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openpilot_comma
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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/test/test_routes.py

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#!/usr/bin/env python3
from selfdrive.car.chrysler.values import CAR as CHRYSLER
from selfdrive.car.ford.values import CAR as FORD
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import CAR as HONDA
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.car.nissan.values import CAR as NISSAN
from selfdrive.car.mazda.values import CAR as MAZDA
from selfdrive.car.subaru.values import CAR as SUBARU
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
# TODO: add routes for these cars
non_tested_cars = [
CHRYSLER.JEEP_CHEROKEE,
CHRYSLER.JEEP_CHEROKEE_2019,
CHRYSLER.PACIFICA_2018,
CHRYSLER.PACIFICA_2018_HYBRID,
CHRYSLER.PACIFICA_2020,
GM.CADILLAC_ATS,
GM.HOLDEN_ASTRA,
GM.MALIBU,
HONDA.CRV,
HYUNDAI.ELANTRA,
HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_FORTE,
HYUNDAI.KIA_OPTIMA_H,
HYUNDAI.KONA_EV,
TOYOTA.CAMRYH,
TOYOTA.CHR,
TOYOTA.CHRH,
TOYOTA.HIGHLANDER,
TOYOTA.HIGHLANDERH,
TOYOTA.HIGHLANDERH_TSS2,
]
routes = {
"420a8e183f1aed48|2020-03-05--07-15-29": {
'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
'enableCamera': True,
},
"8190c7275a24557b|2020-01-29--08-33-58": { # 2020 model year
'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
'enableCamera': True,
},
# This pacifica was removed because the fingerprint seemed from a Volt
"f1b4c567731f4a1b|2018-04-18--11-29-37": {
'carFingerprint': FORD.FUSION,
'enableCamera': False,
},
"f1b4c567731f4a1b|2018-04-30--10-15-35": {
'carFingerprint': FORD.FUSION,
'enableCamera': True,
},
"c950e28c26b5b168|2018-05-30--22-03-41": {
'carFingerprint': GM.VOLT,
'enableCamera': True,
},
# TODO: use another route that has radar data at start
"7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
'carFingerprint': GM.ACADIA,
'enableCamera': True,
},
"aa20e335f61ba898|2019-02-05--16-59-04": {
'carFingerprint': GM.BUICK_REGAL,
'enableCamera': True,
},
"0e7a2ba168465df5|2020-10-18--14-14-22": {
'carFingerprint': HONDA.ACURA_RDX_3G,
'enableCamera': True,
},
"a74b011b32b51b56|2020-07-26--17-09-36": {
'carFingerprint': HONDA.CIVIC,
'enableCamera': True,
},
"a859a044a447c2b0|2020-03-03--18-42-45": {
'carFingerprint': HONDA.CRV_EU,
'enableCamera': True,
},
"232585b7784c1af4|2019-04-08--14-12-14": {
'carFingerprint': HONDA.CRV_HYBRID,
'enableCamera': True,
},
"99e3eaed7396619e|2019-08-13--15-07-03": {
'carFingerprint': HONDA.FIT,
'enableCamera': True,
},
"03be5f2fd5c508d1|2020-04-19--18-44-15": {
'carFingerprint': HONDA.HRV,
'enableCamera': True,
},
"2ac95059f70d76eb|2018-02-05--15-03-29": {
'carFingerprint': HONDA.ACURA_ILX,
'enableCamera': True,
},
"81722949a62ea724|2019-03-29--15-51-26": {
'carFingerprint': HONDA.ODYSSEY_CHN,
'enableCamera': False,
},
"81722949a62ea724|2019-04-06--15-19-25": {
'carFingerprint': HONDA.ODYSSEY_CHN,
'enableCamera': True,
},
"08a3deb07573f157|2020-03-06--16-11-19": {
'carFingerprint': HONDA.ACCORD_15,
'enableCamera': True,
},
"f1b4c567731f4a1b|2018-06-06--14-43-46": {
'carFingerprint': HONDA.ACCORD,
'enableCamera': True,
},
"690c4c9f9f2354c7|2018-09-15--17-36-05": {
'carFingerprint': HONDA.ACCORDH,
'enableCamera': True,
},
"1ad763dd22ef1a0e|2020-02-29--18-37-03": {
'carFingerprint': HONDA.CRV_5G,
'enableCamera': True,
},
