffi.new("char[]", name.encode('utf8'))) for name, _, _ in signals)
 
     signal_options_c = ffi.new("SignalParseOptions[]", [
       {
@@ -66,8 +66,8 @@ class CANParser(object):
         'check_frequency': freq,
       } for msg_address, freq in message_options.items()])
 
-    self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
-                               len(signal_options_c), signal_options_c, sendcan, tcp_addr, timeout)
+    self.can = libdbc.can_init(bus, dbc_name.encode('utf8'), len(message_options_c), message_options_c,
+                               len(signal_options_c), signal_options_c, sendcan, tcp_addr.encode('utf8'), timeout)
 
     self.p_can_valid = ffi.new("bool*")
 
@@ -85,11 +85,11 @@ class CANParser(object):
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
     ret = set()
-    for i in xrange(can_values_len):
+    for i in range(can_values_len):
       cv = self.can_values[i]
       address = cv.address
       # print("{0} {1}".format(hex(cv.address), ffi.string(cv.name)))
-      name = ffi.string(cv.name)
+      name = ffi.string(cv.name).decode('utf8')
       self.vl[address][name] = cv.value
       self.ts[address][name] = cv.ts
 

selfdrive/can/tests/test_packer_chrysler.py

@@ -13,7 +13,7 @@ class TestPackerMethods(unittest.TestCase):
 
   def test_correctness(self):
     # Test all commands, randomize the params.
-    for _ in xrange(1000):
+    for _ in range(1000):
       gear = ('drive', 'reverse', 'low')[random.randint(0, 3) % 3]
       lkas_active = (random.randint(0, 2) % 2 == 0)
       hud_alert = random.randint(0, 6)

selfdrive/can/tests/test_packer_gm.py

@@ -17,7 +17,7 @@ class TestPackerMethods(unittest.TestCase):
 
   def test_correctness(self):
     # Test all cars' commands, randomize the params.
-    for _ in xrange(1000):
+    for _ in range(1000):
       bus = random.randint(0, 65536)
       apply_steer = (random.randint(0, 2) % 2 == 0)
       idx = random.randint(0, 65536)

selfdrive/can/tests/test_packer_honda.py

@@ -15,8 +15,8 @@ class TestPackerMethods(unittest.TestCase):
 
   def test_correctness(self):
     # Test all commands, randomize the params.
-    for _ in xrange(1000):
-      is_panda_black = False
+    for _ in range(1000):
+      has_relay = False
       car_fingerprint = HONDA_BOSCH[0]
 
       apply_brake = (random.randint(0, 2) % 2 == 0)
@@ -25,15 +25,15 @@ class TestPackerMethods(unittest.TestCase):
       pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0)
       fcw = random.randint(0, 65536)
       idx = random.randint(0, 65536)
-      m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
-      m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
+      m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay)
+      m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay)
       self.assertEqual(m_old, m)
 
       apply_steer = (random.randint(0, 2) % 2 == 0)
       lkas_active = (random.randint(0, 2) % 2 == 0)
       idx = random.randint(0, 65536)
-      m_old = hondacan.create_steering_control(self.honda_cp_old, apply_steer, lkas_active, car_fingerprint, idx, is_panda_black)
-      m = hondacan.create_steering_control(self.honda_cp, apply_steer, lkas_active, car_fingerprint, idx, is_panda_black)
+      m_old = hondacan.create_steering_control(self.honda_cp_old, apply_steer, lkas_active, car_fingerprint, idx, has_relay)
+      m = hondacan.create_steering_control(self.honda_cp, apply_steer, lkas_active, car_fingerprint, idx, has_relay)
       self.assertEqual(m_old, m)
 
       pcm_speed = random.randint(0, 65536)
@@ -41,14 +41,14 @@ class TestPackerMethods(unittest.TestCase):
               0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
       idx = random.randint(0, 65536)
       is_metric = (random.randint(0, 2) % 2 == 0)
-      m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black)
-      m = hondacan.create_ui_commands(self.honda_cp, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black)
+      m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay)
+      m = hondacan.create_ui_commands(self.honda_cp, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay)
       self.assertEqual(m_old, m)
 
       button_val = random.randint(0, 65536)
       idx = random.randint(0, 65536)
-      m_old = hondacan.spam_buttons_command(self.honda_cp_old, button_val, idx, car_fingerprint, is_panda_black)
-      m = hondacan.spam_buttons_command(self.honda_cp, button_val, idx, car_fingerprint, is_panda_black)
+      m_old = hondacan.spam_buttons_command(self.honda_cp_old, button_val, idx, car_fingerprint, has_relay)
+      m = hondacan.spam_buttons_command(self.honda_cp, button_val, idx, car_fingerprint, has_relay)
       self.assertEqual(m_old, m)
 
 

selfdrive/can/tests/test_packer_hyundai.py

@@ -14,7 +14,7 @@ class TestPackerMethods(unittest.TestCase):
 
   def test_correctness(self):
     # Test all commands, randomize the params.
-    for _ in xrange(1000):
+    for _ in range(1000):
       # Hyundai
       car_fingerprint = hyundai_checksum["crc8"][0]
       apply_steer = (random.randint(0, 2) % 2 == 0)

selfdrive/can/tests/test_packer_subaru.py

@@ -14,7 +14,7 @@ class TestPackerMethods(unittest.TestCase):
 
   def test_correctness(self):
     # Test all cars' commands, randomize the params.
-    for _ in xrange(1000):
+    for _ in range(1000):
       apply_steer = (random.randint(0, 2) % 2 == 0)
       frame = random.randint(1, 65536)
       steer_step = random.randint(1, 65536)

selfdrive/can/tests/test_packer_toyota.py

@@ -17,7 +17,7 @@ class TestPackerMethods(unittest.TestCase):
 
   def test_correctness(self):
     # Test all commands, randomize the params.
-    for _ in xrange(1000):
+    for _ in range(1000):
       # Toyota
       steer = random.randint(-1, 1)
       enabled = (random.randint(0, 2) % 2 == 0)
@@ -66,14 +66,14 @@ class TestPackerMethods(unittest.TestCase):
     left_lane_depart = (random.randint(0, 2) % 2 == 0)
     right_lane_depart = (random.randint(0, 2) % 2 == 0)
 
-    for _ in xrange(recursions):
+    for _ in range(recursions):
       create_ui_command(self.cp_old, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart)
     n2 = sec_since_boot()
     elapsed_old = n2 - n1
 
     # print('Old API, elapsed time: {} secs'.format(elapsed_old))
     n1 = sec_since_boot()
-    for _ in xrange(recursions):
+    for _ in range(recursions):
       create_ui_command(self.cp, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart)
     n2 = sec_since_boot()
     elapsed_new = n2 - n1

selfdrive/can/tests/test_parser.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 
 import os
 import unittest
@@ -45,7 +45,7 @@ def dicts_vals_differ(dict1, dict2):
 def run_route(route):
   can = messaging.pub_sock(service_list['can'].port)
 
-  CP = CarInterface.get_params(CAR.CIVIC, {})
+  CP = CarInterface.get_params(CAR.CIVIC)
   signals, checks = get_can_signals(CP)
   parser_old = CANParserOld(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=-1, tcp_addr="127.0.0.1")
   parser_new = CANParserNew(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=-1, tcp_addr="127.0.0.1")
@@ -95,7 +95,7 @@ class TestCanParser(unittest.TestCase):
     for route in self.routes.values():
       route_filename = route + ".bz2"
       if not os.path.isfile(route_filename):
-        with open(route + ".bz2", "w") as f:
+        with open(route + ".bz2", "wb") as f:
           f.write(requests.get(BASE_URL + route_filename).content)
 
   def test_parser_civic(self):

selfdrive/car/__init__.py

@@ -4,6 +4,9 @@ from common.numpy_fast import clip
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
+def gen_empty_fingerprint():
+  return {i: {} for i in range(0, 4)}
+
 # FIXME: hardcoding honda civic 2016 touring params so they can be used to
 # scale unknown params for other cars
 class CivicParams:
@@ -31,7 +34,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
                         (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE)
 
   return tire_stiffness_front, tire_stiffness_rear
-    
+
 def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
 
@@ -53,11 +56,10 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
     apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
                                     min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
 
-  return int(round(apply_torque))
+  return int(round(float(apply_torque)))
 
 
 def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-
   # limits due to comparison of commanded torque VS motor reported torque
   max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
   min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
@@ -74,7 +76,7 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq
                         apply_torque_last - LIMITS.STEER_DELTA_UP,
                         min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
 
-  return int(round(apply_torque))
+  return int(round(float(apply_torque)))
 
 
 def crc8_pedal(data):
@@ -106,8 +108,19 @@ def create_gas_command(packer, gas_amount, idx):
 
   dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
 
-  dat = [ord(i) for i in dat]
   checksum = crc8_pedal(dat[:-1])
   values["CHECKSUM_PEDAL"] = checksum
 
   return packer.make_can_msg("GAS_COMMAND", 0, values)
+
+
+def is_ecu_disconnected(fingerprint, fingerprint_list, ecu_fingerprint, car, ecu):
+  # check if a stock ecu is disconnected by looking for specific CAN msgs in the fingerprint
+  # return True if the reference car fingerprint contains the ecu fingerprint msg and
+  # fingerprint does not contains messages normally sent by a given ecu
+  ecu_in_car = False
+  for car_finger in fingerprint_list[car]:
+    if any(msg in car_finger for msg in ecu_fingerprint[ecu]):
+      ecu_in_car = True
+
+  return ecu_in_car and not any(msg in fingerprint for msg in ecu_fingerprint[ecu])

selfdrive/car/car_helpers.py

@@ -2,11 +2,12 @@ import os
 import zmq
 from cereal import car
 from common.params import Params
-from common.vin import get_vin, VIN_UNKNOWN
 from common.basedir import BASEDIR
-from common.fingerprints import eliminate_incompatible_cars, all_known_cars
+from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
+from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
+from selfdrive.car import gen_empty_fingerprint
 
 
 def get_one_can(logcan):
@@ -67,12 +68,7 @@ def only_toyota_left(candidate_cars):
 
 # BOUNTY: every added fingerprint in selfdrive/car/*/values.py is a $100 coupon code on shop.comma.ai
 # **** for use live only ****
-def fingerprint(logcan, sendcan, is_panda_black):
-  if os.getenv("SIMULATOR2") is not None:
-    return ("simulator2", None, "")
-  elif os.getenv("SIMULATOR") is not None:
-    return ("simulator", None, "")
-
+def fingerprint(logcan, sendcan, has_relay):
   params = Params()
   car_params = params.get("CarParams")
 
@@ -80,7 +76,7 @@ def fingerprint(logcan, sendcan, is_panda_black):
     # use already stored VIN: a new VIN query cannot be done, since panda isn't in ELM327 mode
     car_params = car.CarParams.from_bytes(car_params)
     vin = VIN_UNKNOWN if car_params.carVin == "" else car_params.carVin
-  elif is_panda_black:
+  elif has_relay:
     # Vin query only reliably works thorugh OBDII
     vin = get_vin(logcan, sendcan, 1)
   else:
@@ -89,7 +85,7 @@ def fingerprint(logcan, sendcan, is_panda_black):
   cloudlog.warning("VIN %s", vin)
   Params().put("CarVin", vin)
 
-  finger = {i: {} for i in range(0, 4)}  # collect on all buses
+  finger = gen_empty_fingerprint()
   candidate_cars = {i: all_known_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
   frame_fingerprint = 10  # 0.1s
@@ -105,10 +101,11 @@ def fingerprint(logcan, sendcan, is_panda_black):
       # and VIN query response.
       # Include bus 2 for toyotas to disambiguate cars using camera messages
       # (ideally should be done for all cars but we can't for Honda Bosch)
+      if can.src in range(0, 4):
+        finger[can.src][can.address] = len(can.dat)
       for b in candidate_cars:
         if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
            can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
-          finger[can.src][can.address] = len(can.dat)
           candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
 
     # if we only have one car choice and the time since we got our first
@@ -123,7 +120,7 @@ def fingerprint(logcan, sendcan, is_panda_black):
           car_fingerprint = candidate_cars[b][0]
 
