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Kia Seltos 2021 (#20321)

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* Update hyundaican.py

* Update carcontroller.py

* Update interface.py

* Update values.py

* Update interface.py

* Update interface.py

* Update values.py

* Update values.py

* Update values.py

* Update values.py

* Update interface.py

* Update values.py

* Update values.py

* Merge 4 conflict resolution

* Update README.md

* Update test_car_models.py

* Update values.py
old-commit-hash: e59f7e0540
vw-mqb-aeb
speedking456 5 years ago committed by GitHub
parent 7780426434
commit e9a1dcf431
6 changed files with 37 additions and 11 deletions
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  1. 1
      README.md
  2. 6
      selfdrive/car/hyundai/carcontroller.py
  3. 2
      selfdrive/car/hyundai/hyundaican.py
  4. 14
      selfdrive/car/hyundai/interface.py
  5. 21
      selfdrive/car/hyundai/values.py
  6. 4
      selfdrive/test/test_car_models.py

1
README.md
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@ -161,6 +161,7 @@ Community Maintained Cars and Features
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph | | Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |

6
selfdrive/car/hyundai/carcontroller.py
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@ -75,14 +75,14 @@ class CarController():
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL)) can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
elif CS.out.cruiseState.standstill: elif CS.out.cruiseState.standstill:
# send resume at a max freq of 10Hz # send resume at a max freq of 10Hz
if (frame - self.last_resume_frame)*DT_CTRL > 0.1: if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted # send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25) can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
self.last_resume_frame = frame self.last_resume_frame = frame
# 20 Hz LFA MFA message # 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020, if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV,
CAR.KIA_CEED]: CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS]:
can_sends.append(create_lfahda_mfc(self.packer, enabled)) can_sends.append(create_lfahda_mfc(self.packer, enabled))
return can_sends return can_sends

2
selfdrive/car/hyundai/hyundaican.py
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@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ActToi"] = steer_req values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_MsgCount"] = frame % 0x10 values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020]: if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS]:
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2 values["CF_Lkas_LdwsOpt_USM"] = 2

14
selfdrive/car/hyundai/interface.py
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@ -143,6 +143,14 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_SELTOS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG ret.mass = 3558. * CV.LB_TO_KG
@ -158,7 +166,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_FORTE: elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG ret.mass = 3558. * CV.LB_TO_KG
@ -207,8 +214,9 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages # these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]: CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS,
CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4

21
selfdrive/car/hyundai/values.py
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@ -39,6 +39,7 @@ class CAR:
KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016" KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_STINGER = "KIA STINGER GT2 2018" KIA_STINGER = "KIA STINGER GT2 2018"
KIA_CEED = "KIA CEED INTRO ED 2019" KIA_CEED = "KIA CEED INTRO ED 2019"
@ -153,6 +154,9 @@ FINGERPRINTS = {
{ {
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
}], }],
CAR.KIA_SELTOS: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 524: 8, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 905: 8, 909: 8, 910: 5, 911: 5, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1102: 8, 1107: 5, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 8, 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, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1470: 8, 1485: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.PALISADE: [{ CAR.PALISADE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 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, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 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, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
}], }],
@ -162,7 +166,7 @@ FINGERPRINTS = {
} }
# Don't use these fingerprints for fingerprinting, they are still used for ECU detection # Don't use these fingerprints for fingerprinting, they are still used for ECU detection
IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED] IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED, CAR.KIA_SELTOS]
FW_VERSIONS = { FW_VERSIONS = {
CAR.IONIQ_EV_2020: { CAR.IONIQ_EV_2020: {
@ -390,6 +394,14 @@ FW_VERSIONS = {
b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211',
], ],
}, },
CAR.KIA_SELTOS: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 \xf1\xa01.05',],
(Ecu.esp, 0x7d1, None): [b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450\xf1\xa01.01',],
(Ecu.engine, 0x7e0, None): [b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',],
(Ecu.eps, 0x7d4, None): [b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ',],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114',],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000',],
},
CAR.KIA_OPTIMA: { CAR.KIA_OPTIMA: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '], (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '],
(Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',], (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
@ -401,7 +413,7 @@ FW_VERSIONS = {
} }
CHECKSUM = { CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE], "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
} }
@ -412,11 +424,11 @@ FEATURES = {
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]), "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE]), "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70,
CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA, CAR.IONIQ_EV_2020, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA, CAR.IONIQ_EV_2020,
CAR.SANTA_FE, CAR.KIA_NIRO_EV]), CAR.SANTA_FE, CAR.KIA_NIRO_EV, CAR.KIA_SELTOS]),
} }
EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV]) EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
@ -435,6 +447,7 @@ DBC = {
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None), CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
CAR.KONA: dbc_dict('hyundai_kia_generic', None), CAR.KONA: dbc_dict('hyundai_kia_generic', None),

4
selfdrive/test/test_car_models.py
Unescape View File

@ -205,6 +205,10 @@ routes = {
'carFingerprint': HYUNDAI.KIA_OPTIMA, 'carFingerprint': HYUNDAI.KIA_OPTIMA,
'enableCamera': True, 'enableCamera': True,
}, },
"c75a59efa0ecd502|2021-03-11--20-52-55": {
'carFingerprint': HYUNDAI.KIA_SELTOS,
'enableCamera': True,
},
"5b7c365c50084530|2020-04-15--16-13-24": { "5b7c365c50084530|2020-04-15--16-13-24": {
'carFingerprint': HYUNDAI.SONATA, 'carFingerprint': HYUNDAI.SONATA,
'enableCamera': True, 'enableCamera': True,

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