Hyundai: Car Port for 2022 Santa Fe Hybrid (#22962)
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/22974/head^2
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@ -6,6 +6,7 @@ Version 0.8.11 (2021-11-22)
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* Fixed occasional steering faults on GM cars thanks to jyoung8607!
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* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
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* Cadillac Escalade ESV 2016 support thanks to Gibby!
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* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
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* Mazda CX-9 2021 support thanks to Jacar!
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* Volkswagen Polo 2020 support thanks to jyoung8607!
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* Volkswagen T-Roc 2021 support thanks to jyoung8607!
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@ -111,6 +111,7 @@
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| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
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| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
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| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
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@ -104,7 +104,8 @@ class CarController():
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
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CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]:
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CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
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CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
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can_sends.append(create_lfahda_mfc(self.packer, enabled))
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# 5 Hz ACC options
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@ -18,7 +18,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
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if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]:
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
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CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
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values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
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values["CF_Lkas_LdwsOpt_USM"] = 2
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@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
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ret.longitudinalActuatorDelayUpperBound = 1.0 # s
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if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022]:
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if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.766
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@ -12,7 +12,8 @@ class CarControllerParams:
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def __init__(self, CP):
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if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
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CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022]:
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CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
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CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
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self.STEER_MAX = 384
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else:
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self.STEER_MAX = 255
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@ -39,6 +40,7 @@ class CAR:
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KONA_HEV = "HYUNDAI KONA HYBRID 2020"
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SANTA_FE = "HYUNDAI SANTA FE 2019"
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SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
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SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
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SONATA = "HYUNDAI SONATA 2020"
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SONATA_LF = "HYUNDAI SONATA 2019"
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PALISADE = "HYUNDAI PALISADE 2020"
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@ -469,6 +471,23 @@ FW_VERSIONS = {
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b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7',
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],
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},
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CAR.SANTA_FE_HEV_2022: {
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
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],
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x87391312MTC1',
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],
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},
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CAR.KIA_STINGER: {
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ',
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@ -912,7 +931,7 @@ FW_VERSIONS = {
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}
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CHECKSUM = {
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"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021],
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"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022],
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"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
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}
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@ -920,13 +939,13 @@ FEATURES = {
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# which message has the gear
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"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
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"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022]),
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"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
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# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]),
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"use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
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}
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HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022]) # these cars use a different gas signal
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HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]) # these cars use a different gas signal
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EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
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# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
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@ -960,6 +979,7 @@ DBC = {
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CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
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CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
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CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
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CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
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CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
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CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
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CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
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@ -71,6 +71,7 @@ routes = [
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TestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
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TestRoute("38bfd238edecbcd7|2018-08-29--22-02-15", HYUNDAI.SANTA_FE),
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TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
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TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
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TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
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TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
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TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
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