     # bail if no cars left or we've been waiting for more than 2s
-    failed = all(len(cc) == 0 for cc in candidate_cars.itervalues()) or frame > 200
+    failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200
     succeeded = car_fingerprint is not None
     done = failed or succeeded
 
@@ -133,15 +130,15 @@ def fingerprint(logcan, sendcan, is_panda_black):
   return car_fingerprint, finger, vin
 
 
-def get_car(logcan, sendcan, is_panda_black=False):
+def get_car(logcan, sendcan, has_relay=False):
 
-  candidate, fingerprints, vin = fingerprint(logcan, sendcan, is_panda_black)
+  candidate, fingerprints, vin = fingerprint(logcan, sendcan, has_relay)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
   CarInterface, CarController = interfaces[candidate]
-  car_params = CarInterface.get_params(candidate, fingerprints[0], vin, is_panda_black)
+  car_params = CarInterface.get_params(candidate, fingerprints, vin, has_relay)
 
   return CarInterface(car_params, CarController), car_params

selfdrive/car/chrysler/carcontroller.py

@@ -11,7 +11,7 @@ class SteerLimitParams:
   STEER_ERROR_MAX = 80
 
 
-class CarController(object):
+class CarController():
   def __init__(self, dbc_name, car_fingerprint, enable_camera):
     self.braking = False
     # redundant safety check with the board

selfdrive/car/chrysler/carstate.py

@@ -77,7 +77,7 @@ def get_camera_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState(object):
+class CarState():
   def __init__(self, CP):
 
     self.CP = CP

selfdrive/car/chrysler/chryslercan.py

@@ -1,6 +1,7 @@
 from cereal import car
 
 
+GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 def calc_checksum(data):
@@ -48,7 +49,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
   # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
   if hud_alert == VisualAlert.steerRequired:
-    msg = '0000000300000000'.decode('hex')
+    msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
     return make_can_msg(0x2a6, msg)
 
   color = 1  # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
@@ -59,7 +60,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
     alerts = 1
   # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
   # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
-  if gear in ('drive', 'reverse', 'low'):
+  if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
     if lkas_active:
       color = 2  # control active, display green.
       lines = 6
@@ -86,7 +87,7 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
   }
 
   dat = packer.make_can_msg("LKAS_COMMAND", 0, values)[2]
-  dat = [ord(i) for i in dat][:-1]
+  dat = dat[:-1]
   checksum = calc_checksum(dat)
 
   values["CHECKSUM"] = checksum
@@ -95,8 +96,8 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
 
 def create_wheel_buttons(frame):
   # WHEEL_BUTTONS (571) Message sent to cancel ACC.
-  start = [0x01]  # acc cancel set
+  start = b"\x01"  # acc cancel set
   counter = (frame % 10) << 4
-  dat = start + [counter]
-  dat = dat + [calc_checksum(dat)]
-  return make_can_msg(0x23b, str(bytearray(dat)))
+  dat = start + counter.to_bytes(1, 'little')
+  dat = dat + calc_checksum(dat).to_bytes(1, 'little')
+  return make_can_msg(0x23b, dat)

selfdrive/car/chrysler/interface.py

@@ -1,16 +1,17 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
-from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car.chrysler.values import ECU, ECU_FINGERPRINT, CAR, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.interfaces import CarInterfaceBase
 
 GearShifter = car.CarState.GearShifter
 ButtonType = car.CarState.ButtonEvent.Type
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
     self.VM = VehicleModel(CP)
@@ -34,18 +35,14 @@ class CarInterface(object):
     return float(accel) / 3.0
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
 
     ret = car.CarParams.new_message()
 
     ret.carName = "chrysler"
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
 
     ret.safetyModel = car.CarParams.SafetyModel.chrysler
 
@@ -95,7 +92,7 @@ class CarInterface(object):
     ret.brakeMaxBP = [5., 20.]
     ret.brakeMaxV = [1., 0.8]
 
-    ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM) or is_panda_black
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
     print("ECU Camera Simulated: {0}".format(ret.enableCamera))
     ret.openpilotLongitudinalControl = False
 

selfdrive/car/chrysler/radar_interface.py

@@ -1,10 +1,11 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 from selfdrive.can.parser import CANParser
 from cereal import car
+from selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS_C = range(0x2c2, 0x2d4+2, 2)  # c_ messages 706,...,724
-RADAR_MSGS_D = range(0x2a2, 0x2b4+2, 2)  # d_ messages
+RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
+RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
 LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
@@ -45,10 +46,10 @@ def _address_to_track(address):
     return (address - RADAR_MSGS_D[0]) // 2
   raise ValueError("radar received unexpected address %d" % address)
 
-class RadarInterface(object):
+class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     self.pts = {}
-    self.delay = 0.0  # Delay of radar  #TUNE
+    self.delay = 0  # Delay of radar  #TUNE
     self.rcp = _create_radar_can_parser()
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG

selfdrive/car/chrysler/run_tests.sh

@@ -1 +0,0 @@
-PYTHONPATH=`realpath ../../../` python chryslercan_test.py

selfdrive/car/chrysler/test_chryslercan.py

@@ -1,55 +1,57 @@
-from selfdrive.car.chrysler import chryslercan
-from selfdrive.can.packer import CANPacker
+import unittest
 
 from cereal import car
+from selfdrive.can.packer import CANPacker
+from selfdrive.car.chrysler import chryslercan
+
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+GearShifter = car.CarState.GearShifter
 
-import unittest
 
 
 class TestChryslerCan(unittest.TestCase):
 
   def test_checksum(self):
-    self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20]))
-    self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
+    self.assertEqual(0x75, chryslercan.calc_checksum(b"\x01\x20"))
+    self.assertEqual(0xcc, chryslercan.calc_checksum(b"\x14\x00\x00\x00\x20"))
 
   def test_hud(self):
     packer = CANPacker('chrysler_pacifica_2017_hybrid')
     self.assertEqual(
-        [0x2a6, 0, '0100010100000000'.decode('hex'), 0],
+        [0x2a6, 0, b'\x01\x00\x01\x01\x00\x00\x00\x00', 0],
         chryslercan.create_lkas_hud(
             packer,
-            'park', False, False, 1, 0))
+            GearShifter.park, False, False, 1, 0))
     self.assertEqual(
-        [0x2a6, 0, '0100010000000000'.decode('hex'), 0],
+        [0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
         chryslercan.create_lkas_hud(
             packer,
-            'park', False, False, 5*4, 0))
+            GearShifter.park, False, False, 5*4, 0))
     self.assertEqual(
-        [0x2a6, 0, '0100010000000000'.decode('hex'), 0],
+        [0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
         chryslercan.create_lkas_hud(
             packer,
-            'park', False, False, 99999, 0))
+            GearShifter.park, False, False, 99999, 0))
     self.assertEqual(
-        [0x2a6, 0, '0200060000000000'.decode('hex'), 0],
+        [0x2a6, 0, b'\x02\x00\x06\x00\x00\x00\x00\x00', 0],
         chryslercan.create_lkas_hud(
             packer,
-            'drive', True, False, 99999, 0))
+            GearShifter.drive, True, False, 99999, 0))
     self.assertEqual(
-        [0x2a6, 0, '0264060000000000'.decode('hex'), 0],
+        [0x2a6, 0, b'\x02\x64\x06\x00\x00\x00\x00\x00', 0],
         chryslercan.create_lkas_hud(
             packer,
-            'drive', True, False, 99999, 0x64))
+            GearShifter.drive, True, False, 99999, 0x64))
 
   def test_command(self):
     packer = CANPacker('chrysler_pacifica_2017_hybrid')
     self.assertEqual(
-        [0x292, 0, '140000001086'.decode('hex'), 0],
+        [0x292, 0, b'\x14\x00\x00\x00\x10\x86', 0],
         chryslercan.create_lkas_command(
             packer,
             0, True, 1))
     self.assertEqual(
-        [0x292, 0, '040000008083'.decode('hex'), 0],
+        [0x292, 0, b'\x04\x00\x00\x00\x80\x83', 0],
         chryslercan.create_lkas_command(
             packer,
             0, False, 8))

selfdrive/car/chrysler/values.py

@@ -4,7 +4,7 @@ class CAR:
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
+  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # Also covers Pacifica 2017.
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # Also covers Tailhawk 2017.
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"
 
@@ -25,14 +25,15 @@ FINGERPRINTS = {
   ],
   CAR.PACIFICA_2018: [
     {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
+    {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
   ],
   CAR.PACIFICA_2018_HYBRID: [
-    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
+    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
     # based on 9ae7821dc4e92455|2019-07-01--16-42-55
     {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8},
   ],
   CAR.PACIFICA_2019_HYBRID: [
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
+    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
     # Based on 0607d2516fc2148f|2019-02-13--23-03-16
     {
       168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8
@@ -46,12 +47,12 @@ FINGERPRINTS = {
     # JEEP GRAND CHEROKEE V6 2018
     {55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
     # Jeep Grand Cherokee 2017 Trailhawk
-    {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
+    {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
   ],
   CAR.JEEP_CHEROKEE_2019: [
     # Jeep Grand Cherokee 2019 from Switzerland
     # 530: 8 is so far only in this Jeep.
-    {55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
+    {55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
   ],
 }
 
@@ -85,10 +86,5 @@ class ECU:
 
 
 ECU_FINGERPRINT = {
-  ECU.CAM: 0x2d9,   # steer torque cmd
+  ECU.CAM: [0x292],   # lkas cmd
 }
-
-
-def check_ecu_msgs(fingerprint, ecu):
-  # return True if fingerprint contains messages normally sent by a given ecu
-  return ECU_FINGERPRINT[ecu] in fingerprint

selfdrive/car/fingerprints.py

@@ -0,0 +1,62 @@
+import os
+from common.basedir import BASEDIR
+
+def get_fingerprint_list():
+  # read all the folders in selfdrive/car and return a dict where:
+  # - keys are all the car models for which we have a fingerprint
+  # - values are lists dicts of messages that constitute the unique
+  #   CAN fingerprint of each car model and all its variants
+  fingerprints = {}
+  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
+      if hasattr(values, 'FINGERPRINTS'):
+        car_fingerprints = values.FINGERPRINTS
+      else:
+        continue
+      for f, v in car_fingerprints.items():
+        fingerprints[f] = v
+    except (ImportError, IOError):
+      pass
+  return fingerprints
+
+
+_FINGERPRINTS = get_fingerprint_list()
+
+_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
+
+def is_valid_for_fingerprint(msg, car_fingerprint):
+  adr = msg.address
+  # ignore addresses that are more than 11 bits
+  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
+
+
+def eliminate_incompatible_cars(msg, candidate_cars):
+  """Removes cars that could not have sent msg.
+
+     Inputs:
+      msg: A cereal/log CanData message from the car.
+      candidate_cars: A list of cars to consider.
+
+     Returns:
+      A list containing the subset of candidate_cars that could have sent msg.
+  """
+  compatible_cars = []
+
+  for car_name in candidate_cars:
+    car_fingerprints = _FINGERPRINTS[car_name]
+
+    for fingerprint in car_fingerprints:
+      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
+
+      if is_valid_for_fingerprint(msg, fingerprint):
+        compatible_cars.append(car_name)
+        break
+
+  return compatible_cars
+
+
+def all_known_cars():
+  """Returns a list of all known car strings."""
+  return list(_FINGERPRINTS.keys())

selfdrive/car/ford/carcontroller.py

@@ -7,7 +7,7 @@ from selfdrive.can.packer import CANPacker
 MAX_STEER_DELTA = 1
 TOGGLE_DEBUG = False
 
-class CarController(object):
+class CarController():
   def __init__(self, dbc_name, enable_camera, vehicle_model):
     self.packer = CANPacker(dbc_name)
     self.enable_camera = enable_camera
@@ -48,7 +48,7 @@ class CarController(object):
 
       if (frame % 100) == 0:
 
-        can_sends.append(make_can_msg(973, '\x00\x00\x00\x00\x00\x00\x00\x00', 0, False))
+        can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0, False))
         #can_sends.append(make_can_msg(984, '\x00\x00\x00\x00\x80\x45\x60\x30', 0, False))
 
       if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.main_on) or \
@@ -56,29 +56,29 @@ class CarController(object):
         can_sends.append(create_lkas_ui(self.packer, CS.main_on, enabled, steer_alert))
 
       if (frame % 200) == 0:
-        can_sends.append(make_can_msg(1875, '\x80\xb0\x55\x55\x78\x90\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1, False))
 
       if (frame % 10) == 0:
 
