test_models: match online fingerprinting behavior (#29306)

* draft

* 1x

* clean up

* final clean up

* fix

* self explan

* space

* space
old-commit-hash: 001d4e8729

selfdrive/car/car_helpers.py

@@ -13,6 +13,8 @@ from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 
+FRAME_FINGERPRINT = 100  # 1s
+
 EventName = car.CarEvent.EventName
 
 
@@ -126,7 +128,6 @@ def fingerprint(logcan, sendcan, num_pandas):
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
-  frame_fingerprint = 100  # 1s
   car_fingerprint = None
   done = False
 
@@ -152,12 +153,12 @@ def fingerprint(logcan, sendcan, num_pandas):
     # if we only have one car choice and the time since we got our first
     # message has elapsed, exit
     for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
+      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
         # fingerprint done
         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.values()) and frame > frame_fingerprint) or frame > 200
+    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
     succeeded = car_fingerprint is not None
     done = failed or succeeded
 

selfdrive/car/tests/test_models.py

@@ -11,7 +11,7 @@ from cereal import log, car
 from common.basedir import BASEDIR
 from common.realtime import DT_CTRL
 from selfdrive.car.fingerprints import all_known_cars
-from selfdrive.car.car_helpers import interfaces
+from selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from selfdrive.car.gm.values import CAR as GM
 from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
@@ -106,10 +106,12 @@ class TestCarModelBase(unittest.TestCase):
       dashcam_only = False
       for msg in lr:
         if msg.which() == "can":
-          for m in msg.can:
-            if m.src < 64:
-              fingerprint[m.src][m.address] = len(m.dat)
           can_msgs.append(msg)
+          if len(can_msgs) <= FRAME_FINGERPRINT:
+            for m in msg.can:
+              if m.src < 64:
+                fingerprint[m.src][m.address] = len(m.dat)
+
         elif msg.which() == "carParams":
           car_fw = msg.carParams.carFw
           dashcam_only = msg.carParams.dashcamOnly
@@ -117,6 +119,7 @@ class TestCarModelBase(unittest.TestCase):
             experimental_long = True
           if cls.car_model is None and not cls.ci:
             cls.car_model = msg.carParams.carFingerprint
+
         elif msg.which() == 'initData':
           for param in msg.initData.params.entries:
             if param.key == 'OpenpilotEnabledToggle':