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562 lines
18 KiB
562 lines
18 KiB
#!/usr/bin/env python3
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import time
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import os
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import sys
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import signal
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import subprocess
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import requests
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from cereal import car
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import selfdrive.manager as manager
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import cereal.messaging as messaging
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from common.params import Params
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from common.basedir import BASEDIR
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.honda.values import CAR as HONDA
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.gm.values import CAR as GM
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from selfdrive.car.ford.values import CAR as FORD
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from selfdrive.car.hyundai.values import CAR as HYUNDAI
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from selfdrive.car.chrysler.values import CAR as CHRYSLER
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from selfdrive.car.subaru.values import CAR as SUBARU
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from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
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from selfdrive.car.mock.values import CAR as MOCK
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os.environ['NOCRASH'] = '1'
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def wait_for_sockets(socks, timeout=10.0):
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sm = messaging.SubMaster(socks)
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t = time.time()
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recvd = []
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while time.time() - t < timeout and len(recvd) < len(socks):
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sm.update()
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for s in socks:
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if s not in recvd and sm.updated[s]:
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recvd.append(s)
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return recvd
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def get_route_logs(route_name):
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for log_f in ["rlog.bz2", "fcamera.hevc"]:
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log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), log_f))
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if not os.path.isfile(log_path):
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log_url = "https://commadataci.blob.core.windows.net/openpilotci/%s/0/%s" % (route_name.replace("|", "/"), log_f)
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r = requests.get(log_url)
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if r.status_code == 200:
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with open(log_path, "wb") as f:
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f.write(r.content)
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else:
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print("failed to download test log %s" % route_name)
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sys.exit(-1)
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routes = {
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"975b26878285314d|2018-12-25--14-42-13": {
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'carFingerprint': CHRYSLER.PACIFICA_2018_HYBRID,
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'enableCamera': True,
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},
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"b0c9d2329ad1606b|2019-01-06--10-11-23": {
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'carFingerprint': CHRYSLER.PACIFICA_2017_HYBRID,
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'enableCamera': True,
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},
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"0607d2516fc2148f|2019-02-13--23-03-16": {
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'carFingerprint': CHRYSLER.PACIFICA_2019_HYBRID,
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'enableCamera': True,
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},
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"8190c7275a24557b|2020-01-29--08-33-58": {
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'carFingerprint': CHRYSLER.PACIFICA_2020_HYBRID,
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'enableCamera': True,
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},
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# This pacifica was removed because the fingerprint seemed from a Volt
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#"9f7a7e50a51fb9db|2019-01-03--14-05-01": {
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# 'carFingerprint': CHRYSLER.PACIFICA_2018,
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# 'enableCamera': True,
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#},
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"9f7a7e50a51fb9db|2019-01-17--18-34-21": {
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'carFingerprint': CHRYSLER.JEEP_CHEROKEE,
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'enableCamera': True,
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},
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"192a598e34926b1e|2019-04-04--13-27-39": {
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'carFingerprint': CHRYSLER.JEEP_CHEROKEE_2019,
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'enableCamera': True,
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},
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"f1b4c567731f4a1b|2018-04-18--11-29-37": {
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'carFingerprint': FORD.FUSION,
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'enableCamera': False,
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},
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"f1b4c567731f4a1b|2018-04-30--10-15-35": {
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'carFingerprint': FORD.FUSION,
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'enableCamera': True,
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},
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"7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
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'carFingerprint': GM.CADILLAC_CT6,
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'enableCamera': True,
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},
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"265007255e794bce|2018-11-24--22-08-31": {
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'carFingerprint': GM.CADILLAC_ATS,
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'enableCamera': True,
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},
