Move CAN fingerprinting behind community features (#20993)

* Move CAN fingerprinting behind community features

* fix typo

* fix startup test

* fix
old-commit-hash: 726fb9d501

selfdrive/controls/controlsd.py

@@ -92,11 +92,11 @@ class Controls:
     sounds_available = HARDWARE.get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
-    fuzzy_fingerprint = self.CP.fuzzyFingerprint
 
     # If stock camera is disconnected, we loaded car controls and it's not dashcam mode
     controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
-    community_feature = self.CP.communityFeature or fuzzy_fingerprint
+    community_feature = self.CP.communityFeature or self.CP.fuzzyFingerprint or \
+                        self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
     community_feature_disallowed = community_feature and (not community_feature_toggle)
     self.read_only = not car_recognized or not controller_available or \
                        self.CP.dashcamOnly or community_feature_disallowed
@@ -145,11 +145,11 @@ class Controls:
     # TODO: no longer necessary, aside from process replay
     self.sm['liveParameters'].valid = True
 
-    self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
+    self.startup_event = get_startup_event(car_recognized, controller_available, self.CP.fuzzyFingerprint)
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)
-    if community_feature_disallowed:
+    if community_feature_disallowed and car_recognized:
       self.events.add(EventName.communityFeatureDisallowed, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)

selfdrive/controls/tests/test_startup.py

@@ -35,11 +35,8 @@ class TestStartup(unittest.TestCase):
     # TODO: test EventName.startup for release branches
 
     # officially supported car
-    (EventName.startupMaster, HYUNDAI.SONATA, False, None),
-    (EventName.startupMaster, HYUNDAI.SONATA, True, None),
-
-    # offically supported car, FW query
     (EventName.startupMaster, TOYOTA.COROLLA, False, COROLLA_FW_VERSIONS),
+    (EventName.startupMaster, TOYOTA.COROLLA, True, COROLLA_FW_VERSIONS),
 
     # DSU unplugged
     (EventName.startupMaster, TOYOTA.COROLLA, True, COROLLA_FW_VERSIONS_NO_DSU),
@@ -51,7 +48,7 @@ class TestStartup(unittest.TestCase):
 
     # dashcamOnly car
     (EventName.startupNoControl, MAZDA.CX5, True, None),
-    (EventName.startupNoControl, MAZDA.CX5, False, None),
+    (EventName.communityFeatureDisallowed, MAZDA.CX5, False, None),
 
     # unrecognized car
     (EventName.startupNoCar, None, True, None),
@@ -104,7 +101,7 @@ class TestStartup(unittest.TestCase):
     else:
       finger = _FINGERPRINTS[car_model][0]
 
-    for _ in range(500):
+    for _ in range(1000):
       msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
       pm.send('can', can_list_to_can_capnp(msgs))