test_fuzzy actually uses fingerprint hardcoding

Author: sshane

selfdrive/test/process_replay/process_replay.py

@@ -15,7 +15,7 @@
 from common.params import Params
 from common.timeout import Timeout
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.car_helpers import get_car
+from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.manager.process import PythonProcess
 from selfdrive.manager.process_config import managed_processes
@@ -176,14 +176,18 @@ def fingerprint(msgs, fsm, can_sock):
   fsm.update_ready.set()
 
 
-def get_car_params(msgs, fsm, can_sock):
-  can = FakeSocket(wait=False)
-  sendcan = FakeSocket(wait=False)
+def get_car_params(msgs, fsm, can_sock, fingerprint):
+  if fingerprint:
+    CarInterface, _, _ = interfaces[fingerprint]
+    CP = CarInterface.get_params(fingerprint)
+  else:
+    can = FakeSocket(wait=False)
+    sendcan = FakeSocket(wait=False)
 
-  canmsgs = [msg for msg in msgs if msg.which() == 'can']
-  for m in canmsgs[:300]:
-    can.send(m.as_builder().to_bytes())
-  _, CP = get_car(can, sendcan)
+    canmsgs = [msg for msg in msgs if msg.which() == 'can']
+    for m in canmsgs[:300]:
+      can.send(m.as_builder().to_bytes())
+    _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
 
 def controlsd_rcv_callback(msg, CP, cfg, fsm):
@@ -336,12 +340,12 @@ def ublox_rcv_callback(msg):
 ]
 
 
-def replay_process(cfg, lr):
+def replay_process(cfg, lr, fingerprint=None):
   with OpenpilotPrefix():
     if cfg.fake_pubsubmaster:
-      return python_replay_process(cfg, lr)
+      return python_replay_process(cfg, lr, fingerprint)
     else:
-      return cpp_replay_process(cfg, lr)
+      return cpp_replay_process(cfg, lr, fingerprint)
 
 def setup_env(simulation=False, CP=None):
   params = Params()
@@ -370,7 +374,7 @@ def setup_env(simulation=False, CP=None):
       os.environ['SKIP_FW_QUERY'] = "1"
       os.environ['FINGERPRINT'] = CP.carFingerprint
 
-def python_replay_process(cfg, lr):
+def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
 
@@ -384,8 +388,13 @@ def python_replay_process(cfg, lr):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
-  CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-  setup_env(CP=CP)
+  if fingerprint is not None:
+    os.environ['SKIP_FW_QUERY'] = "1"
+    os.environ['FINGERPRINT'] = fingerprint
+    setup_env()
+  else:
+    CP = [m for m in lr if m.which() == 'carParams'][0].carParams
+    setup_env(CP=CP)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
@@ -398,7 +407,7 @@ def python_replay_process(cfg, lr):
   if cfg.init_callback is not None:
     if 'can' not in list(cfg.pub_sub.keys()):
       can_sock = None
-    cfg.init_callback(all_msgs, fsm, can_sock)
+    cfg.init_callback(all_msgs, fsm, can_sock, fingerprint)
 
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
 
@@ -437,7 +446,7 @@ def python_replay_process(cfg, lr):
   return log_msgs
 
 
-def cpp_replay_process(cfg, lr):
+def cpp_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]  # We get responses here
   pm = messaging.PubMaster(cfg.pub_sub.keys())