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"c950e28c26b5b168|2018-05-30--22-03-41": {
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'carFingerprint': GM.VOLT,
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'enableCamera': True,
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},
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# TODO: use another route that has radar data at start
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"aadda448b49c99ad|2018-10-25--17-16-22": {
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'carFingerprint': GM.MALIBU,
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'enableCamera': True,
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},
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"49c73650e65ff465|2018-11-19--16-58-04": {
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'carFingerprint': GM.HOLDEN_ASTRA,
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'enableCamera': True,
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},
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"7cc2a8365b4dd8a9|2018-12-02--12-10-44": {
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'carFingerprint': GM.ACADIA,
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'enableCamera': True,
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},
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"aa20e335f61ba898|2018-12-17--21-10-37": {
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'carFingerprint': GM.BUICK_REGAL,
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'enableCamera': False,
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},
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"aa20e335f61ba898|2019-02-05--16-59-04": {
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'carFingerprint': GM.BUICK_REGAL,
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'enableCamera': True,
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},
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"7d44af5b7a1b2c8e|2017-09-16--01-50-07": {
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'carFingerprint': HONDA.CIVIC,
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'enableCamera': True,
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},
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"c9d60e5e02c04c5c|2018-01-08--16-01-49": {
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'carFingerprint': HONDA.CRV,
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'enableCamera': True,
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},
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"1851183c395ef471|2018-05-31--18-07-21": {
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'carFingerprint': HONDA.CRV_5G,
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'enableCamera': True,
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},
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"232585b7784c1af4|2019-04-08--14-12-14": {
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'carFingerprint': HONDA.CRV_HYBRID,
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'enableCamera': True,
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},
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"99e3eaed7396619e|2019-08-13--15-07-03": {
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'carFingerprint': HONDA.FIT,
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'enableCamera': True,
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},
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"2ac95059f70d76eb|2018-02-05--15-03-29": {
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'carFingerprint': HONDA.ACURA_ILX,
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'enableCamera': True,
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},
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"21aa231dee2a68bd|2018-01-30--04-54-41": {
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'carFingerprint': HONDA.ODYSSEY,
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'enableCamera': True,
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},
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"81722949a62ea724|2019-03-29--15-51-26": {
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'carFingerprint': HONDA.ODYSSEY_CHN,
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'enableCamera': False,
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},
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"81722949a62ea724|2019-04-06--15-19-25": {
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'carFingerprint': HONDA.ODYSSEY_CHN,
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'enableCamera': True,
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},
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"5a2cfe4bb362af9e|2018-02-02--23-41-07": {
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'carFingerprint': HONDA.ACURA_RDX,
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'enableCamera': True,
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},
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"3e9592a1c78a3d63|2018-02-08--20-28-24": {
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'carFingerprint': HONDA.PILOT,
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'enableCamera': True,
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},
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"34a84d2b765df688|2018-08-28--12-41-00": {
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'carFingerprint': HONDA.PILOT_2019,
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'enableCamera': True,
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},
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"900ad17e536c3dc7|2018-04-12--22-02-36": {
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'carFingerprint': HONDA.RIDGELINE,
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'enableCamera': True,
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},
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"f1b4c567731f4a1b|2018-06-06--14-43-46": {
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'carFingerprint': HONDA.ACCORD,
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'enableCamera': True,
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},
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"1582e1dc57175194|2018-08-15--07-46-07": {
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'carFingerprint': HONDA.ACCORD_15,
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'enableCamera': True,
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},
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# TODO: This doesnt fingerprint because the fingerprint overlaps with the Insight
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# "690c4c9f9f2354c7|2018-09-15--17-36-05": {
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# 'carFingerprint': HONDA.ACCORDH,
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# 'enableCamera': True,
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# },
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"1632088eda5e6c4d|2018-06-07--08-03-18": {
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'carFingerprint': HONDA.CIVIC_BOSCH,
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'enableCamera': True,
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},
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#"18971a99f3f2b385|2018-11-14--19-09-31": {