-        can_sends.append(make_can_msg(1648, '\x00\x00\x00\x40\x00\x00\x50\x00', 1, False))
-        can_sends.append(make_can_msg(1649, '\x10\x10\xf1\x70\x04\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1, False))
+        can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1, False))
 
-        can_sends.append(make_can_msg(1664, '\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1, False))
-        can_sends.append(make_can_msg(1674, '\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1, False))
-        can_sends.append(make_can_msg(1675, '\x00\x00\x3b\x60\x37\x00\x00\x00', 1, False))
-        can_sends.append(make_can_msg(1690, '\x70\x00\x00\x55\x86\x1c\xe0\x00', 1, False))
+        can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1, False))
+        can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1, False))
+        can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1, False))
 
-        can_sends.append(make_can_msg(1910, '\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1, False))
-        can_sends.append(make_can_msg(1911, '\x48\x53\x37\x54\x48\x53\x37\x54', 1, False))
-        can_sends.append(make_can_msg(1912, '\x31\x34\x47\x30\x38\x31\x43\x42', 1, False))
-        can_sends.append(make_can_msg(1913, '\x31\x34\x47\x30\x38\x32\x43\x42', 1, False))
-        can_sends.append(make_can_msg(1969, '\xf4\x40\x00\x00\x00\x00\x00\x00', 1, False))
-        can_sends.append(make_can_msg(1971, '\x0b\xc0\x00\x00\x00\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1, False))
+        can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1, False))
+        can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1, False))
+        can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1, False))
+        can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1, False))
 
       static_msgs = range(1653, 1658)
       for addr in static_msgs:
         cnt = (frame % 10) + 1
-        can_sends.append(make_can_msg(addr, chr(cnt<<4) + '\x00\x00\x00\x00\x00\x00\x00', 1, False))
+        can_sends.append(make_can_msg(addr, (cnt<<4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1, False))
 
       self.enabled_last = enabled
       self.main_on_last = CS.main_on

selfdrive/car/ford/carstate.py

@@ -1,8 +1,8 @@
 from selfdrive.can.parser import CANParser
+from common.numpy_fast import mean
 from selfdrive.config import Conversions as CV
 from selfdrive.car.ford.values import DBC
 from common.kalman.simple_kalman import KF1D
-import numpy as np
 
 WHEEL_RADIUS = 0.33
 
@@ -32,7 +32,7 @@ def get_can_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
 
-class CarState(object):
+class CarState():
   def __init__(self, CP):
 
     self.CP = CP
@@ -62,7 +62,7 @@ class CarState(object):
     self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
     self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
     self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
-    v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
+    v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
 
     # Kalman filter
     if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed

selfdrive/car/ford/interface.py

@@ -1,15 +1,16 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.ford.carstate import CarState, get_can_parser
-from selfdrive.car.ford.values import MAX_ANGLE
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car.ford.values import MAX_ANGLE, ECU, ECU_FINGERPRINT, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.interfaces import CarInterfaceBase
 
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
     self.VM = VehicleModel(CP)
@@ -33,18 +34,14 @@ class CarInterface(object):
     return float(accel) / 3.0
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
 
     ret = car.CarParams.new_message()
 
     ret.carName = "ford"
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
 
     ret.safetyModel = car.CarParams.SafetyModel.ford
     ret.dashcamOnly = True
@@ -88,9 +85,9 @@ class CarInterface(object):
     ret.brakeMaxBP = [5., 20.]
     ret.brakeMaxV = [1., 0.8]
 
-    ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint) or is_panda_black
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
     ret.openpilotLongitudinalControl = False
-    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
+    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
 
     ret.steerLimitAlert = False
     ret.stoppingControl = False

selfdrive/car/ford/radar_interface.py

@@ -1,32 +1,32 @@
-#!/usr/bin/env python
-import os
-import numpy as np
-from selfdrive.can.parser import CANParser
+#!/usr/bin/env python3
 from cereal import car
+from selfdrive.can.parser import CANParser
+from selfdrive.car.ford.values import DBC
+from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS = range(0x500, 0x540)
+RADAR_MSGS = list(range(0x500, 0x540))
 
-def _create_radar_can_parser():
-  dbc_f = 'ford_fusion_2018_adas.dbc'
+def _create_radar_can_parser(car_fingerprint):
+  dbc_f = DBC[car_fingerprint]['radar']
   msg_n = len(RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                      RADAR_MSGS * 3,
                      [0] * msg_n + [0] * msg_n + [0] * msg_n))
   checks = list(zip(RADAR_MSGS, [20]*msg_n))
 
-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  return CANParser(dbc_f, signals, checks, 1)
 
-class RadarInterface(object):
+class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     # radar
     self.pts = {}
     self.validCnt = {key: 0 for key in RADAR_MSGS}
     self.track_id = 0
 
-    self.delay = 0.0  # Delay of radar
+    self.delay = 0  # Delay of radar
 
-    # Nidec
-    self.rcp = _create_radar_can_parser()
+    self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.trigger_msg = 0x53f
     self.updated_messages = set()
 
@@ -44,7 +44,7 @@ class RadarInterface(object):
       errors.append("canError")
     ret.errors = errors
 
-    for ii in self.updated_messages:
+    for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]
 
       if cpt['X_Rel'] > 0.00001:
@@ -63,7 +63,7 @@ class RadarInterface(object):
           self.pts[ii].trackId = self.track_id
           self.track_id += 1
         self.pts[ii].dRel = cpt['X_Rel']  # from front of car
-        self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * np.pi / 180.  # in car frame's y axis, left is positive
+        self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD  # in car frame's y axis, left is positive
         self.pts[ii].vRel = cpt['V_Rel']
         self.pts[ii].aRel = float('nan')
         self.pts[ii].yvRel = float('nan')
@@ -72,6 +72,6 @@ class RadarInterface(object):
         if ii in self.pts:
           del self.pts[ii]
 
-    ret.points = self.pts.values()
+    ret.points = list(self.pts.values())
     self.updated_messages.clear()
     return ret

selfdrive/car/ford/values.py

@@ -11,6 +11,13 @@ FINGERPRINTS = {
   }],
 }
 
+class ECU:
+  CAM = 0
+
+ECU_FINGERPRINT = {
+  ECU.CAM: [970, 973, 984]
+}
+
 DBC = {
   CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }

selfdrive/car/gm/carcontroller.py

@@ -68,7 +68,7 @@ def process_hud_alert(hud_alert):
     steer = 1
   return steer
 
-class CarController(object):
+class CarController():
   def __init__(self, canbus, car_fingerprint):
     self.pedal_steady = 0.
     self.start_time = 0.

selfdrive/car/gm/carstate.py

@@ -1,5 +1,5 @@
-import numpy as np
 from cereal import car
+from common.numpy_fast import mean
 from common.kalman.simple_kalman import KF1D
 from selfdrive.config import Conversions as CV
 from selfdrive.can.parser import CANParser
@@ -50,7 +50,7 @@ def get_powertrain_can_parser(CP, canbus):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], canbus.powertrain)
 
 
-class CarState(object):
+class CarState():
   def __init__(self, CP, canbus):
     self.CP = CP
     # initialize can parser
@@ -78,7 +78,7 @@ class CarState(object):
     self.v_wheel_fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
     self.v_wheel_rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
     self.v_wheel_rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
-    v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
+    v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
 
     if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.x = [[v_wheel], [0.0]]

selfdrive/car/gm/gmcan.py

@@ -24,7 +24,7 @@ def create_steering_control_ct6(packer, canbus, apply_steer, v_ego, idx, enabled
   dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
   # the checksum logic is weird
   values['LKASteeringCmdChecksum'] = (0x2a +
-                                      sum([ord(i) for i in dat][:4]) +
+                                      sum(dat[:4]) +
                                       values['LKASMode']) & 0x3ff
   # pack again with checksum
   dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
@@ -36,7 +36,7 @@ def create_steering_control_ct6(packer, canbus, apply_steer, v_ego, idx, enabled
 
 
 def create_adas_keepalive(bus):
-  dat = "\x00\x00\x00\x00\x00\x00\x00"
+  dat = b"\x00\x00\x00\x00\x00\x00\x00"
   return [[0x409, 0, dat, bus], [0x40a, 0, dat, bus]]
 
 def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
@@ -52,9 +52,9 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
-  values["GasRegenChecksum"] = (((0xff - ord(dat[1])) & 0xff) << 16) | \
-                               (((0xff - ord(dat[2])) & 0xff) << 8) | \
-                               ((0x100 - ord(dat[3]) - idx) & 0xff)
+  values["GasRegenChecksum"] = (((0xff -dat[1]) & 0xff) << 16) | \
+                               (((0xff - dat[2]) & 0xff) << 8) | \
+                               ((0x100 - dat[3] - idx) & 0xff)
 
   return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
 
@@ -106,13 +106,13 @@ def create_adas_time_status(bus, tt, idx):
   chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
   chksum = chksum & 0xfff
   dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
-  return [0xa1, 0, "".join(map(chr, dat)), bus]
+  return [0xa1, 0, bytes(dat), bus]
 
 def create_adas_steering_status(bus, idx):
   dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
   chksum = 0x60 + sum(dat)
   dat += [chksum >> 8, chksum & 0xff]
-  return [0x306, 0, "".join(map(chr, dat)), bus]
+  return [0x306, 0, bytes(dat), bus]
 
 def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   spd = int(speed_ms * 16) & 0xfff
@@ -125,24 +125,24 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
   chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
   dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
-  return [0x308, 0, "".join(map(chr, dat)), bus]
+  return [0x308, 0, bytes(dat), bus]
 
 def create_adas_headlights_status(bus):
-  return [0x310, 0, "\x42\x04", bus]
+  return [0x310, 0, b"\x42\x04", bus]
 
 def create_lka_icon_command(bus, active, critical, steer):
   if active and steer == 1:
     if critical:
-      dat = "\x50\xc0\x14"
+      dat = b"\x50\xc0\x14"
     else:
-      dat = "\x50\x40\x18"
+      dat = b"\x50\x40\x18"
   elif active:
     if critical:
-      dat = "\x40\xc0\x14"
+      dat = b"\x40\xc0\x14"
     else:
-      dat = "\x40\x40\x18"
+      dat = b"\x40\x40\x18"
   else:
-    dat = "\x00\x00\x00"
+    dat = b"\x00\x00\x00"
   return [0x104c006c, 0, dat, bus]
 
 # TODO: WIP

selfdrive/car/gm/interface.py

@@ -1,23 +1,24 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, \
-                                    SUPERCRUISE_CARS, AccState
+from selfdrive.car.gm.values import DBC, CAR, ECU, ECU_FINGERPRINT, \
+                                    SUPERCRUISE_CARS, AccState, FINGERPRINTS
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 
-class CanBus(object):
+class CanBus(CarInterfaceBase):
   def __init__(self):
     self.powertrain = 0
     self.obstacle = 1
     self.chassis = 2
     self.sw_gmlan = 3
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
 
@@ -42,24 +43,22 @@ class CarInterface(object):
     return float(accel) / 4.0
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
     ret = car.CarParams.new_message()
 
     ret.carName = "gm"
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
 
     ret.enableCruise = False
 
     # Presence of a camera on the object bus is ok.
     # Have to go to read_only if ASCM is online (ACC-enabled cars),
     # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint) or is_panda_black
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or \
+                       has_relay or \
+                       candidate == CAR.CADILLAC_CT6
     ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
     ret.safetyModelPassive = car.CarParams.SafetyModel.gmPassive

selfdrive/car/gm/radar_interface.py

@@ -1,11 +1,13 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
+from __future__ import print_function
 import math
 import time
-import numpy as np
 from cereal import car
 from selfdrive.can.parser import CANParser
 from selfdrive.car.gm.interface import CanBus
 from selfdrive.car.gm.values import DBC, CAR
+from selfdrive.config import Conversions as CV
+from selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_HEADER_MSG = 1120
 SLOT_1_MSG = RADAR_HEADER_MSG + 1
@@ -20,7 +22,7 @@ def create_radar_can_parser(canbus, car_fingerprint):
   dbc_f = DBC[car_fingerprint]['radar']
   if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
     # C1A-ARS3-A by Continental
-    radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
+    radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
     signals = list(zip(['FLRRNumValidTargets',
                    'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
                    'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
@@ -40,15 +42,15 @@ def create_radar_can_parser(canbus, car_fingerprint):
   else:
     return None
 
