Mazda: move CX-9 out of dashcam mode (#22717)

* move cx9 out of dashcam

* no alc below 28

* process replay route
old-commit-hash: 2252c6bba7

RELEASES.md

@@ -2,6 +2,7 @@ Version 0.8.11 (2021-XX-XX)
 ========================
  * Navigation: Show more detailed instructions when approaching maneuver
  * Cadillac Escalade ESV 2016 support thanks to Gibby!
+ * Mazda CX-9 2021 support thanks to Jacar!
 
 Version 0.8.10 (2021-11-01)
 ========================

docs/CARS.md

@@ -128,6 +128,7 @@
 | Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Telluride 2020                | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Mazda     | CX-9 2021                     | All               | Stock            | 0mph               | 28mph        |
 | Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-22                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |

panda

@@ -1 +1 @@
-Subproject commit 27998ee3ac03a3f7a10b49c181e24eeedc874fd3
+Subproject commit cc8e705d7c72fbba7a8d9f61e1d1895ee060afc5

selfdrive/car/mazda/interface.py

@@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarOffCan = True
 
-    ret.dashcamOnly = True
+    ret.dashcamOnly = candidate not in [CAR.CX9_2021]
 
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 1.0

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f1f065451899f9b8e1cec379b32b970c1c16f849
+5b624879c952ec610c431564ebcd3d257d679015

selfdrive/test/process_replay/test_processes.py

@@ -23,9 +23,9 @@ original_segments = [
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
+  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"),       # MAZDA.CX9_2021
 
   # Enable when port is tested and dascamOnly is no longer set
-  #("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"),      # MAZDA.CX5
   #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
 ]
 
@@ -41,6 +41,7 @@ segments = [
   ("GM", "fakedata|2021-10-07--16-05-26--0"),
   ("NISSAN", "fakedata|2021-10-07--16-09-53--0"),
   ("VOLKSWAGEN", "fakedata|2021-10-07--16-11-11--0"),
+  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done