"0a96f86fcfe35964|2020-02-05--07-25-51": {
'carFingerprint': HONDA.ODYSSEY,
'enableCamera': True,
},
"d83f36766f8012a5|2020-02-05--18-42-21": {
'carFingerprint': HONDA.CIVIC_BOSCH_DIESEL,
'enableCamera': True,
},
"fb51d190ddfd8a90|2020-02-25--14-43-43": {
'carFingerprint': HONDA.INSIGHT,
'enableCamera': True,
},
"07d37d27996096b6|2020-03-04--21-57-27": {
'carFingerprint': HONDA.PILOT,
'enableCamera': True,
},
"22affd6c545d985e|2020-03-08--01-08-09": {
'carFingerprint': HONDA.PILOT_2019,
'enableCamera': True,
},
"0a78dfbacc8504ef|2020-03-04--13-29-55": {
'carFingerprint': HONDA.CIVIC_BOSCH,
'enableCamera': True,
},
"f34a60d68d83b1e5|2020-10-06--14-35-55": {
'carFingerprint': HONDA.ACURA_RDX,
'enableCamera': True,
},
"54fd8451b3974762|2021-04-01--14-50-10": {
'carFingerprint': HONDA.RIDGELINE,
'enableCamera': True,
},
"6fe86b4e410e4c37|2020-07-22--16-27-13": {
'carFingerprint': HYUNDAI.HYUNDAI_GENESIS,
'enableCamera': True,
},
"70c5bec28ec8e345|2020-08-08--12-22-23": {
'carFingerprint': HYUNDAI.GENESIS_G70,
'enableCamera': True,
},
"6b301bf83f10aa90|2020-11-22--16-45-07": {
'carFingerprint': HYUNDAI.GENESIS_G80,
'enableCamera': True,
},
"38bfd238edecbcd7|2018-08-22--09-45-44": {
'carFingerprint': HYUNDAI.SANTA_FE,
'enableCamera': False,
},
"38bfd238edecbcd7|2018-08-29--22-02-15": {
'carFingerprint': HYUNDAI.SANTA_FE,
'enableCamera': True,
},
"e0e98335f3ebc58f|2021-03-07--16-38-29": {
'carFingerprint': HYUNDAI.KIA_CEED,
'enableCamera': True,
},
"7653b2bce7bcfdaa|2020-03-04--15-34-32": {
'carFingerprint': HYUNDAI.KIA_OPTIMA,
'enableCamera': True,
},
"c75a59efa0ecd502|2021-03-11--20-52-55": {
'carFingerprint': HYUNDAI.KIA_SELTOS,
'enableCamera': True,
},
"5b7c365c50084530|2020-04-15--16-13-24": {
'carFingerprint': HYUNDAI.SONATA,
'enableCamera': True,
},
"b2a38c712dcf90bd|2020-05-18--18-12-48": {
'carFingerprint': HYUNDAI.SONATA_LF,
'enableCamera': True,
},
"5875672fc1d4bf57|2020-07-23--21-33-28": {
'carFingerprint': HYUNDAI.KIA_SORENTO,
'enableCamera': True,
},
"9c917ba0d42ffe78|2020-04-17--12-43-19": {
'carFingerprint': HYUNDAI.PALISADE,
'enableCamera': True,
},
"2c5cf2dd6102e5da|2020-12-17--16-06-44": {
'carFingerprint': HYUNDAI.IONIQ_EV_2020,
'enableCamera': True,
},
"610ebb9faaad6b43|2020-06-13--15-28-36": {
'carFingerprint': HYUNDAI.IONIQ_EV_LTD,
'enableCamera': True,
},
"2c5cf2dd6102e5da|2020-06-26--16-00-08": {
'carFingerprint': HYUNDAI.IONIQ,
'enableCamera': True,
},
"22d955b2cd499c22|2020-08-10--19-58-21": {
'carFingerprint': HYUNDAI.KONA,
'enableCamera': True,
},
"5dddcbca6eb66c62|2020-07-26--13-24-19": {
'carFingerprint': HYUNDAI.KIA_STINGER,
'enableCamera': True,
},
"d624b3d19adce635|2020-08-01--14-59-12": {
'carFingerprint': HYUNDAI.VELOSTER,
'enableCamera': True,
},
"50c6c9b85fd1ff03|2020-10-26--17-56-06": {
'carFingerprint': HYUNDAI.KIA_NIRO_EV,
'enableCamera': True,
},
"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
'carFingerprint': TOYOTA.AVALON,
'enableCamera': False,
'enableDsu': False,
},
"6cdecc4728d4af37|2020-02-23--15-44-18": {
'carFingerprint': TOYOTA.CAMRY,
'enableCamera': True,
'enableDsu': False,
},
"3456ad0cd7281b24|2020-12-13--17-45-56": {
'carFingerprint': TOYOTA.CAMRY_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"ffccc77938ddbc44|2021-01-04--16-55-41": {
'carFingerprint': TOYOTA.CAMRYH_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"f7b6be73e3dfd36c|2019-05-11--22-34-20": {
'carFingerprint': TOYOTA.AVALON,