-class RadarInterface(object):
+class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     # radar
     self.pts = {}
 
-    self.delay = 0.0  # Delay of radar
+    self.delay = 0  # Delay of radar
 
     canbus = CanBus()
-    print "Using %d as obstacle CAN bus ID" % canbus.obstacle
+    print("Using %d as obstacle CAN bus ID" % canbus.obstacle)
     self.rcp = create_radar_can_parser(canbus, CP.carFingerprint)
 
     self.trigger_msg = LAST_RADAR_MSG
@@ -65,7 +67,6 @@ class RadarInterface(object):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-
     ret = car.RadarData.new_message()
     header = self.rcp.vl[RADAR_HEADER_MSG]
     fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
@@ -101,16 +102,15 @@ class RadarInterface(object):
         distance = cpt['TrkRange']
         self.pts[targetId].dRel = distance # from front of car
         # From driver's pov, left is positive
-        deg_to_rad = np.pi/180.
-        self.pts[targetId].yRel = math.sin(deg_to_rad * cpt['TrkAzimuth']) * distance
+        self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
         self.pts[targetId].vRel = cpt['TrkRangeRate']
         self.pts[targetId].aRel = float('nan')
         self.pts[targetId].yvRel = float('nan')
 
-    for oldTarget in self.pts.keys():
+    for oldTarget in list(self.pts.keys()):
       if not oldTarget in currentTargets:
         del self.pts[oldTarget]
 
-    ret.points = self.pts.values()
+    ret.points = list(self.pts.values())
     self.updated_messages.clear()
     return ret

selfdrive/car/gm/values.py

@@ -48,12 +48,12 @@ def parse_gear_shifter(can_gear):
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
   CAR.HOLDEN_ASTRA: [{
-    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
   }],
   CAR.VOLT: [
   # Volt Premier w/ ACC 2017
   {
-    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   },
   # Volt Premier w/ ACC 2018
   {
@@ -86,14 +86,11 @@ FINGERPRINTS = {
 
 STEER_THRESHOLD = 1.0
 
-STOCK_CONTROL_MSGS = {
-  CAR.HOLDEN_ASTRA: [384, 715],
-  CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.BUICK_REGAL: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.CADILLAC_CT6: [], # CT6 does not require ASCMs to be disconnected
+class ECU:
+  CAM = 0
+
+ECU_FINGERPRINT = {
+  ECU.CAM: [384, 715]  # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
 }
 
 DBC = {

selfdrive/car/honda/carcontroller.py

@@ -73,7 +73,7 @@ HUDData = namedtuple("HUDData",
                       "lanes", "fcw", "acc_alert", "steer_required"])
 
 
-class CarController(object):
+class CarController():
   def __init__(self, dbc_name):
     self.braking = False
     self.brake_steady = 0.

selfdrive/car/honda/carstate.py

@@ -1,4 +1,5 @@
 from cereal import car
+from collections import defaultdict
 from common.numpy_fast import interp
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.can_define import CANDefine
@@ -178,11 +179,12 @@ def get_cam_can_parser(CP):
   bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH  and not CP.isPandaBlack else 2
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
 
-class CarState(object):
+class CarState():
   def __init__(self, CP):
     self.CP = CP
     self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
     self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
+    self.steer_status_values = defaultdict(lambda: "UNKNOWN", self.can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
     self.user_gas, self.user_gas_pressed = 0., 0
     self.brake_switch_prev = 0
@@ -224,7 +226,6 @@ class CarState(object):
     self.prev_right_blinker_on = self.right_blinker_on
 
     # ******************* parse out can *******************
-
     if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc
       self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
@@ -237,11 +238,13 @@ class CarState(object):
                                       cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
 
-    # 2 = temporary; 3 = TBD; 4 = significant steering wheel torque; 5 = (permanent); 6 = temporary; 7 = (permanent)
-    # TODO: Use values from DBC to parse this field
-    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
-    self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS']  not in [0, 4]  # 4 can be caused by bump OR steering nudge from driver
-    self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3, 4]   # 3 is low speed lockout, not worth a warning
+    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]['STEER_STATUS']]
+    self.steer_error = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_1', 'NO_TORQUE_ALERT_2', 'LOW_SPEED_LOCKOUT', 'TMP_FAULT']
+    # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
+    self.steer_not_allowed = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_2']
+    # LOW_SPEED_LOCKOUT is not worth a warning
+    self.steer_warning = steer_status not in ['NORMAL', 'LOW_SPEED_LOCKOUT', 'NO_TORQUE_ALERT_2']
+
     if self.CP.radarOffCan:
       self.brake_error = 0
     else:
@@ -357,7 +360,7 @@ if __name__ == '__main__':
   import zmq
   context = zmq.Context()
 
-  class CarParams(object):
+  class CarParams():
     def __init__(self):
       self.carFingerprint = "HONDA CIVIC 2016 TOURING"
       self.enableGasInterceptor = 0

selfdrive/car/honda/hondacan.py

@@ -6,7 +6,6 @@ from selfdrive.car.honda.values import CAR, HONDA_BOSCH
 def can_cksum(mm):
   s = 0
   for c in mm:
-    c = ord(c)
     s += (c>>4)
     s += c & 0xF
   s = 8-s
@@ -15,19 +14,19 @@ def can_cksum(mm):
 
 
 def fix(msg, addr):
-  msg2 = msg[0:-1] + chr(ord(msg[-1]) | can_cksum(struct.pack("I", addr)+msg))
+  msg2 = msg[0:-1] + (msg[-1] | can_cksum(struct.pack("I", addr)+msg)).to_bytes(1, 'little')
   return msg2
 
 
-def get_pt_bus(car_fingerprint, is_panda_black):
-  return 1 if car_fingerprint in HONDA_BOSCH and is_panda_black else 0
+def get_pt_bus(car_fingerprint, has_relay):
+  return 1 if car_fingerprint in HONDA_BOSCH and has_relay else 0
 
 
-def get_lkas_cmd_bus(car_fingerprint, is_panda_black):
-  return 2 if car_fingerprint in HONDA_BOSCH and not is_panda_black else 0
+def get_lkas_cmd_bus(car_fingerprint, has_relay):
+  return 2 if car_fingerprint in HONDA_BOSCH and not has_relay else 0
 
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -49,23 +48,23 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
-  bus = get_pt_bus(car_fingerprint, is_panda_black)
+  bus = get_pt_bus(car_fingerprint, has_relay)
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, is_panda_black):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, has_relay):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
-  bus = get_lkas_cmd_bus(car_fingerprint, is_panda_black)
+  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
   return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
 
 
-def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black):
+def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay):
   commands = []
-  bus_pt = get_pt_bus(car_fingerprint, is_panda_black)
-  bus_lkas = get_lkas_cmd_bus(car_fingerprint, is_panda_black)
+  bus_pt = get_pt_bus(car_fingerprint, has_relay)
+  bus_lkas = get_lkas_cmd_bus(car_fingerprint, has_relay)
 
   if car_fingerprint not in HONDA_BOSCH:
     acc_hud_values = {
@@ -101,10 +100,10 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint, is_panda_black):
+def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
-  bus = get_pt_bus(car_fingerprint, is_panda_black)
+  bus = get_pt_bus(car_fingerprint, has_relay)
   return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)

selfdrive/car/honda/interface.py

@@ -1,5 +1,4 @@
-#!/usr/bin/env python
-import os
+#!/usr/bin/env python3
 import numpy as np
 from cereal import car
 from common.numpy_fast import clip, interp
@@ -9,11 +8,12 @@ from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
-from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, CAMERA_MSGS
-from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
-from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, ECU, ECU_FINGERPRINT, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V
+from selfdrive.car.interfaces import CarInterfaceBase
 
-A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
+A_ACC_MAX = max(_A_CRUISE_MAX_V)
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -72,7 +72,7 @@ def get_compute_gb_acura():
   return _compute_gb_acura
 
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
 
@@ -131,27 +131,28 @@ class CarInterface(object):
     return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
 
   @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
 
     ret = car.CarParams.new_message()
     ret.carName = "honda"
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
 
     if candidate in HONDA_BOSCH:
       ret.safetyModel = car.CarParams.SafetyModel.hondaBosch
-      ret.enableCamera = True
+      rdr_bus = 0 if has_relay else 2
+      ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
       ret.radarOffCan = True
       ret.openpilotLongitudinalControl = False
     else:
       ret.safetyModel = car.CarParams.SafetyModel.honda
-      ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint) or is_panda_black
-      ret.enableGasInterceptor = 0x201 in fingerprint
+      ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
+      ret.enableGasInterceptor = 0x201 in fingerprint[0]
       ret.openpilotLongitudinalControl = ret.enableCamera
 
-    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
-    cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
+    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
+    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
 
     ret.enableCruise = not ret.enableGasInterceptor
 
@@ -172,12 +173,8 @@ class CarInterface(object):
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       tire_stiffness_factor = 1.
-      # Civic at comma has modified steering FW, so different tuning for the Neo in that car
-      is_fw_modified = os.getenv("DONGLE_ID") in ['5b7c365c50084530']
-      if is_fw_modified:
-        ret.lateralTuning.pid.kf = 0.00004
 
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
       ret.longitudinalTuning.kiBP = [0., 35.]

selfdrive/car/honda/radar_interface.py

@@ -1,23 +1,25 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import time
 from cereal import car
 from selfdrive.can.parser import CANParser
+from common.realtime import DT_RDR
+from selfdrive.car.interfaces import RadarInterfaceBase
 
 def _create_nidec_can_parser():
   dbc_f = 'acura_ilx_2016_nidec.dbc'
-  radar_messages = [0x400] + range(0x430, 0x43A) + range(0x440, 0x446)
+  radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
   signals = list(zip(['RADAR_STATE'] +
                 ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
                 ['REL_SPEED'] * 16,
                 [0x400] + radar_messages[1:] * 4,
                 [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
   checks = list(zip([0x445], [20]))
-
-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  fn = os.path.splitext(dbc_f)[0].encode('utf8')
+  return CANParser(fn, signals, checks, 1)
 
 
-class RadarInterface(object):
+class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     # radar
     self.pts = {}
@@ -26,7 +28,7 @@ class RadarInterface(object):
     self.radar_wrong_config = False
     self.radar_off_can = CP.radarOffCan
 
-    self.delay = 0.1  # Delay of radar
+    self.delay = int(0.1 / DT_RDR)   # 0.1s delay of radar
 
     # Nidec
     self.rcp = _create_nidec_can_parser()
@@ -55,7 +57,7 @@ class RadarInterface(object):
   def _update(self, updated_messages):
     ret = car.RadarData.new_message()
 
-    for ii in updated_messages:
+    for ii in sorted(updated_messages):
       cpt = self.rcp.vl[ii]
       if ii == 0x400:
         # check for radar faults
@@ -85,6 +87,6 @@ class RadarInterface(object):
       errors.append("wrongConfig")
     ret.errors = errors
 
-    ret.points = self.pts.values()
+    ret.points = list(self.pts.values())
 
     return ret

selfdrive/car/honda/values.py

@@ -30,6 +30,9 @@ VISUAL_HUD = {
   VisualAlert.seatbeltUnbuckled: AH.SEATBELT,
   VisualAlert.speedTooHigh: AH.SPEED_TOO_HIGH}
 
+class ECU:
+  CAM = 0
+
 class CAR:
   ACCORD = "HONDA ACCORD 2018 SPORT 2T"
   ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
@@ -127,7 +130,7 @@ FINGERPRINTS = {
   },
   # 2019 Ridgeline
   {
-    57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422:8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5
+    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422:8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5
   }]
 }
 
