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remove toyota can fingerprinting exceptions #22803

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Merged
merged 2 commits into from
Nov 5, 2021
Merged

remove toyota can fingerprinting exceptions #22803

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5711417
remove toyota can fingerprinting exceptions
adeebshihadeh Nov 5, 2021
0674fe8
cleanup
adeebshihadeh Nov 5, 2021
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16 changes: 3 additions & 13 deletions selfdrive/car/car_helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,10 +79,6 @@ def _get_interface_names():
interfaces = load_interfaces(interface_names)


def only_toyota_left(candidate_cars):
return all(("TOYOTA" in c or "LEXUS" in c) for c in candidate_cars) and len(candidate_cars) > 0


# **** for use live only ****
def fingerprint(logcan, sendcan):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
Expand Down Expand Up @@ -134,22 +130,16 @@ def fingerprint(logcan, sendcan):
finger[can.src][can.address] = len(can.dat)

for b in candidate_cars:
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
# Ignore extended messages and VIN query response.
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])

# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# fingerprint done
car_fingerprint = candidate_cars[b][0]

# bail if no cars left or we've been waiting for more than 2s
failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
Expand Down