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#!/usr/bin/env python3
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import os
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import signal
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import subprocess
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import sys
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import time
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from typing import List, cast
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import requests
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import cereal.messaging as messaging
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from selfdrive.manager.process_config import managed_processes
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from cereal import car
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from common.basedir import BASEDIR
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from common.params import Params
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from selfdrive.car.chrysler.values import CAR as CHRYSLER
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from selfdrive.car.fingerprints import all_known_cars
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from selfdrive.car.ford.values import CAR as FORD
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from selfdrive.car.gm.values import CAR as GM
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from selfdrive.car.honda.values import CAR as HONDA
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@ -25,41 +10,31 @@ from selfdrive.car.subaru.values import CAR as SUBARU
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
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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_log(route_name):
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log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), "rlog.bz2"))
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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("|", "/"), "rlog.bz2")
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# if request fails, try again once and let it throw exception if fails again
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try:
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r = requests.get(log_url, timeout=15)
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except Exception:
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r = requests.get(log_url, timeout=15)
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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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# TODO: add routes for these cars
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non_tested_cars = [
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CHRYSLER.JEEP_CHEROKEE,
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CHRYSLER.JEEP_CHEROKEE_2019,
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CHRYSLER.PACIFICA_2018,
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CHRYSLER.PACIFICA_2018_HYBRID,
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CHRYSLER.PACIFICA_2020,
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GM.CADILLAC_ATS,
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GM.HOLDEN_ASTRA,
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GM.MALIBU,
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HONDA.CRV,
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HONDA.RIDGELINE,
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HYUNDAI.ELANTRA,
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HYUNDAI.ELANTRA_GT_I30,
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HYUNDAI.GENESIS_G90,
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HYUNDAI.KIA_FORTE,
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HYUNDAI.KIA_OPTIMA_H,
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HYUNDAI.KONA_EV,
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TOYOTA.CAMRYH,
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TOYOTA.CHR,
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TOYOTA.CHRH,
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TOYOTA.HIGHLANDER,
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TOYOTA.HIGHLANDERH,
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TOYOTA.HIGHLANDERH_TSS2,
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]
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routes = {
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"420a8e183f1aed48|2020-03-05--07-15-29": {
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@ -95,7 +70,6 @@ routes = {
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"0e7a2ba168465df5|2020-10-18--14-14-22": {
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'carFingerprint': HONDA.ACURA_RDX_3G,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"a74b011b32b51b56|2020-07-26--17-09-36": {
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'carFingerprint': HONDA.CIVIC,
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@ -104,7 +78,6 @@ routes = {
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"a859a044a447c2b0|2020-03-03--18-42-45": {
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'carFingerprint': HONDA.CRV_EU,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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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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@ -117,7 +90,6 @@ routes = {
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"03be5f2fd5c508d1|2020-04-19--18-44-15": {
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'carFingerprint': HONDA.HRV,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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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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@ -154,12 +126,10 @@ routes = {
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"d83f36766f8012a5|2020-02-05--18-42-21": {
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'carFingerprint': HONDA.CIVIC_BOSCH_DIESEL,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"fb51d190ddfd8a90|2020-02-25--14-43-43": {
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'carFingerprint': HONDA.INSIGHT,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"07d37d27996096b6|2020-03-04--21-57-27": {
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'carFingerprint': HONDA.PILOT,
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@ -262,19 +232,16 @@ routes = {
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'carFingerprint': TOYOTA.CAMRY,
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'enableCamera': True,
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'enableDsu': False,
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'fingerprintSource': 'fixed',
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},
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"3456ad0cd7281b24|2020-12-13--17-45-56": {
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'carFingerprint': TOYOTA.CAMRY_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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'fingerprintSource': 'fixed',
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},
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"ffccc77938ddbc44|2021-01-04--16-55-41": {
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'carFingerprint': TOYOTA.CAMRYH_TSS2,
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'enableCamera': True,
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'enableDsu': False,
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'fingerprintSource': 'fixed',
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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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@ -334,7 +301,6 @@ routes = {
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'enableCamera': True,
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'enableDsu': True,
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'enableGasInterceptor': False,
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'fingerprintSource': 'fixed',
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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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@ -344,7 +310,6 @@ routes = {
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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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'fingerprintSource': 'fixed'
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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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@ -389,12 +354,10 @@ routes = {
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"01b22eb2ed121565|2020-02-02--11-25-51": {
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'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"b74758c690a49668|2020-05-20--15-58-57": {
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'carFingerprint': TOYOTA.LEXUS_RXH_TSS2,
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'enableCamera': True,
