diff --git a/opendbc_repo/opendbc/car/honda/radar_interface.py b/opendbc_repo/opendbc/car/honda/radar_interface.py index bf28d7247..d31d74448 100755 --- a/opendbc_repo/opendbc/car/honda/radar_interface.py +++ b/opendbc_repo/opendbc/car/honda/radar_interface.py @@ -206,8 +206,8 @@ def _create_bosch_a_can_parser(CP): class RadarInterface(RadarInterfaceBase): - def __init__(self, CP): - super().__init__(CP) + def __init__(self, CP, CP_SP): + super().__init__(CP, CP_SP) self.radar_off_can = CP.radarUnavailable self.bosch_a_radar = (not self.radar_off_can and Bus.radar in DBC[CP.carFingerprint] and DBC[CP.carFingerprint][Bus.radar] == BOSCH_A_DBC_NAME) diff --git a/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py b/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py index 8e13c913e..80ca3770d 100644 --- a/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py +++ b/opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py @@ -45,6 +45,7 @@ _SWITCH.unlink(missing_ok=True) # Parser behavior is tested directly with an explicitly available CP. Production availability is # separately gated below by HONDA_BOSCH_A_RADAR_VERIFIED and the developer parameter. CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH) +CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC_BOSCH) CP.radarUnavailable = False BUS = CanBus(CP).camera @@ -108,7 +109,7 @@ def make_main_frames(slot, frame_idx, status, range_raw, angle_raw, life, track_ def make_radar_interface(): - return CarInterface.RadarInterface(CP) + return CarInterface.RadarInterface(CP, CP_SP) def sweep(slot, frame_idx, status, range_raw, angle_raw, life, t_nanos, with_aux=False, aux_frame_idx=None, @@ -1097,8 +1098,9 @@ def test_civic_bosch_radar_dbc_wired_for_parser_unit_tests(): def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests(): cp = CarInterface.get_non_essential_params(CAR.HONDA_CRV_5G) + cp_sp = CarInterface.get_non_essential_params_sp(cp, CAR.HONDA_CRV_5G) assert cp.radarUnavailable is False - ri = CarInterface.RadarInterface(cp) + ri = CarInterface.RadarInterface(cp, cp_sp) assert ri.bosch_a_radar is True assert ri.rcp is not None assert ri.rcp.bus == CanBus(cp).camera @@ -1106,8 +1108,9 @@ def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests(): def test_accord_bosch_a_radar_stays_disabled_until_validated(): cp = CarInterface.get_non_essential_params(CAR.HONDA_ACCORD) + cp_sp = CarInterface.get_non_essential_params_sp(cp, CAR.HONDA_ACCORD) assert cp.radarUnavailable is True - ri = CarInterface.RadarInterface(cp) + ri = CarInterface.RadarInterface(cp, cp_sp) assert ri.bosch_a_radar is False assert ri.rcp is None