@@ -196,7 +199,8 @@ SPEED_FACTOR = {
 
 # msgs sent for steering controller by camera module on can 0.
 # those messages are mutually exclusive on CRV and non-CRV cars
-CAMERA_MSGS = [0xe4, 0x194]
+ECU_FINGERPRINT = {
+  ECU.CAM: [0xE4, 0x194],   # steer torque cmd
+}
 
-# TODO: get these from dbc file
 HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G, CAR.CRV_HYBRID]

selfdrive/car/hyundai/carcontroller.py

@@ -16,7 +16,7 @@ class SteerLimitParams:
   STEER_DRIVER_MULTIPLIER = 2
   STEER_DRIVER_FACTOR = 1
 
-class CarController(object):
+class CarController():
   def __init__(self, dbc_name, car_fingerprint):
     self.apply_steer_last = 0
     self.car_fingerprint = car_fingerprint

selfdrive/car/hyundai/carstate.py

@@ -1,8 +1,10 @@
+from cereal import car
 from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD
 from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 
+GearShifter = car.CarState.GearShifter
 
 def get_can_parser(CP):
 
@@ -31,7 +33,7 @@ def get_can_parser(CP):
     ("CYL_PRES", "ESP12", 0),
 
     ("CF_Clu_CruiseSwState", "CLU11", 0),
-    ("CF_Clu_CruiseSwMain" , "CLU11", 0),
+    ("CF_Clu_CruiseSwMain", "CLU11", 0),
     ("CF_Clu_SldMainSW", "CLU11", 0),
     ("CF_Clu_ParityBit1", "CLU11", 0),
     ("CF_Clu_VanzDecimal" , "CLU11", 0),
@@ -48,7 +50,7 @@ def get_can_parser(CP):
     ("CF_Clu_InhibitN", "CLU15", 0),
     ("CF_Clu_InhibitR", "CLU15", 0),
 
-    ("CF_Lvr_Gear","LVR12",0),
+    ("CF_Lvr_Gear", "LVR12",0),
     ("CUR_GR", "TCU12",0),
 
     ("ACCEnable", "TCS13", 0),
@@ -122,7 +124,7 @@ def get_camera_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState(object):
+class CarState():
   def __init__(self, CP):
 
     self.CP = CP
@@ -211,38 +213,38 @@ class CarState(object):
     # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
     gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
     if gear == 5:
-      self.gear_shifter = "drive"
+      self.gear_shifter = GearShifter.drive
     elif gear == 6:
-      self.gear_shifter = "neutral"
+      self.gear_shifter = GearShifter.neutral
     elif gear == 0:
-      self.gear_shifter = "park"
+      self.gear_shifter = GearShifter.park
     elif gear == 7:
-      self.gear_shifter = "reverse"
+      self.gear_shifter = GearShifter.reverse
     else:
-      self.gear_shifter = "unknown"
+      self.gear_shifter = GearShifter.unknown
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
     if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
-      self.gear_shifter_cluster = "drive"
+      self.gear_shifter_cluster = GearShifter.drive
     elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
-      self.gear_shifter_cluster = "neutral"
+      self.gear_shifter_cluster = GearShifter.neutral
     elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
-      self.gear_shifter_cluster = "park"
+      self.gear_shifter_cluster = GearShifter.park
     elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
-      self.gear_shifter_cluster = "reverse"
+      self.gear_shifter_cluster = GearShifter.reverse
     else:
-      self.gear_shifter_cluster = "unknown"
+      self.gear_shifter_cluster = GearShifter.unknown
 
     # Gear Selecton via TCU12
     gear2 = cp.vl["TCU12"]["CUR_GR"]
     if gear2 == 0:
-      self.gear_tcu = "park"
+      self.gear_tcu = GearShifter.park
     elif gear2 == 14:
-      self.gear_tcu = "reverse"
+      self.gear_tcu = GearShifter.reverse
     elif gear2 > 0 and gear2 < 9:    # unaware of anything over 8 currently
-      self.gear_tcu = "drive"
+      self.gear_tcu = GearShifter.drive
     else:
-      self.gear_tcu = "unknown"
+      self.gear_tcu = GearShifter.unknown
 
     # save the entire LKAS11 and CLU11
     self.lkas11 = cp_cam.vl["LKAS11"]

selfdrive/car/hyundai/hyundaican.py

@@ -34,15 +34,13 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
 
   if car_fingerprint in CHECKSUM["crc8"]:
     # CRC Checksum as seen on 2019 Hyundai Santa Fe
-    dat = dat[:6] + dat[7]
+    dat = dat[:6] + dat[7:8]
     checksum = hyundai_checksum(dat)
   elif car_fingerprint in CHECKSUM["6B"]:
     # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
-    dat = [ord(i) for i in dat]
     checksum = sum(dat[:6]) % 256
   elif car_fingerprint in CHECKSUM["7B"]:
     # Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
-    dat = [ord(i) for i in dat]
     checksum = (sum(dat[:6]) + dat[7]) % 256
 
   values["CF_Lkas_Chksum"] = checksum
@@ -50,15 +48,15 @@ def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled,
   return packer.make_can_msg("LKAS11", 0, values)
 
 def create_lkas12():
-  return make_can_msg(1342, "\x00\x00\x00\x00\x60\x05", 0)
+  return make_can_msg(1342, b"\x00\x00\x00\x00\x60\x05", 0)
 
 
 def create_1191():
-  return make_can_msg(1191, "\x01\x00", 0)
+  return make_can_msg(1191, b"\x01\x00", 0)
 
 
 def create_1156():
-  return make_can_msg(1156, "\x08\x20\xfe\x3f\x00\xe0\xfd\x3f", 0)
+  return make_can_msg(1156, b"\x08\x20\xfe\x3f\x00\xe0\xfd\x3f", 0)
 
 def create_clu11(packer, clu11, button):
   values = {

selfdrive/car/hyundai/interface.py

@@ -1,16 +1,17 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
-from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts, FEATURES
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car.hyundai.values import ECU, ECU_FINGERPRINT, CAR, get_hud_alerts, FEATURES, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
+from selfdrive.car.interfaces import CarInterfaceBase
 
 GearShifter = car.CarState.GearShifter
 ButtonType = car.CarState.ButtonEvent.Type
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
     self.VM = VehicleModel(CP)
@@ -37,18 +38,14 @@ class CarInterface(object):
     return float(accel) / 3.0
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
 
     ret = car.CarParams.new_message()
 
     ret.carName = "hyundai"
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
     ret.radarOffCan = True
     ret.safetyModel = car.CarParams.SafetyModel.hyundai
     ret.enableCruise = True  # stock acc
@@ -143,7 +140,7 @@ class CarInterface(object):
     ret.brakeMaxBP = [0.]
     ret.brakeMaxV = [1.]
 
-    ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint) or is_panda_black
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
     ret.openpilotLongitudinalControl = False
 
     ret.steerLimitAlert = False

selfdrive/car/hyundai/radar_interface.py

@@ -1,18 +1,5 @@
-#!/usr/bin/env python
-import os
-import time
-from cereal import car
+#!/usr/bin/env python3
+from selfdrive.car.interfaces import RadarInterfaceBase
 
-class RadarInterface(object):
-  def __init__(self, CP):
-    # radar
-    self.pts = {}
-    self.delay = 0.1
-
-  def update(self, can_strings):
-    ret = car.RadarData.new_message()
-
-    if 'NO_RADAR_SLEEP' not in os.environ:
-      time.sleep(0.05)  # radard runs on RI updates
-
-    return ret
+class RadarInterface(RadarInterfaceBase):
+  pass

selfdrive/car/hyundai/values.py

@@ -25,7 +25,7 @@ class Buttons:
 
 FINGERPRINTS = {
   CAR.ELANTRA: [{
-    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
   CAR.GENESIS: [{
     67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
@@ -46,12 +46,17 @@ FINGERPRINTS = {
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
   },
   {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
   }
   ],
 }
 
-CAMERA_MSGS = [832, 1156, 1191, 1342]
+class ECU:
+  CAM = 0
+
+ECU_FINGERPRINT = {
+  ECU.CAM: [832, 1156, 1191, 1342]
+}
 
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE],

selfdrive/car/interfaces.py

@@ -0,0 +1,39 @@
+import os
+import time
+from cereal import car
+from selfdrive.car import gen_empty_fingerprint
+
+# generic car and radar interfaces
+
+class CarInterfaceBase():
+  def __init__(self, CP, CarController):
+    pass
+
+  @staticmethod
+  def calc_accel_override(a_ego, a_target, v_ego, v_target):
+    return 1.
+
+  @staticmethod
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
+    raise NotImplementedError
+
+  # returns a car.CarState, pass in car.CarControl
+  def update(self, c, can_strings):
+    raise NotImplementedError
+
+  # return sendcan, pass in a car.CarControl
+  def apply(self, c):
+    raise NotImplementedError
+
+class RadarInterfaceBase():
+  def __init__(self, CP):
+    self.pts = {}
+    self.delay = 0
+
+  def update(self, can_strings):
+    ret = car.RadarData.new_message()
+
+    if 'NO_RADAR_SLEEP' not in os.environ:
+      time.sleep(0.05)  # radard runs on RI updates
+
+    return ret

selfdrive/car/mock/interface.py

@@ -1,9 +1,11 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.services import service_list
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
+from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car.interfaces import CarInterfaceBase
 
 # mocked car interface to work with chffrplus
 TS = 0.01  # 100Hz
@@ -12,7 +14,7 @@ YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
 LPG = 2 * 3.1415 * YAW_FR * TS / (1 + 2 * 3.1415 * YAW_FR * TS)
 
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
 
     self.CP = CP
@@ -34,11 +36,7 @@ class CarInterface(object):
     return accel
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
 
     ret = car.CarParams.new_message()
 

selfdrive/car/mock/radar_interface.py

@@ -1,15 +1,5 @@
-#!/usr/bin/env python
-from cereal import car
-import time
+#!/usr/bin/env python3
+from selfdrive.car.interfaces import RadarInterfaceBase
 
-
-class RadarInterface(object):
-  def __init__(self, CP):
-    # radar
-    self.pts = {}
-    self.delay = 0.1
-
-  def update(self, can_strings):
-    ret = car.RadarData.new_message()
-    time.sleep(0.05)  # radard runs on RI updates
-    return ret
+class RadarInterface(RadarInterfaceBase):
+  pass

selfdrive/car/subaru/carcontroller.py

@@ -18,7 +18,7 @@ class CarControllerParams():
 
 
 
-class CarController(object):
+class CarController():
   def __init__(self, car_fingerprint):
     self.lkas_active = False
     self.steer_idx = 0

selfdrive/car/subaru/carstate.py

@@ -82,7 +82,7 @@ def get_camera_can_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState(object):
+class CarState():
   def __init__(self, CP):
     # initialize can parser
     self.CP = CP

selfdrive/car/subaru/interface.py

@@ -1,15 +1,16 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.subaru.values import CAR
+from selfdrive.car.subaru.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, ECU
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
+from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
 
@@ -34,24 +35,20 @@ class CarInterface(object):
     return float(accel) / 4.0
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
     ret = car.CarParams.new_message()
 
     ret.carName = "subaru"
     ret.radarOffCan = True
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
     ret.safetyModel = car.CarParams.SafetyModel.subaru
 
     ret.enableCruise = True
     ret.steerLimitAlert = True
 
-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
 
     ret.steerRateCost = 0.7
 

selfdrive/car/subaru/radar_interface.py

@@ -1,18 +1,5 @@
-#!/usr/bin/env python
-import os
-import time
-from cereal import car
+#!/usr/bin/env python3
+from selfdrive.car.interfaces import RadarInterfaceBase
 
-class RadarInterface(object):
-  def __init__(self, CP):
-    # radar
-    self.pts = {}
-    self.delay = 0.1
-
-  def update(self, can_strings):
-    ret = car.RadarData.new_message()
-    
-    if 'NO_RADAR_SLEEP' not in os.environ:
-      time.sleep(0.05)  # radard runs on RI updates
-
-    return ret
+class RadarInterface(RadarInterfaceBase):
+  pass

selfdrive/car/subaru/subarucan.py

@@ -6,7 +6,6 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 def subaru_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
-  dat = [ord(i) for i in dat]
   return (sum(dat[1:]) + (addr >> 8) + addr) & 0xff
 
 def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_step):

selfdrive/car/subaru/values.py

@@ -17,6 +17,13 @@ STEER_THRESHOLD = {
   CAR.IMPREZA: 80,
 }
 
+class ECU:
+  CAM = 0
+
+ECU_FINGERPRINT = {
+  ECU.CAM: [290, 356],   # steer torque cmd
+}
+
 DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
 }

selfdrive/car/toyota/carcontroller.py

@@ -89,7 +89,7 @@ def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_
     return False, 0
 
