From b2bd93fba0361806af6b0bdd6e4d6a05cda0cfd5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 5 Nov 2021 13:49:30 -0700 Subject: [PATCH] remove toyota can fingerprinting exceptions (#22803) * remove toyota can fingerprinting exceptions * cleanup old-commit-hash: d8f5e8b7a4b6c9132ce2515a9106aeb971ee2579 --- selfdrive/car/car_helpers.py | 16 +++------------- 1 file changed, 3 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 9c89ad12a4..980b207fa7 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -79,10 +79,6 @@ interface_names = _get_interface_names() interfaces = load_interfaces(interface_names) -def only_toyota_left(candidate_cars): - return all(("TOYOTA" in c or "LEXUS" in c) for c in candidate_cars) and len(candidate_cars) > 0 - - # **** for use live only **** def fingerprint(logcan, sendcan): fixed_fingerprint = os.environ.get('FINGERPRINT', "") @@ -134,22 +130,16 @@ def fingerprint(logcan, sendcan): finger[can.src][can.address] = len(can.dat) for b in candidate_cars: - # Include bus 2 for toyotas to disambiguate cars using camera messages - # (ideally should be done for all cars but we can't for Honda Bosch) # Ignore extended messages and VIN query response. - if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \ - can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]: + if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]: candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b]) # if we only have one car choice and the time since we got our first # message has elapsed, exit for b in candidate_cars: - # Toyota needs higher time to fingerprint, since DSU does not broadcast immediately - if only_toyota_left(candidate_cars[b]): - frame_fingerprint = 100 # 1s if len(candidate_cars[b]) == 1 and frame > frame_fingerprint: - # fingerprint done - car_fingerprint = candidate_cars[b][0] + # 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