fix and remove cereal from test_can_fingerprint

selfdrive/car/can_definitions.py

@@ -1,3 +1,11 @@
 from collections.abc import Callable
+from dataclasses import dataclass
 
 CanSendCallable = Callable[[list[tuple[int, bytes, int]]], None]
+
+
+@dataclass
+class CanData:
+  address: int
+  dat: bytes
+  src: int

selfdrive/car/card.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import os
 import time
-from dataclasses import dataclass
 from types import SimpleNamespace
 
 import cereal.messaging as messaging
@@ -16,7 +15,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp, can_capnp_to_list
 from openpilot.selfdrive.car import DT_CTRL, carlog
-from openpilot.selfdrive.car.can_definitions import CanSendCallable
+from openpilot.selfdrive.car.can_definitions import CanData, CanSendCallable
 from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -41,13 +40,6 @@ def obd_callback(params: Params) -> ObdCallback:
   return set_obd_multiplexing
 
 
-@dataclass
-class CanData:
-  address: int
-  dat: bytes
-  src: int
-
-
 def get_one_can(logcan: messaging.SubSocket) -> list[CanData]:
   while True:
     can = messaging.recv_one_retry(logcan)

selfdrive/car/tests/test_can_fingerprint.py

@@ -1,6 +1,6 @@
 from parameterized import parameterized
 
-from cereal import log, messaging
+from openpilot.selfdrive.car.can_definitions import CanData
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
 from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 
@@ -11,13 +11,11 @@ class TestCanFingerprint:
     """Tests online fingerprinting function on offline fingerprints"""
 
     for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
-      can = messaging.new_message('can', 1)
+      can = [CanData(address=address, dat=b'\x00' * length, src=src)
-      can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
+             for address, length in fingerprint.items() for src in (0, 1)]
-                 for address, length in fingerprint.items() for src in (0, 1)]
 
       fingerprint_iter = iter([can])
-      empty_can = messaging.new_message('can', 0)
+      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, []))  # noqa: B023
-      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
 
       assert car_fingerprint == car_model
       assert finger[0] == fingerprint
@@ -32,19 +30,16 @@ class TestCanFingerprint:
     cases = []
 
     # case 1 - one match, make sure we keep going for 100 frames
-    can = messaging.new_message('can', 1)
+    can = [CanData(address=address, dat=b'\x00' * length, src=src)
-    can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
+           for address, length in fingerprint.items() for src in (0, 1)]
-               for address, length in fingerprint.items() for src in (0, 1)]
     cases.append((FRAME_FINGERPRINT, car_model, can))
 
     # case 2 - no matches, make sure we keep going for 100 frames
-    can = messaging.new_message('can', 1)
+    can = [CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
-    can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
     cases.append((FRAME_FINGERPRINT, None, can))
 
     # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
-    can = messaging.new_message('can', 1)
+    can = [CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
-    can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
     cases.append((FRAME_FINGERPRINT * 2, None, can))
 
     for expected_frames, car_model, can in cases:
@@ -58,4 +53,4 @@ class TestCanFingerprint:
 
         car_fingerprint, _ = can_fingerprint(test)
         assert car_fingerprint == car_model
-        assert frames == expected_frames + 2# TODO: fix extra frames
+        assert frames == expected_frames + 2  # TODO: fix extra frames