 
-class CarController(object):
+class CarController():
   def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_apg):
     self.braking = False
     # redundant safety check with the board
@@ -257,14 +257,14 @@ class CarController(object):
         # special cases
         if fr_step == 5 and ecu == ECU.CAM and bus == 1:
           cnt = (((frame // 5) % 7) + 1) << 5
-          vl = chr(cnt) + vl
+          vl = bytes([cnt]) + vl
         elif addr in (0x489, 0x48a) and bus == 0:
           # add counter for those 2 messages (last 4 bits)
           cnt = ((frame // 100) % 0xf) + 1
           if addr == 0x48a:
             # 0x48a has a 8 preceding the counter
             cnt += 1 << 7
-          vl += chr(cnt)
+          vl += bytes([cnt])
 
         can_sends.append(make_can_msg(addr, vl, bus, False))
 

selfdrive/car/toyota/carstate.py

@@ -1,5 +1,5 @@
-import numpy as np
 from cereal import car
+from common.numpy_fast import mean
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.can_define import CANDefine
 from selfdrive.can.parser import CANParser
@@ -15,7 +15,7 @@ def parse_gear_shifter(gear, vals):
   try:
     return val_to_capnp[vals[gear]]
   except KeyError:
-    return "unknown"
+    return GearShifter.unknown
 
 
 def get_can_parser(CP):
@@ -110,7 +110,7 @@ def get_cam_can_parser(CP):
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
 
-class CarState(object):
+class CarState():
   def __init__(self, CP):
 
     self.CP = CP
@@ -158,7 +158,7 @@ class CarState(object):
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
     self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
+    v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
 
     # Kalman filter
     if abs(v_wheel - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed

selfdrive/car/toyota/interface.py

@@ -1,17 +1,18 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
-from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR, TSS2_CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.car.toyota.values import ECU, ECU_FINGERPRINT, CAR, NO_STOP_TIMER_CAR, TSS2_CAR, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.swaglog import cloudlog
+from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 
-class CarInterface(object):
+class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController):
     self.CP = CP
     self.VM = VehicleModel(CP)
@@ -38,18 +39,14 @@ class CarInterface(object):
     return float(accel) / 3.0
 
   @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.0
-
-  @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
 
     ret = car.CarParams.new_message()
 
     ret.carName = "toyota"
     ret.carFingerprint = candidate
     ret.carVin = vin
-    ret.isPandaBlack = is_panda_black
+    ret.isPandaBlack = has_relay
 
     ret.safetyModel = car.CarParams.SafetyModel.toyota
 
@@ -219,6 +216,16 @@ class CarInterface(object):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    elif candidate == CAR.LEXUS_CTH:
+      stop_and_go = True
+      ret.safetyParam = 100
+      ret.wheelbase = 2.60
+      ret.steerRatio = 18.6
+      tire_stiffness_factor = 0.517
+      ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      ret.lateralTuning.pid.kf = 0.00007
+
     elif candidate == CAR.LEXUS_ISH:
       stop_and_go = True # set to true because it's a hybrid
       ret.safetyParam = 66
@@ -229,26 +236,9 @@ class CarInterface(object):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
-    elif candidate == CAR.LEXUS_CTH:
-      stop_and_go = True
-      ret.safetyParam = 100  # see conversion factor for STEER_TORQUE_EPS in dbc file
-      ret.wheelbase = 2.60
-      ret.steerRatio = 18.6  # 0.5.10
-      tire_stiffness_factor = 0.517  # 0.5.10
-      ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
-      ret.lateralTuning.pid.kf = 0.00007  # full torque for 10 deg at 80mph means 0.00007818594
-
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
-    #detect the Pedal address
-    ret.enableGasInterceptor = 0x201 in fingerprint
-
-    # min speed to enable ACC. if car can do stop and go, then set enabling speed
-    # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
-
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -268,14 +258,19 @@ class CarInterface(object):
     ret.brakeMaxBP = [0.]
     ret.brakeMaxV = [1.]
 
-    ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM, candidate) or is_panda_black
-    ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU, candidate) or (is_panda_black and candidate in TSS2_CAR)
-    ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
+    ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.DSU) or (has_relay and candidate in TSS2_CAR)
+    ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.APGS)
+    ret.enableGasInterceptor = 0x201 in fingerprint[0]
     ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
-    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
-    cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
-    cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
-    cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
+    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
+    cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
+    cloudlog.warning("ECU APGS Simulated: %r", ret.enableApgs)
+    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
+
+    # min speed to enable ACC. if car can do stop and go, then set enabling speed
+    # to a negative value, so it won't matter.
+    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
 
     ret.steerLimitAlert = False
 
@@ -303,10 +298,7 @@ class CarInterface(object):
   def update(self, c, can_strings):
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
-
-    # run the cam can update for 10s as we just need to know if the camera is alive
-    if self.frame < 1000:
-      self.cp_cam.update_strings(can_strings)
+    self.cp_cam.update_strings(can_strings)
 
     self.CS.update(self.cp)
 
@@ -391,6 +383,8 @@ class CarInterface(object):
     if self.cp_cam.can_valid:
       self.forwarding_camera = True
 
+    if self.cp_cam.can_invalid_cnt >= 100 and self.CP.enableCamera:
+      events.append(create_event('invalidGiraffeToyota', [ET.PERMANENT]))
     if not ret.gearShifter == GearShifter.drive and self.CP.enableDsu:
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:

selfdrive/car/toyota/radar_interface.py

@@ -1,9 +1,10 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import time
 from selfdrive.can.parser import CANParser
 from cereal import car
 from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
+from selfdrive.car.interfaces import RadarInterfaceBase
 
 def _create_radar_can_parser(car_fingerprint):
   dbc_f = DBC[car_fingerprint]['radar']
@@ -18,22 +19,22 @@ def _create_radar_can_parser(car_fingerprint):
   msg_a_n = len(RADAR_A_MSGS)
   msg_b_n = len(RADAR_B_MSGS)
 
-  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
+  signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
                 ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
                 RADAR_A_MSGS * 5 + RADAR_B_MSGS,
-                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
+                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n))
 
-  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
+  checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
 
-class RadarInterface(object):
+class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     # radar
     self.pts = {}
     self.track_id = 0
 
-    self.delay = 0.0  # Delay of radar
+    self.delay = 0  # Delay of radar
 
     if CP.carFingerprint in TSS2_CAR:
       self.RADAR_A_MSGS = list(range(0x180, 0x190))
@@ -75,7 +76,7 @@ class RadarInterface(object):
       errors.append("canError")
     ret.errors = errors
 
-    for ii in updated_messages:
+    for ii in sorted(updated_messages):
       if ii in self.RADAR_A_MSGS:
         cpt = self.rcp.vl[ii]
 
@@ -105,5 +106,5 @@ class RadarInterface(object):
           if ii in self.pts:
             del self.pts[ii]
 
-    ret.points = self.pts.values()
+    ret.points = list(self.pts.values())
     return ret

selfdrive/car/toyota/toyotacan.py

@@ -10,7 +10,7 @@ def fix(msg, addr):
 
   checksum = idh + idl + len(msg) + 1
   for d_byte in msg:
-    checksum += ord(d_byte)
+    checksum += d_byte
 
   #return msg + chr(checksum & 0xFF)
   return msg + struct.pack("B", checksum & 0xFF)

selfdrive/car/toyota/values.py

@@ -18,8 +18,8 @@ class CAR:
   LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
   SIENNA = "TOYOTA SIENNA XLE 2018"
   LEXUS_IS = "LEXUS IS300 2018"
-  LEXUS_ISH = "LEXUS IS300h 2017"
   LEXUS_CTH = "LEXUS CT 200H 2018"
+  LEXUS_ISH = "LEXUS IS300h 2017"
 
 
 class ECU:
@@ -30,62 +30,56 @@ class ECU:
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
-  (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-  (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, '\x06\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
-  (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
-  (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, b'\x00\x00\x00\x00\x00\x00\x38'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, b'\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, b'\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, b'\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, b'\x00\x10\x01\x00\x10\x01\x00'),
+  (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, b'\x00\x00\x00\x00\x00\x00\x01'),
+  (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, b'\x06\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, b'\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, b'\x20\x20\xAD'),
+  (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, b'\x24\x20\xB1'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, b'\x66\x06\x08\x0a\x02\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, b'\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
-  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
-  (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1,   3, '\x03\x00\x20\x00\x00\x52'),
-  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 1,   2, '\x00\x00\x00\x46'),
-  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA), 1,  7, '\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 1, 100, '\x00\x00\x02\x7a'),
-  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA), 1,  100, '\x00\x00\x01\x79'),
-  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 
-  (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
-  (0x32E, ECU.APGS, (CAR.PRIUS), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (0x396, ECU.APGS, (CAR.PRIUS), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
-  (0x43A, ECU.APGS, (CAR.PRIUS), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
-  (0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (0x497, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
-  (0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
+  (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
+  (0x32E, ECU.APGS, (CAR.PRIUS), 0,  20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (0x396, ECU.APGS, (CAR.PRIUS), 0, 100, b'\xBD\x00\x00\x00\x60\x0F\x02\x00'),
+  (0x43A, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x84\x00\x00\x00\x00\x00\x00\x00'),
+  (0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (0x497, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x0D\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 ECU_FINGERPRINT = {
-  ECU.CAM: 0x2e4,   # steer torque cmd
-  ECU.DSU: 0x343,   # accel cmd
-  ECU.APGS: 0x835,  # angle cmd
+  ECU.CAM: [0x2e4],   # steer torque cmd
+  ECU.DSU: [0x343],   # accel cmd
+  ECU.APGS: [0x835],  # angle cmd
 }
 
 
-def check_ecu_msgs(fingerprint, ecu, car):
-  # return True if the reference car fingerprint doesn't contain the ecu fingerprint msg or
-  # fingerprint contains messages normally sent by a given ecu
-  return any(ECU_FINGERPRINT[ecu] not in finger for finger in FINGERPRINTS[car]) or ECU_FINGERPRINT[ecu] in fingerprint
-
-
 FINGERPRINTS = {
   CAR.RAV4: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
@@ -159,7 +153,7 @@ FINGERPRINTS = {
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.HIGHLANDER: [{
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1992: 8, 1996: 8, 1990: 8, 1998: 8
   },
   # 2019 Highlander XLE
   {
@@ -171,6 +165,9 @@ FINGERPRINTS = {
   }],
   CAR.HIGHLANDERH: [{
     36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  {
+    36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.AVALON: [{
     36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -223,9 +220,8 @@ FINGERPRINTS = {
     36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8
   },
   {
-    # CT200h FP from thomaspich
     36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }],
+  }]
 }
 