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# 'carFingerprint': HONDA.INSIGHT,
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# 'enableCamera': True,
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#},
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"38bfd238edecbcd7|2018-08-22--09-45-44": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': False,
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},
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"38bfd238edecbcd7|2018-08-29--22-02-15": {
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'carFingerprint': HYUNDAI.SANTA_FE,
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'enableCamera': True,
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},
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"a893a80e5c5f72c8|2019-01-14--20-02-59": {
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'carFingerprint': HYUNDAI.GENESIS,
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'enableCamera': True,
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},
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"9d5fb4f0baa1b3e1|2019-01-14--17-45-59": {
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'carFingerprint': HYUNDAI.KIA_SORENTO,
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'enableCamera': True,
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},
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"215cd70e9c349266|2018-11-25--22-22-12": {
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'carFingerprint': HYUNDAI.KIA_STINGER,
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'enableCamera': True,
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},
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"31390e3eb6f7c29a|2019-01-23--08-56-00": {
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'carFingerprint': HYUNDAI.KIA_OPTIMA,
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'enableCamera': True,
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},
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"53ac3251e03f95d7|2019-01-10--13-43-32": {
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'carFingerprint': HYUNDAI.ELANTRA,
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'enableCamera': True,
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},
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"f7b6be73e3dfd36c|2019-05-12--18-07-16": {
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'carFingerprint': TOYOTA.AVALON,
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'enableCamera': False,
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'enableDsu': False,
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},
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"f7b6be73e3dfd36c|2019-05-11--22-34-20": {
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'carFingerprint': TOYOTA.AVALON,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-01-26--00-54-32": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': True,
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'enableDsu': True,
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},
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"b0f5a01cf604185c|2018-01-26--10-54-38": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-01-26--10-59-31": {
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'carFingerprint': TOYOTA.COROLLA,
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'enableCamera': False,
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'enableDsu': False,
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},
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"5f5afb36036506e4|2019-05-14--02-09-54": {
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'carFingerprint': TOYOTA.COROLLA_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"5ceff72287a5c86c|2019-10-19--10-59-02": {
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'carFingerprint': TOYOTA.COROLLAH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"56fb1c86a9a86404|2017-11-10--10-18-43": {
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'carFingerprint': TOYOTA.PRIUS,
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'enableCamera': True,
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'enableDsu': True,
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},
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"b0f5a01cf604185c|2017-12-18--20-32-32": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': False,
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},
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"b0c9d2329ad1606b|2019-04-02--13-24-43": {
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'carFingerprint': TOYOTA.RAV4,
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': True,
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},
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"cdf2f7de565d40ae|2019-04-25--03-53-41": {
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'carFingerprint': TOYOTA.RAV4_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"7e34a988419b5307|2019-12-18--19-13-30": {
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'carFingerprint': TOYOTA.RAV4H_TSS2,
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'enableCamera': True,
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},
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"e6a24be49a6cd46e|2019-10-29--10-52-42": {
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'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"f49e8041283f2939|2019-05-29--13-48-33": {
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'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
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'enableCamera': False,
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'enableDsu': False,
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},
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"f49e8041283f2939|2019-05-30--11-51-51": {
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'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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},
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"886fcd8408d570e9|2020-01-29--05-11-22": {
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'carFingerprint': TOYOTA.LEXUS_RX,
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'enableCamera': True,
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'enableDsu': True,
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},
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"886fcd8408d570e9|2020-01-29--02-18-55": {
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'carFingerprint': TOYOTA.LEXUS_RX,
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'enableCamera': True,
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'enableDsu': False,
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},
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"b0f5a01cf604185c|2018-02-01--21-12-28": {
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'carFingerprint': TOYOTA.LEXUS_RXH,
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'enableCamera': True,
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'enableDsu': True,
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},
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#FIXME: This works sometimes locally, but never in CI. Timing issue?