'enableCamera': True,
'enableDsu': False,
},
"b0f5a01cf604185c|2018-01-26--00-54-32": {
'carFingerprint': TOYOTA.COROLLA,
'enableCamera': True,
'enableDsu': True,
},
"b0f5a01cf604185c|2018-01-26--10-54-38": {
'carFingerprint': TOYOTA.COROLLA,
'enableCamera': True,
'enableDsu': False,
},
"b0f5a01cf604185c|2018-01-26--10-59-31": {
'carFingerprint': TOYOTA.COROLLA,
'enableCamera': False,
'enableDsu': False,
},
"5f5afb36036506e4|2019-05-14--02-09-54": {
'carFingerprint': TOYOTA.COROLLA_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"5ceff72287a5c86c|2019-10-19--10-59-02": {
'carFingerprint': TOYOTA.COROLLAH_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"56fb1c86a9a86404|2017-11-10--10-18-43": {
'carFingerprint': TOYOTA.PRIUS,
'enableCamera': True,
'enableDsu': True,
},
"b0f5a01cf604185c|2017-12-18--20-32-32": {
'carFingerprint': TOYOTA.RAV4,
'enableCamera': True,
'enableDsu': True,
'enableGasInterceptor': False,
},
"b0c9d2329ad1606b|2019-04-02--13-24-43": {
'carFingerprint': TOYOTA.RAV4,
'enableCamera': True,
'enableDsu': True,
'enableGasInterceptor': True,
},
"b14c5b4742e6fc85|2020-07-28--19-50-11": {
'carFingerprint': TOYOTA.RAV4,
'enableCamera': True,
'enableDsu': False,
'enableGasInterceptor': True,
},
"32a7df20486b0f70|2020-02-06--16-06-50": {
'carFingerprint': TOYOTA.RAV4H,
'enableCamera': True,
'enableDsu': True,
'enableGasInterceptor': False,
},
"cdf2f7de565d40ae|2019-04-25--03-53-41": {
'carFingerprint': TOYOTA.RAV4_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"7e34a988419b5307|2019-12-18--19-13-30": {
'carFingerprint': TOYOTA.RAV4H_TSS2,
'enableCamera': True,
},
"e6a24be49a6cd46e|2019-10-29--10-52-42": {
'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"25057fa6a5a63dfb|2020-03-04--08-44-23": {
'carFingerprint': TOYOTA.LEXUS_CTH,
'enableCamera': True,
'enableDsu': True,
},
"f49e8041283f2939|2019-05-29--13-48-33": {
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
'enableCamera': False,
'enableDsu': False,
},
"f49e8041283f2939|2019-05-30--11-51-51": {
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"37041c500fd30100|2020-12-30--12-17-24": {
'carFingerprint': TOYOTA.LEXUS_ESH,
'enableCamera': True,
'enableDsu': True,
},
"886fcd8408d570e9|2020-01-29--05-11-22": {
'carFingerprint': TOYOTA.LEXUS_RX,
'enableCamera': True,
'enableDsu': True,
},
"886fcd8408d570e9|2020-01-29--02-18-55": {
'carFingerprint': TOYOTA.LEXUS_RX,
'enableCamera': True,
'enableDsu': False,
},
"b0f5a01cf604185c|2018-02-01--21-12-28": {
'carFingerprint': TOYOTA.LEXUS_RXH,
'enableCamera': True,
'enableDsu': True,
},
"01b22eb2ed121565|2020-02-02--11-25-51": {
'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
'enableCamera': True,
},
"b74758c690a49668|2020-05-20--15-58-57": {
'carFingerprint': TOYOTA.LEXUS_RXH_TSS2,
'enableCamera': True,
},
"ec429c0f37564e3c|2020-02-01--17-28-12": {
'carFingerprint': TOYOTA.LEXUS_NXH,
'enableCamera': True,
'enableDsu': False,
},
"964c09eb11ca8089|2020-11-03--22-04-00": {
'carFingerprint': TOYOTA.LEXUS_NX,
'enableCamera': True,
'enableDsu': False,
},
# TODO: missing some combos for highlander
"0a302ffddbb3e3d3|2020-02-08--16-19-08": {
'carFingerprint': TOYOTA.HIGHLANDER_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"aa659debdd1a7b54|2018-08-31--11-12-01": {
'carFingerprint': TOYOTA.HIGHLANDER,
'enableCamera': False,
'enableDsu': False,
},
"eb6acd681135480d|2019-06-20--20-00-00": {
'carFingerprint': TOYOTA.SIENNA,