 STEER_THRESHOLD = 100
@@ -248,8 +244,8 @@ DBC = {
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
-  CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]

selfdrive/car/vin.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+import selfdrive.messaging as messaging
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+
+VIN_UNKNOWN = "0" * 17
+
+# sanity checks on response messages from vin query
+def is_vin_response_valid(can_dat, step, cnt):
+  if len(can_dat) != 8:
+    # ISO-TP meesages are all 8 bytes
+    return False
+
+  if step == 0:
+    # VIN does not fit in a single message and it's 20 bytes of data
+    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
+       return False
+
+  if step == 1 and cnt == 0:
+    # first response after a CONTINUE query is sent
+    if can_dat[0] != 0x21:
+       return False
+
+  if step == 1 and cnt == 1:
+    # second response after a CONTINUE query is sent
+    if can_dat[0] != 0x22:
+       return False
+
+  return True
+
+
+class VinQuery():
+  def __init__(self, bus):
+    self.bus = bus
+    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+    self.query_ext_msgs = [[0x18DB33F1, 0, b'\x02\x09\x02'.ljust(8, b"\x00"), bus],
+                           [0x18DA10f1, 0, b'\x30'.ljust(8, b"\x00"), bus]]
+    self.query_nor_msgs = [[0x7df, 0, b'\x02\x09\x02'.ljust(8, b"\x00"), bus],
+                           [0x7e0, 0, b'\x30'.ljust(8, b"\x00"), bus]]
+
+    self.cnts = [1, 2]  # number of messages to wait for at each iteration
+    self.step = 0
+    self.cnt = 0
+    self.responded = False
+    self.never_responded = True
+    self.dat = b""
+    self.vin = VIN_UNKNOWN
+
+  def check_response(self, msg):
+    # have we got a VIN query response?
+    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
+      self.never_responded = False
+      # basic sanity checks on ISO-TP response
+      if is_vin_response_valid(msg.dat, self.step, self.cnt):
+        self.dat += bytes(msg.dat[2:]) if self.step == 0 else bytes(msg.dat[1:])
+        self.cnt += 1
+        if self.cnt == self.cnts[self.step]:
+          self.responded = True
+          self.step += 1
+
+  def send_query(self, sendcan):
+    # keep sending VIN qury if ECU isn't responsing.
+    # sendcan is probably not ready due to the zmq slow joiner syndrome
+    if self.never_responded or (self.responded and self.step < len(self.cnts)):
+      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
+      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
+      self.responded = False
+      self.cnt = 0
+
+  def get_vin(self):
+    # only report vin if procedure is finished
+    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
+      self.vin = self.dat[3:].decode('utf8')
+    return self.vin
+
+
+def get_vin(logcan, sendcan, bus, query_time=1.):
+  vin_query = VinQuery(bus)
+  frame = 0
+
+  # 1s max of VIN query time
+  while frame < query_time * 100:
+    a = messaging.recv_one(logcan)
+
+    for can in a.can:
+      vin_query.check_response(can)
+
+    vin_query.send_query(sendcan)
+    frame += 1
+
+  return vin_query.get_vin()
+
+
+if __name__ == "__main__":
+  from selfdrive.services import service_list
+  logcan = messaging.sub_sock(service_list['can'].port)
+  sendcan = messaging.pub_sock(service_list['sendcan'].port)
+  print(get_vin(logcan, sendcan, 0))

selfdrive/common/params.cc

@@ -16,6 +16,7 @@
 #include "common/util.h"
 #include "common/utilpp.h"
 
+
 namespace {
 
 template <typename T>
@@ -28,8 +29,42 @@ static const char* default_params_path = null_coalesce(
 
 }  // namespace
 
+static int fsync_dir(const char* path){
+  int result = 0;
+  int fd = open(path, O_RDONLY);
+
+  if (fd < 0){
+    result = -1;
+    goto cleanup;
+  }
+
+  result = fsync(fd);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+ cleanup:
+  int result_close = 0;
+  if (fd >= 0){
+    result_close = close(fd);
+  }
+
+  if (result_close < 0) {
+    return result_close;
+  } else {
+    return result;
+  }
+}
+
 int write_db_value(const char* params_path, const char* key, const char* value,
                    size_t value_size) {
+  // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
+  // 1) Create temp file
+  // 2) Write data to temp file
+  // 3) fsync() the temp file
+  // 4) rename the temp file to the real name
+  // 5) fsync() the containing directory
+
   int lock_fd = -1;
   int tmp_fd = -1;
   int result;
@@ -55,12 +90,14 @@ int write_db_value(const char* params_path, const char* key, const char* value,
     goto cleanup;
   }
 
+  // Build lock path
   result = snprintf(path, sizeof(path), "%s/.lock", params_path);
   if (result < 0) {
     goto cleanup;
   }
   lock_fd = open(path, 0);
 
+  // Build key path
   result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
   if (result < 0) {
     goto cleanup;
@@ -80,6 +117,20 @@ int write_db_value(const char* params_path, const char* key, const char* value,
 
   // Move temp into place.
   result = rename(tmp_path, path);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // fsync parent directory
+  result = snprintf(path, sizeof(path), "%s/d", params_path);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  result = fsync_dir(path);
+  if (result < 0) {
+    goto cleanup;
+  }
 
 cleanup:
   // Release lock.
@@ -95,6 +146,60 @@ cleanup:
   return result;
 }
 
+int delete_db_value(const char* params_path, const char* key) {
+  int lock_fd = -1;
+  int result;
+  char path[1024];
+
+  if (params_path == NULL) {
+    params_path = default_params_path;
+  }
+
+  // Build lock path, and open lockfile
+  result = snprintf(path, sizeof(path), "%s/.lock", params_path);
+  if (result < 0) {
+    goto cleanup;
+  }
+  lock_fd = open(path, 0);
+
+  // Take lock.
+  result = flock(lock_fd, LOCK_EX);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // Build key path
+  result = snprintf(path, sizeof(path), "%s/d/%s", params_path, key);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  // Delete value.
+  result = remove(path);
+  if (result != 0) {
+    result = ERR_NO_VALUE;
+    goto cleanup;
+  }
+
+  // fsync parent directory
+  result = snprintf(path, sizeof(path), "%s/d", params_path);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+  result = fsync_dir(path);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+cleanup:
+  // Release lock.
+  if (lock_fd >= 0) {
+    close(lock_fd);
+  }
+  return result;
+}
+
 int read_db_value(const char* params_path, const char* key, char** value,
                   size_t* value_sz) {
   int lock_fd = -1;

selfdrive/common/params.h

@@ -7,6 +7,8 @@
 extern "C" {
 #endif
 
+#define ERR_NO_VALUE -33
+
 int write_db_value(const char* params_path, const char* key, const char* value,
                    size_t value_size);
 
@@ -23,6 +25,10 @@ int write_db_value(const char* params_path, const char* key, const char* value,
 int read_db_value(const char* params_path, const char* key, char** value,
                   size_t* value_sz);
 
+// Delete a value from the params database.
+// Inputs are the same as read_db_value, without value and value_sz.
+int delete_db_value(const char* params_path, const char* key);
+
 // Reads a value from the params database, blocking until successful.
 // Inputs are the same as read_db_value.
 void read_db_value_blocking(const char* params_path, const char* key,

selfdrive/common/spinner.c

@@ -4,6 +4,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <assert.h>
+#include <ctype.h>
 
 #include <GLES3/gl3.h>
 #include <EGL/egl.h>
@@ -17,6 +18,8 @@
 #include "framebuffer.h"
 #include "spinner.h"
 
+#define SPINTEXT_LENGTH 128
+
 // external resources linked in
 extern const unsigned char _binary_opensans_semibold_ttf_start[];
 extern const unsigned char _binary_opensans_semibold_ttf_end[];
@@ -27,14 +30,30 @@ extern const unsigned char _binary_img_spinner_track_png_end[];
 extern const unsigned char _binary_img_spinner_comma_png_start[];
 extern const unsigned char _binary_img_spinner_comma_png_end[];
 
+bool stdin_input_available() {
+  struct timeval timeout;
+  timeout.tv_sec = 0;
+  timeout.tv_usec = 0;
+
+  fd_set fds;
+  FD_ZERO(&fds);
+  FD_SET(STDIN_FILENO, &fds);
+  select(STDIN_FILENO+1, &fds, NULL, NULL, &timeout);
+  return (FD_ISSET(0, &fds));
+}
+
 int spin(int argc, char** argv) {
   int err;
 
-  const char* spintext = NULL;
-  if (argc == 1) {
-    spintext = argv[0];
-  } else if (argc >= 2) {
-    spintext = argv[1];
+  bool draw_progress = false;
+  float progress_val = 0.0;
+
+  char spintext[SPINTEXT_LENGTH];
+  spintext[0] = 0;
+
+  const char* spintext_arg = NULL;
+  if (argc >= 2) {
+    strncpy(spintext, argv[1], SPINTEXT_LENGTH);
   }
 
   // spinner
@@ -62,6 +81,30 @@ int spin(int argc, char** argv) {
   assert(spinner_comma_img >= 0);
 
   for (int cnt = 0; ; cnt++) {
+    // Check stdin for new text
+    if (stdin_input_available()){
+      fgets(spintext, SPINTEXT_LENGTH, stdin);
+      spintext[strcspn(spintext, "\n")] = 0;
+
+      // Check if number (update progress bar)
+      size_t len = strlen(spintext);
+      bool is_number = len > 0;
+      for (int i = 0; i < len; i++){
+        if (!isdigit(spintext[i])){
+          is_number = false;
+          break;
+        }
+      }
+
+      if (is_number) {
+        progress_val = (float)(atoi(spintext)) / 100.0;
+        progress_val = fmin(1.0, progress_val);
+        progress_val = fmax(0.0, progress_val);
+      }
+
+      draw_progress = is_number;
+    }
+
     glClearColor(0.1, 0.1, 0.1, 1.0);
     glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
     glEnable(GL_BLEND);
@@ -97,8 +140,36 @@ int spin(int argc, char** argv) {
     nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
     nvgFill(vg);
 
-    // message
-    if (spintext) {
+    if (draw_progress){
+      // draw progress bar
+      int progress_width = 1000;
+      int progress_x = fb_w/2-progress_width/2;
+      int progress_y = 775;
+      int progress_height = 25;
+
+      NVGpaint paint = nvgBoxGradient(
+          vg, progress_x + 1, progress_y + 1,
+          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
+      nvgBeginPath(vg);
+      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+
+      int bar_pos = ((progress_width - 2) * progress_val);
+
+      paint = nvgBoxGradient(
+          vg, progress_x, progress_y,
+          bar_pos+1.5f, progress_height-1, 3, 4,
+          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
+
+      nvgBeginPath(vg);
+      nvgRoundedRect(
+          vg, progress_x+1, progress_y+1,
+          bar_pos, progress_height-2, 12);
+      nvgFillPaint(vg, paint);
+      nvgFill(vg);
+    } else {
+      // message
       nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
       nvgFontSize(vg, 96.0f);
       nvgText(vg, fb_w/2, (fb_h*2/3)+24, spintext, NULL);

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.6.4-release"
+#define COMMA_VERSION "0.6.5-release"

selfdrive/controls/controlsd.py

@@ -1,7 +1,9 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import os
 import gc
+import json
 import capnp
+import zmq
 from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
@@ -31,6 +33,7 @@ from selfdrive.locationd.calibration_helpers import Calibration, Filter
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
+HwType = log.HealthData.HwType
 
 
 def isActive(state):
@@ -52,12 +55,12 @@ def events_to_bytes(events):
   return ret
 
 
-def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
+def data_sample(CI, CC, sm, can_poller, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
                 driver_status, state, mismatch_counter, params):
   """Receive data from sockets and create events for battery, temperature and disk space"""
 
   # Update carstate from CAN and create events
-  can_strs = messaging.drain_sock_raw(can_sock, wait_for_one=True)
+  can_strs = messaging.drain_sock_raw_poller(can_poller, can_sock, wait_for_one=True)
   CS = CI.update(CC, can_strs)
 
   sm.update(0)
@@ -87,7 +90,7 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
     is_rhd = is_rhd_region(sm['gpsLocation'].latitude, sm['gpsLocation'].longitude)
     driver_status.is_rhd_region = is_rhd
     driver_status.is_rhd_region_checked = True
-    put_nonblocking("IsRHD", str(int(is_rhd)))
+    put_nonblocking("IsRHD", "1" if is_rhd else "0")
 
   # Handle calibration
   if sm.updated['liveCalibration']:
@@ -217,7 +220,7 @@ def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_
 
 
 def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
-                  AM, rk, driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc):
+                  AM, rk, driver_status, LaC, LoC, read_only, is_metric, cal_perc):
   """Given the state, this function returns an actuators packet"""
 
   actuators = car.CarControl.Actuators.new_message()
@@ -264,7 +267,7 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
                                               v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
   # Steering PID loop and lateral MPC
-  actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CP, VM, path_plan)
+  actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CP, path_plan)
 