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#"b0f5a01cf604185c|2018-01-31--20-11-39": {
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# 'carFingerprint': TOYOTA.LEXUS_RXH,
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# 'enableCamera': False,
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# 'enableDsu': False,
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#},
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"8ae193ceb56a0efe|2018-06-18--20-07-32": {
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'carFingerprint': TOYOTA.RAV4H,
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'enableCamera': True,
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'enableDsu': True,
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},
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"fd10b9a107bb2e49|2018-07-24--16-32-42": {
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'carFingerprint': TOYOTA.CHR,
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'enableCamera': True,
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'enableDsu': False,
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},
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"fd10b9a107bb2e49|2018-07-24--20-32-08": {
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'carFingerprint': TOYOTA.CHR,
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'enableCamera': False,
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'enableDsu': False,
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},
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"b4c18bf13d5955da|2018-07-29--13-39-46": {
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'carFingerprint': TOYOTA.CHRH,
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'enableCamera': True,
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'enableDsu': False,
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},
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"d2d8152227f7cb82|2018-07-25--13-40-56": {
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'carFingerprint': TOYOTA.CAMRY,
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'enableCamera': True,
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'enableDsu': False,
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},
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"fbd011384db5e669|2018-07-26--20-51-48": {
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'carFingerprint': TOYOTA.CAMRYH,
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'enableCamera': True,
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'enableDsu': False,
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},
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# TODO: This replay has no good model/video
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# "c9fa2dd0f76caf23|2018-02-10--13-40-28": {
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# 'carFingerprint': TOYOTA.CAMRYH,
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# 'enableCamera': False,
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# 'enableDsu': False,
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# },
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# TODO: missingsome combos for highlander
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"aa659debdd1a7b54|2018-08-31--11-12-01": {
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'carFingerprint': TOYOTA.HIGHLANDER,
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'enableCamera': False,
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'enableDsu': False,
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},
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"362d23d4d5bea2fa|2018-09-02--17-03-55": {
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'carFingerprint': TOYOTA.HIGHLANDERH,
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'enableCamera': True,
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'enableDsu': True,
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},
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"eb6acd681135480d|2019-06-20--20-00-00": {
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'carFingerprint': TOYOTA.SIENNA,
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'enableCamera': True,
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'enableDsu': False,
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},
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"362d23d4d5bea2fa|2018-08-10--13-31-40": {