'enableCamera': True,
'enableDsu': False,
},
"2e07163a1ba9a780|2019-08-25--13-15-13": {
'carFingerprint': TOYOTA.LEXUS_IS,
'enableCamera': True,
'enableDsu': False,
},
"2e07163a1ba9a780|2019-08-29--09-35-42": {
'carFingerprint': TOYOTA.LEXUS_IS,
'enableCamera': False,
'enableDsu': False,
},
"0a0de17a1e6a2d15|2020-09-21--21-24-41": {
'carFingerprint': TOYOTA.PRIUS_TSS2,
'enableCamera': True,
'enableDsu': False,
},
"9b36accae406390e|2021-03-30--10-41-38": {
'carFingerprint': TOYOTA.MIRAI,
'enableCamera': True,
'enableDsu': False,
},
"cae14e88932eb364|2021-03-26--14-43-28": {
'carFingerprint': VOLKSWAGEN.GOLF_MK7,
'enableCamera': True,
},
"58a7d3b707987d65|2021-03-25--17-26-37": {
'carFingerprint': VOLKSWAGEN.JETTA_MK7,
'enableCamera': True,
},
"4d134e099430fba2|2021-03-26--00-26-06": {
'carFingerprint': VOLKSWAGEN.PASSAT_MK8,
'enableCamera': True,
},
"2cef8a0b898f331a|2021-03-25--20-13-57": {
'carFingerprint': VOLKSWAGEN.TIGUAN_MK2,
'enableCamera': True,
},
"07667b885add75fd|2021-01-23--19-48-42": {
'carFingerprint': VOLKSWAGEN.AUDI_A3_MK3,
'enableCamera': True,
},
"8f205bdd11bcbb65|2021-03-26--01-00-17": {
'carFingerprint': VOLKSWAGEN.SEAT_ATECA_MK1,
'enableCamera': True,
},
"90434ff5d7c8d603|2021-03-15--12-07-31": {
'carFingerprint': VOLKSWAGEN.SKODA_KODIAQ_MK1,
'enableCamera': True,
},
"026b6d18fba6417f|2021-03-26--09-17-04": {
'carFingerprint': VOLKSWAGEN.SKODA_SCALA_MK1,
'enableCamera': True,
},
"b2e9858e29db492b|2021-03-26--16-58-42": {
'carFingerprint': VOLKSWAGEN.SKODA_SUPERB_MK3,
'enableCamera': True,
},
"3c8f0c502e119c1c|2020-06-30--12-58-02": {
'carFingerprint': SUBARU.ASCENT,
'enableCamera': True,
},
"c321c6b697c5a5ff|2020-06-23--11-04-33": {
'carFingerprint': SUBARU.FORESTER,
'enableCamera': True,
},
"791340bc01ed993d|2019-03-10--16-28-08": {
'carFingerprint': SUBARU.IMPREZA,
'enableCamera': True,
},
# Dashcam
"95441c38ae8c130e|2020-06-08--12-10-17": {
'carFingerprint': SUBARU.FORESTER_PREGLOBAL,
'enableCamera': True,
},
# Dashcam
"df5ca7660000fba8|2020-06-16--17-37-19": {
'carFingerprint': SUBARU.LEGACY_PREGLOBAL,
'enableCamera': True,
},
# Dashcam
"5ab784f361e19b78|2020-06-08--16-30-41": {
'carFingerprint': SUBARU.OUTBACK_PREGLOBAL,
'enableCamera': True,
},
# Dashcam
"e19eb5d5353b1ac1|2020-08-09--14-37-56": {
'carFingerprint': SUBARU.OUTBACK_PREGLOBAL_2018,
'enableCamera': True,
},
"fbbfa6af821552b9|2020-03-03--08-09-43": {
'carFingerprint': NISSAN.XTRAIL,
'enableCamera': True,
},
"5b7c365c50084530|2020-03-25--22-10-13": {
'carFingerprint': NISSAN.LEAF,
'enableCamera': True,
},
"22c3dcce2dd627eb|2020-12-30--16-38-48": {
'carFingerprint': NISSAN.LEAF_IC,
'enableCamera': True,
},
"059ab9162e23198e|2020-05-30--09-41-01": {
'carFingerprint': NISSAN.ROGUE,
'enableCamera': True,
},
"32a319f057902bb3|2020-04-27--15-18-58": {
'carFingerprint': MAZDA.CX5,
'enableCamera': True,
},
"10b5a4b380434151|2020-08-26--17-11-45": {
'carFingerprint': MAZDA.CX9,
'enableCamera': True,
},
"74f1038827005090|2020-08-26--20-05-50": {
'carFingerprint': MAZDA.Mazda3,
'enableCamera': True,
},
"b72d3ec617c0a90f|2020-12-11--15-38-17": {
'carFingerprint': NISSAN.ALTIMA,
'enableCamera': True,
},
}
forced_dashcam_routes = [
# Ford fusion
"f1b4c567731f4a1b|2018-04-18--11-29-37",
"f1b4c567731f4a1b|2018-04-30--10-15-35",
# Mazda CX5
"32a319f057902bb3|2020-04-27--15-18-58",
# Mazda CX9
"10b5a4b380434151|2020-08-26--17-11-45",
# Mazda3
"74f1038827005090|2020-08-26--20-05-50",
]