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'fingerprintSource': 'fixed',
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},
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"ec429c0f37564e3c|2020-02-01--17-28-12": {
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'carFingerprint': TOYOTA.LEXUS_NXH,
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@ -441,7 +404,6 @@ routes = {
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'carFingerprint': TOYOTA.MIRAI,
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'enableCamera': True,
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'enableDsu': False,
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'fingerprintSource': 'fixed',
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},
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"cae14e88932eb364|2021-03-26--14-43-28": {
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'carFingerprint': VOLKSWAGEN.GOLF_MK7,
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@ -545,9 +507,6 @@ routes = {
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},
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}
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passive_routes: List[str] = [
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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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@ -559,127 +518,3 @@ forced_dashcam_routes = [
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# Mazda3
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"74f1038827005090|2020-08-26--20-05-50",
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]
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# TODO: add routes for these cars
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non_tested_cars = [
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CHRYSLER.JEEP_CHEROKEE,
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CHRYSLER.JEEP_CHEROKEE_2019,
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CHRYSLER.PACIFICA_2018,
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CHRYSLER.PACIFICA_2018_HYBRID,
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CHRYSLER.PACIFICA_2020,
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GM.CADILLAC_ATS,
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GM.HOLDEN_ASTRA,
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GM.MALIBU,
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HONDA.CRV,
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HONDA.RIDGELINE,
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HYUNDAI.ELANTRA,
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HYUNDAI.ELANTRA_GT_I30,
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HYUNDAI.GENESIS_G90,
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HYUNDAI.KIA_FORTE,
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HYUNDAI.KIA_OPTIMA_H,
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HYUNDAI.KONA_EV,
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TOYOTA.CAMRYH,
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TOYOTA.CHR,
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TOYOTA.CHRH,
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TOYOTA.HIGHLANDER,
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TOYOTA.HIGHLANDERH,
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TOYOTA.HIGHLANDERH_TSS2,
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]
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if __name__ == "__main__":
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tested_procs = ["controlsd", "radard", "plannerd"]
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tested_socks = ["radarState", "controlsState", "carState", "longitudinalPlan"]
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tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
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for car_model in all_known_cars():
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if car_model not in tested_cars:
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print("***** WARNING: %s not tested *****" % car_model)
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# TODO: skip these for now, but make sure any new ports get routes
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if car_model not in non_tested_cars:
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print("TEST FAILED: Missing route for car '%s'" % car_model)
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sys.exit(1)
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print("Preparing processes")
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for p in tested_procs:
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managed_processes[p].prepare()
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results = {}
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for route, checks in routes.items():
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get_route_log(route)
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params = Params()
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params.clear_all()
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params.manager_start()
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params.put("OpenpilotEnabledToggle", "1")
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params.put("CommunityFeaturesToggle", "1")
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params.put("Passive", "1" if route in passive_routes else "0")
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os.environ['SKIP_FW_QUERY'] = "1"
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if checks.get('fingerprintSource', None) == 'fixed':
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os.environ['FINGERPRINT'] = cast(str, checks['carFingerprint'])
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else:
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os.environ['FINGERPRINT'] = ""
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print("testing ", route, " ", checks['carFingerprint'])
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print("Starting processes")
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for p in tested_procs:
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managed_processes[p].start()
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# Start unlogger
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print("Start unlogger")
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unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
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disable_socks = 'frame,roadEncodeIdx,plan,lateralPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
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unlogger = subprocess.Popen(unlogger_cmd + ['--disable', disable_socks, '--no-interactive'], preexec_fn=os.setsid) # pylint: disable=subprocess-popen-preexec-fn
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print("Check sockets")
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extra_socks = []
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has_camera = checks.get('enableCamera', False)
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if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
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extra_socks.append("sendcan")
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if route not in passive_routes:
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extra_socks.append("lateralPlan")
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recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
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failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
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print("Check if everything is running")
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for p in tested_procs:
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proc = managed_processes[p].proc
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if not proc or not proc.is_alive:
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failures.append(p)
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managed_processes[p].stop()
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os.killpg(os.getpgid(unlogger.pid), signal.SIGTERM)
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sockets_ok = len(failures) == 0
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params_ok = True
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try:
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car_params = car.CarParams.from_bytes(params.get("CarParams"))
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for k, v in checks.items():
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if not v == getattr(car_params, k):
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params_ok = False
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failures.append(k)
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except Exception:
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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")
|