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'carFingerprint': TOYOTA.HIGHLANDERH,
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'enableCamera': False,
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'enableDsu': False,
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},
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"2e07163a1ba9a780|2019-08-25--13-15-13": {
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'carFingerprint': TOYOTA.LEXUS_IS,
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'enableCamera': True,
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'enableDsu': False,
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},
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"2e07163a1ba9a780|2019-08-29--09-35-42": {
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'carFingerprint': TOYOTA.LEXUS_IS,
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'enableCamera': False,
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'enableDsu': False,
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},
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"1dd19ceed0ee2b48|2018-12-22--17-36-49": {
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'carFingerprint': TOYOTA.LEXUS_IS, # 300 hybrid
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'enableCamera': True,
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'enableDsu': False,
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},
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"76b83eb0245de90e|2019-10-20--15-42-29": {
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'carFingerprint': VOLKSWAGEN.GOLF,
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'enableCamera': True,
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},
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"791340bc01ed993d|2019-03-10--16-28-08": {
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'carFingerprint': SUBARU.IMPREZA,
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'enableCamera': True,
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},
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# Tesla route, should result in mock car
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"07cb8a788c31f645|2018-06-17--18-50-29": {
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'carFingerprint': MOCK.MOCK,
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},
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## Route with no can data, should result in mock car. This is not supported anymore
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#"bfa17080b080f3ec|2018-06-28--23-27-47": {
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# 'carFingerprint': MOCK.MOCK,
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#},
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}
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passive_routes = [
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"07cb8a788c31f645|2018-06-17--18-50-29",
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#"bfa17080b080f3ec|2018-06-28--23-27-47",
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]
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forced_dashcam_routes = [
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# Ford fusion
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"f1b4c567731f4a1b|2018-04-18--11-29-37",
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"f1b4c567731f4a1b|2018-04-30--10-15-35",
|
|
]
|
|
|
|
# TODO: replace all these with public routes
|
|
non_public_routes = [
|
|
"0607d2516fc2148f|2019-02-13--23-03-16", # CHRYSLER PACIFICA HYBRID 2019
|
|
"3e9592a1c78a3d63|2018-02-08--20-28-24", # HONDA PILOT 2017 TOURING
|
|
"aa20e335f61ba898|2019-02-05--16-59-04", # BUICK REGAL ESSENCE 2018
|
|
"1851183c395ef471|2018-05-31--18-07-21", # HONDA CR-V 2017 EX
|
|
"9d5fb4f0baa1b3e1|2019-01-14--17-45-59", # KIA SORENTO GT LINE 2018
|
|
"b4c18bf13d5955da|2018-07-29--13-39-46", # TOYOTA C-HR HYBRID 2018
|
|
"5a2cfe4bb362af9e|2018-02-02--23-41-07", # ACURA RDX 2018 ACURAWATCH PLUS
|
|
"362d23d4d5bea2fa|2018-08-10--13-31-40", # TOYOTA HIGHLANDER HYBRID 2018
|
|
"aa20e335f61ba898|2018-12-17--21-10-37", # BUICK REGAL ESSENCE 2018
|
|
"215cd70e9c349266|2018-11-25--22-22-12", # KIA STINGER GT2 2018
|
|
"192a598e34926b1e|2019-04-04--13-27-39", # JEEP GRAND CHEROKEE 2019
|
|
"34a84d2b765df688|2018-08-28--12-41-00", # HONDA PILOT 2019 ELITE
|
|
"b0c9d2329ad1606b|2019-01-06--10-11-23", # CHRYSLER PACIFICA HYBRID 2017
|
|
