remove more cereal and add some good hyundai tests

selfdrive/car/ford/tests/print_platform_codes.py

@@ -1,30 +1,28 @@
 #!/usr/bin/env python3
 from collections import defaultdict
 
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.ford.values import get_platform_codes
 from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
+Ecu = CarParams.Ecu
 
 if __name__ == "__main__":
   cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
 
   for car_model, ecus in FW_VERSIONS.items():
     print(car_model)
-    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+    for ecu in sorted(ecus):
       platform_codes = get_platform_codes(ecus[ecu])
       for code in platform_codes:
         cars_for_code[ecu][code].add(car_model)
 
-      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
       print(f'    Codes: {sorted(platform_codes)}')
     print()
 
   print('\nCar models vs. platform codes:')
   for ecu, codes in cars_for_code.items():
-    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
     for code, cars in codes.items():
       print(f'    {code!r}: {sorted(map(str, cars))}')

selfdrive/car/hyundai/interface.py

@@ -1,5 +1,6 @@
 from cereal import car
 from panda import Panda
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
@@ -9,7 +10,7 @@ from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)

selfdrive/car/hyundai/tests/print_platform_codes.py

@@ -1,22 +1,21 @@
 #!/usr/bin/env python3
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes
 from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+Ecu = CarParams.Ecu
 
 if __name__ == "__main__":
   for car_model, ecus in FW_VERSIONS.items():
     print()
     print(car_model)
-    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+    for ecu in sorted(ecus):
       if ecu[0] not in PLATFORM_CODE_ECUS:
         continue
 
       platform_codes = get_platform_codes(ecus[ecu])
       codes = {code for code, _ in platform_codes}
       dates = {date for _, date in platform_codes if date is not None}
-      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
       print(f'    Codes: {codes}')
       print(f'    Dates: {dates}')

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -2,12 +2,15 @@ from hypothesis import settings, given, strategies as st
 
 import pytest
 
+from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
+from openpilot.selfdrive.car.hyundai.interface import CarInterface
+from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         get_platform_codes
+                                         HyundaiFlags, get_platform_codes
 from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -39,6 +42,21 @@ CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
 
 
 class TestHyundaiFingerprint:
+  def test_feature_detection(self):
+    # HDA2
+    for has_adas in (True, False):
+      car_fw = [CarParams.CarFw(ecu=Ecu.adas if has_adas else Ecu.fwdCamera)]
+      CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), car_fw, False, False)
+      assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == has_adas
+
+    # radar available
+    for radar in (True, False):
+      fingerprint = gen_empty_fingerprint()
+      if radar:
+        fingerprint[1][RADAR_START_ADDR] = 8
+      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, car_fw, False, False)
+      assert CP.radarUnavailable != radar
+
   def test_can_features(self):
     # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
     assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()

selfdrive/car/subaru/tests/test_subaru.py

@@ -1,10 +1,5 @@
-from cereal import car
 from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
 
 class TestSubaruFingerprint:
   def test_fw_version_format(self):
@@ -13,4 +8,3 @@ class TestSubaruFingerprint:
         fw_size = len(fws[0])
         for fw in fws:
           assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}"
-

selfdrive/car/toyota/tests/print_platform_codes.py

@@ -1,19 +1,15 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from cereal import car
 from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes
 from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
 if __name__ == "__main__":
   parts_for_ecu: dict = defaultdict(set)
   cars_for_code: dict = defaultdict(lambda: defaultdict(set))
   for car_model, ecus in FW_VERSIONS.items():
     print()
     print(car_model)
-    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+    for ecu in sorted(ecus):
       if ecu[0] not in PLATFORM_CODE_ECUS:
         continue
 
@@ -21,15 +17,15 @@ if __name__ == "__main__":
       parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1}
       for code in platform_codes:
         cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model}
-      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
       print(f'    Codes: {platform_codes}')
 
   print('\nECU parts:')
   for ecu, parts in parts_for_ecu.items():
-    print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
+    print(f'  (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}): {parts}')
 
   print('\nCar models vs. platform codes (no major versions):')
   for ecu, codes in cars_for_code.items():
-    print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+    print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
     for code, cars in codes.items():
       print(f'    {code!r}: {sorted(cars)}')