Fix CI

jeroenlammersma · Aug 23, 2022 · 62a811a · 62a811a
1 parent 40c4de4
commit 62a811a
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
@@ -84,18 +84,20 @@ def setUpClass(cls):
       car_fw = []
       can_msgs = []
       fingerprint = defaultdict(dict)
+      CP = None
       for msg in lr:
         if msg.which() == "can":
           for m in msg.can:
             if m.src < 64:
               fingerprint[m.src][m.address] = len(m.dat)
           can_msgs.append(msg)
         elif msg.which() == "carParams":
-          car_fw = msg.carParams.carFw
-          if msg.carParams.openpilotLongitudinalControl:
+          CP = msg.carParams
+          car_fw = CP.carFw
+          if CP.openpilotLongitudinalControl:
             disable_radar = True
           if cls.car_model is None and not cls.ci:
-            cls.car_model = msg.carParams.carFingerprint
+            cls.car_model = CP.carFingerprint
 
       if len(can_msgs) > int(50 / DT_CTRL):
         break
@@ -104,6 +106,11 @@ def setUpClass(cls):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
+    # Sets enableDsu for cars with missing carFw
+    # TODO: get new route for TOYOTA.LEXUS_CTH
+    if len(car_fw) == 0 and CP is not None and CP.enableDsu:
+      car_fw = [car.CarParams.CarFw(ecu=car.CarParams.Ecu.unknown)]
+
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
     cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar)
     assert cls.CP