   # Send a "steering required alert" if saturation count has reached the limit
   if LaC.sat_flag and CP.steerLimitAlert:
@@ -342,7 +345,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
     "alertBlinkingRate": AM.alert_rate,
     "alertType": AM.alert_type,
     "alertSound": AM.audible_alert,
-    "awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
+    "awarenessStatus": max(driver_status.awareness, -0.1) if isEnabled(state) else 1.0,
     "driverMonitoringOn": bool(driver_status.face_detected),
     "canMonoTimes": list(CS.canMonoTimes),
     "planMonoTime": sm.logMonoTime['plan'],
@@ -424,8 +427,11 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
   params = Params()
 
-  is_metric = params.get("IsMetric") == "1"
-  passive = params.get("Passive") != "0"
+  is_metric = params.get("IsMetric", encoding='utf8') == "1"
+  passive = params.get("Passive", encoding='utf8') == "1"
+  openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
+
+  passive = passive or not openpilot_enabled_toggle
 
   # Pub/Sub Sockets
   if pm is None:
@@ -435,17 +441,20 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan', 'pathPlan', \
                               'gpsLocation'], ignore_alive=['gpsLocation'])
 
+  can_poller = zmq.Poller()
+
   if can_sock is None:
     can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
     can_sock = messaging.sub_sock(service_list['can'].port, timeout=can_timeout)
+    can_poller.register(can_sock)
 
   # wait for health and CAN packets
   hw_type = messaging.recv_one(sm.sock['health']).health.hwType
-  is_panda_black = hw_type == log.HealthData.HwType.blackPanda
+  has_relay = hw_type in [HwType.blackPanda, HwType.uno]
   print("Waiting for CAN messages...")
   get_one_can(can_sock)
 
-  CI, CP = get_car(can_sock, pm.sock['sendcan'], is_panda_black)
+  CI, CP = get_car(can_sock, pm.sock['sendcan'], has_relay)
 
   car_recognized = CP.carName != 'mock'
   # If stock camera is disconnected, we loaded car controls and it's not chffrplus
@@ -500,6 +509,10 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   # controlsd is driven by can recv, expected at 100Hz
   rk = Ratekeeper(100, print_delay_threshold=None)
 
+  # FIXME: offroad alerts should not be created with negative severity
+  connectivity_alert = params.get("Offroad_ConnectivityNeeded", encoding='utf8')
+  internet_needed = connectivity_alert is not None and json.loads(connectivity_alert.replace("'", "\""))["severity"] >= 0
+
   prof = Profiler(False)  # off by default
 
   while True:
@@ -508,7 +521,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
     # Sample data and compute car events
     CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter =\
-      data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
+      data_sample(CI, CC, sm, can_poller, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
                   driver_status, state, mismatch_counter, params)
     prof.checkpoint("Sample")
 
@@ -531,6 +544,8 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if not sounds_available:
       events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
+    if internet_needed:
+      events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
@@ -545,7 +560,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     # Compute actuators (runs PID loops and lateral MPC)
     actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
       state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                    driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
+                    driver_status, LaC, LoC, read_only, is_metric, cal_perc)
 
     prof.checkpoint("State Control")
 

selfdrive/controls/lib/alertmanager.py

@@ -10,7 +10,7 @@ AlertStatus = log.ControlsState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
-class AlertManager(object):
+class AlertManager():
 
   def __init__(self):
     self.activealerts = []

selfdrive/controls/lib/alerts.py

@@ -14,7 +14,7 @@ AlertStatus = log.ControlsState.AlertStatus
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class Alert(object):
+class Alert():
   def __init__(self,
                alert_type,
                alert_text_1,
@@ -124,7 +124,7 @@ ALERTS = [
 
   Alert(
       "preDriverUnresponsive",
-      "TOUCH STEERING WHEEL: No Driver Monitoring",
+      "TOUCH STEERING WHEEL: No Face Detected",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
@@ -218,7 +218,7 @@ ALERTS = [
       "TAKE CONTROL",
       "Steer Unavailable Below ",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, 0., 0., .1),
+      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),
 
   Alert(
       "debugAlert",
@@ -633,11 +633,18 @@ ALERTS = [
 
   Alert(
       "commIssueNoEntry",
-      "openpilot unavailable",
+      "openpilot Unavailable",
       "Communication Issue between Processes",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
 
+  Alert(
+      "internetConnectivityNeededNoEntry",
+      "openpilot Unavailable",
+      "Internet Connectivity Needed",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
+
   # permanent alerts
   Alert(
       "steerUnavailablePermanent",
@@ -674,6 +681,20 @@ ALERTS = [
       AlertStatus.normal, AlertSize.mid,
       Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
 
+  Alert(
+      "invalidGiraffeToyotaPermanent",
+      "Unsupported Giraffe Configuration",
+      "Visit comma.ai/tg",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+
+  Alert(
+      "internetConnectivityNeededPermanent",
+      "Internet Connectivity Needed",
+      "Check for Updates to Be Able to Engage",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+
   Alert(
       "sensorDataInvalidPermanent",
       "No Data from EON Sensors",

selfdrive/controls/lib/alerts_offroad.json

@@ -0,0 +1,19 @@
+{
+  "Offroad_ChargeDisabled": {
+    "text": "EON charging disabled after car being off for more than 3 days. Turn ignition on to start charging again.",
+    "severity": 0
+  },
+  "Offroad_TemperatureTooHigh": {
+    "text": "EON temperature too high. System won't start.",
+    "severity": 1
+  },
+  "Offroad_ConnectivityNeededPrompt": {
+    "text": "Connect to internet to check for updates. openpilot won't engage in ",
+    "severity": 0,
+    "_comment": "Append the number of days at the end of the text"
+  },
+  "Offroad_ConnectivityNeeded": {
+    "text": "Connect to internet to check for updates. openpilot won't engage.",
+    "severity": 1
+  }
+}

selfdrive/controls/lib/driver_monitor.py

@@ -13,7 +13,7 @@ _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
 _FACE_THRESHOLD = 0.4
 _EYE_THRESHOLD = 0.4
-_BLINK_THRESHOLD = 0.2 # 0.225
+_BLINK_THRESHOLD = 0.5 # 0.225
 _PITCH_WEIGHT = 1.35 # 1.5  # pitch matters a lot more
 _METRIC_THRESHOLD = 0.4
 _PITCH_POS_ALLOWANCE = 0.04 # 0.08  # rad, to not be too sensitive on positive pitch
@@ -29,13 +29,13 @@ _POSE_OFFSET_MAX_COUNT = 3600 # stop deweighting new data after 6 min, aka "shor
 _RECOVERY_FACTOR_MAX = 5. # relative to minus step change
 _RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
 
-MAX_TERMINAL_ALERTS = 3      # not allowed to engage after 3 terminal alerts
+MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
 
 # model output refers to center of cropped image, so need to apply the x displacement offset
 RESIZED_FOCAL = 320.0
 H, W, FULL_W = 320, 160, 426
 
-class DistractedType(object):
+class DistractedType():
   NOT_DISTRACTED = 0
   BAD_POSE = 1
   BAD_BLINK = 2
@@ -49,8 +49,8 @@ def head_orientation_from_descriptor(angles_desc, pos_desc, rpy_calib):
   roll_prnet = angles_desc[2]
 
   face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
-  yaw_focal_angle = np.arctan2(face_pixel_position[0] - FULL_W/2, RESIZED_FOCAL)
-  pitch_focal_angle = np.arctan2(face_pixel_position[1] - H/2, RESIZED_FOCAL)
+  yaw_focal_angle = np.arctan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
+  pitch_focal_angle = np.arctan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
 
   roll = roll_prnet
   pitch = pitch_prnet + pitch_focal_angle
@@ -142,7 +142,7 @@ class DriverStatus():
 
     if pose_metric > _METRIC_THRESHOLD:
       return DistractedType.BAD_POSE
-    elif blink.left_blink>_BLINK_THRESHOLD and blink.right_blink>_BLINK_THRESHOLD:
+    elif (blink.left_blink + blink.right_blink)*0.5 > _BLINK_THRESHOLD:
       return DistractedType.BAD_BLINK
     else:
       return DistractedType.NOT_DISTRACTED

selfdrive/controls/lib/fcw.py

@@ -7,7 +7,7 @@ _FCW_A_ACT_V = [-3., -2.]
 _FCW_A_ACT_BP = [0., 30.]
 
 
-class FCWChecker(object):
+class FCWChecker():
   def __init__(self):
     self.reset_lead(0.0)
 

selfdrive/controls/lib/lane_planner.py

@@ -26,13 +26,13 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
   path_from_right_lane = r_poly.copy()
   path_from_right_lane[3] += lane_width / 2.0
 
-  lr_prob = l_prob + r_prob - l_prob * r_prob
+  lr_prob = l_prob * r_prob
 
   d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
   return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
 
 
-class LanePlanner(object):
+class LanePlanner():
   def __init__(self):
     self.l_poly = [0., 0., 0., 0.]
     self.r_poly = [0., 0., 0., 0.]

selfdrive/controls/lib/latcontrol_indi.py

@@ -9,7 +9,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.controls.lib.drive_helpers import get_steer_max
 
 
-class LatControlINDI(object):
+class LatControlINDI():
   def __init__(self, CP):
     self.angle_steers_des = 0.
 
@@ -47,7 +47,7 @@ class LatControlINDI(object):
     self.output_steer = 0.
     self.counter = 0
 
-  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
+  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, path_plan):
     # Update Kalman filter
     y = np.matrix([[math.radians(angle_steers)], [math.radians(angle_steers_rate)]])
     self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)

selfdrive/controls/lib/latcontrol_lqr.py

@@ -4,7 +4,7 @@ from common.numpy_fast import clip
 from cereal import log
 
 
-class LatControlLQR(object):
+class LatControlLQR():
   def __init__(self, CP, rate=100):
     self.sat_flag = False
     self.scale = CP.lateralTuning.lqr.scale
@@ -29,7 +29,7 @@ class LatControlLQR(object):
     self.i_lqr = 0.0
     self.output_steer = 0.0
 
-  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
+  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, path_plan):
     lqr_log = log.ControlsState.LateralLQRState.new_message()
 
     steers_max = get_steer_max(CP, v_ego)

selfdrive/controls/lib/latcontrol_pid.py

@@ -4,7 +4,7 @@ from cereal import car
 from cereal import log
 
 
-class LatControlPID(object):
+class LatControlPID():
   def __init__(self, CP):
     self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
@@ -14,7 +14,7 @@ class LatControlPID(object):
   def reset(self):
     self.pid.reset()
 
-  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
+  def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, path_plan):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steerAngle = float(angle_steers)
     pid_log.steerRate = float(angle_steers_rate)

selfdrive/controls/lib/lateral_mpc/lateral_mpc.d

@@ -0,0 +1,3 @@
+lateral_mpc.o: lateral_mpc.c lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  lib_mpc_export/acado_auxiliary_functions.h

selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.d

@@ -0,0 +1,5 @@
+lib_mpc_export/acado_auxiliary_functions.o: \
+  lib_mpc_export/acado_auxiliary_functions.c \
+  lib_mpc_export/acado_auxiliary_functions.h \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp

selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.d

@@ -0,0 +1,3 @@
+lib_mpc_export/acado_integrator.o: lib_mpc_export/acado_integrator.c \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp

selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.d

@@ -0,0 +1,24 @@
+lib_mpc_export/acado_qpoases_interface.o: \
+  lib_mpc_export/acado_qpoases_interface.cpp \
+  lib_mpc_export/acado_common.h \
+  lib_mpc_export/acado_qpoases_interface.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblem.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/QProblemB.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Bounds.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/SubjectTo.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Indexlist.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Utils.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/MessageHandling.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Types.hpp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constants.hpp \
+  ../../../../phonelibs/qpoases/SRC/MessageHandling.ipp \
+  ../../../../phonelibs/qpoases/SRC/Utils.ipp \
+  ../../../../phonelibs/qpoases/SRC/Indexlist.ipp \
+  ../../../../phonelibs/qpoases/SRC/SubjectTo.ipp \
+  ../../../../phonelibs/qpoases/SRC/Bounds.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblemB.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/Constraints.hpp \
+  ../../../../phonelibs/qpoases/SRC/Constraints.ipp \
+  ../../../../phonelibs/qpoases/INCLUDE/CyclingManager.hpp \
+  ../../../../phonelibs/qpoases/SRC/CyclingManager.ipp \
+  ../../../../phonelibs/qpoases/SRC/QProblem.ipp