"31390e3eb6f7c29a|2019-01-23--08-56-00", # KIA OPTIMA SX 2019
|
|
"fd10b9a107bb2e49|2018-07-24--16-32-42", # TOYOTA C-HR 2018
|
|
"9f7a7e50a51fb9db|2019-01-17--18-34-21", # JEEP GRAND CHEROKEE V6 2018
|
|
"aadda448b49c99ad|2018-10-25--17-16-22", # CHEVROLET MALIBU PREMIER 2017
|
|
"362d23d4d5bea2fa|2018-09-02--17-03-55", # TOYOTA HIGHLANDER HYBRID 2018
|
|
"1582e1dc57175194|2018-08-15--07-46-07", # HONDA ACCORD 2018 LX 1.5T
|
|
"fd10b9a107bb2e49|2018-07-24--20-32-08", # TOYOTA C-HR 2018
|
|
"265007255e794bce|2018-11-24--22-08-31", # CADILLAC ATS Premium Performance 2018
|
|
"53ac3251e03f95d7|2019-01-10--13-43-32", # HYUNDAI ELANTRA LIMITED ULTIMATE 2017
|
|
"21aa231dee2a68bd|2018-01-30--04-54-41", # HONDA ODYSSEY 2018 EX-L
|
|
"900ad17e536c3dc7|2018-04-12--22-02-36", # HONDA RIDGELINE 2017 BLACK EDITION
|
|
"975b26878285314d|2018-12-25--14-42-13", # CHRYSLER PACIFICA HYBRID 2018
|
|
"8ae193ceb56a0efe|2018-06-18--20-07-32", # TOYOTA RAV4 HYBRID 2017
|
|
"a893a80e5c5f72c8|2019-01-14--20-02-59", # HYUNDAI GENESIS 2018
|
|
"49c73650e65ff465|2018-11-19--16-58-04", # HOLDEN ASTRA RS-V BK 2017
|
|
"d2d8152227f7cb82|2018-07-25--13-40-56", # TOYOTA CAMRY 2018
|
|
"07cb8a788c31f645|2018-06-17--18-50-29", # mock
|
|
"c9d60e5e02c04c5c|2018-01-08--16-01-49", # HONDA CR-V 2016 TOURING
|
|
"1632088eda5e6c4d|2018-06-07--08-03-18", # HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019
|
|
"fbd011384db5e669|2018-07-26--20-51-48", # TOYOTA CAMRY HYBRID 2018
|
|
]
|
|
|
|
# TODO: add routes for these cars
|
|
non_tested_cars = [TOYOTA.LEXUS_CTH, CHRYSLER.PACIFICA_2018, HONDA.ACCORDH]
|
|
|
|
if __name__ == "__main__":
|
|
|
|
tested_procs = ["controlsd", "radard", "plannerd"]
|
|
tested_socks = ["radarState", "controlsState", "carState", "plan"]
|
|
|
|
tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
|
|
for car_model in all_known_cars():
|
|
if car_model not in tested_cars:
|
|
print("***** WARNING: %s not tested *****" % car_model)
|
|
|
|
# TODO: skip these for now, but make sure any new ports get routes
|
|
if car_model not in non_tested_cars:
|
|
print("TEST FAILED: Missing route for car '%s'" % car_model)
|
|
sys.exit(1)
|
|
|
|
print("Preparing processes")
|
|
for p in tested_procs:
|
|
manager.prepare_managed_process(p)
|
|
|
|
results = {}
|
|
for route, checks in routes.items():
|
|
if route not in non_public_routes:
|
|
get_route_logs(route)
|
|
elif "UNLOGGER_PATH" not in os.environ:
|
|
continue
|
|
|
|
params = Params()
|
|
params.clear_all()
|
|
params.manager_start()
|
|
params.put("OpenpilotEnabledToggle", "1")
|
|
params.put("CommunityFeaturesToggle", "1")
|
|
params.put("Passive", "1" if route in passive_routes else "0")
|
|
|
|
print("testing ", route, " ", checks['carFingerprint'])
|
|
print("Starting processes")
|
|
for p in tested_procs:
|
|
manager.start_managed_process(p)
|
|
|
|
# Start unlogger
|
|
print("Start unlogger")
|
|
if route in non_public_routes:
|
|
unlogger_cmd = [os.path.join(BASEDIR, os.environ['UNLOGGER_PATH']), route]
|
|
else:
|
|
unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
|
|
unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid)
|
|
|
|
print("Check sockets")
|
|
extra_socks = []
|
|
has_camera = checks.get('enableCamera', False)
|
|
if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
|
|
extra_socks.append("sendcan")
|
|
if route not in passive_routes:
|
|
extra_socks.append("pathPlan")
|
|
|
|
recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
|
|
failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
|
|
|
|
print("Check if everything is running")
|
|
running = manager.get_running()
|
|
for p in tested_procs:
|
|
if not running[p].is_alive:
|
|
failures.append(p)
|
|
manager.kill_managed_process(p)
|
|
os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
|
|
|
|
sockets_ok = len(failures) == 0
|
|
params_ok = True
|
|
|
|
try:
|
|
car_params = car.CarParams.from_bytes(params.get("CarParams"))
|
|
for k, v in checks.items():
|
|
if not v == getattr(car_params, k):
|
|
params_ok = False
|
|
failures.append(k)
|
|
except Exception:
|
|
params_ok = False
|
|
|
|
if sockets_ok and params_ok:
|
|
print("Success")
|
|
results[route] = True, failures
|
|
else:
|
|
print("Failure")
|
|
results[route] = False, failures
|
|
break
|
|
|
|
# put back not passive to not leave the params in an unintended state
|
|
Params().put("Passive", "0")
|
|
|
|
for route in results:
|
|
print(results[route])
|
|
|
|
if not all(passed for passed, _ in results.values()):
|
|
print("TEST FAILED")
|
|
sys.exit(1)
|
|
else:
|
|
print("TEST SUCCESSFUL")
|
|
|