IQ.Pilot Release Commit @ 2b39aa6

iqdbc_repo/iqdbc/can/dbc.py

@@ -198,7 +198,7 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(8, -1, 7, -1, False, SignalType.FCA_GIORGIO_CHECKSUM, fca_giorgio_checksum)
   elif dbc_name.startswith("comma_body"):
     return ChecksumState(8, 4, 7, 3, False, SignalType.BODY_CHECKSUM, body_checksum)
-  elif dbc_name.startswith("tesla_model3_party"):
+  elif dbc_name.startswith(("tesla_model3_party", "tesla_model3_vehicle")):
     return ChecksumState(8, -1, 0, -1, True, SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
   elif dbc_name.startswith("psa_"):
     return ChecksumState(4, 4, 7, 3, False, SignalType.PSA_CHECKSUM, psa_checksum)

iqdbc_repo/iqdbc/can/parser.py

@@ -1,5 +1,6 @@
 import math
 import numbers
+import time
 from collections import defaultdict, deque
 from dataclasses import dataclass, field
 
@@ -154,7 +155,7 @@ class CANParser:
     self.last_nonempty_nanos: int = 0
     self._last_update_nanos: int = 0
 
-  def _add_message(self, name_or_addr: str | int, freq: int | None = None) -> None:
+  def _add_message(self, name_or_addr: str | int, freq: int | None = None, ignore_counter: bool = False) -> None:
     if isinstance(name_or_addr, numbers.Number):
       msg = self.dbc.addr_to_msg.get(int(name_or_addr))
     else:
@@ -171,16 +172,15 @@ class CANParser:
     self.vl_all[msg.name] = self.vl_all[msg.address]
     self.ts_nanos[msg.address] = {s: 0 for s in signal_names}
     self.ts_nanos[msg.name] = self.ts_nanos[msg.address]
-    self.dat[msg.address] = b""
-    self.dat[msg.name] = b""
-
     state = MessageState(
       address=msg.address,
       name=msg.name,
       size=msg.size,
       signals=list(msg.sigs.values()),
       ignore_alive=freq is not None and math.isnan(freq),
+      ignore_counter=ignore_counter,
     )
+    state.first_seen_nanos = time.monotonic_ns()
     if freq is not None and freq > 0:
       state.frequency = freq
     else:

iqdbc_repo/iqdbc/can/tests/test_packer_parser.py

@@ -67,6 +67,32 @@ class TestCanParserPacker:
       parser.update([t, [msg]])
       assert parser.can_valid
 
+  def test_lazy_add_not_ignore_alive(self):
+    """
+    Accessing an undeclared message via parser.vl[...] lazily adds it via
+    _add_message(key) with the default freq=None, which is NOT the same as
+    declaring it with math.nan (ignore_alive=True). It's treated as "assume
+    ~1Hz, must be seen within ~10s" — so if that message is never fed, the
+    parser is permanently invalid. Declaring an optional/rarely-sent message
+    with math.nan (or gating the .vl[...] read entirely) is required to avoid
+    this; see iqdbc/car/volkswagen/carstate.py's Diagnose_1/EPB_1 bugs.
+    """
+    parser = CANParser(TEST_DBC, [], 0)
+    assert parser.can_valid
+
+    # lazily add STEERING_CONTROL by reading it, without ever declaring it
+    # or feeding any CAN data for it
+    _ = parser.vl["STEERING_CONTROL"]
+    state = parser.message_states[parser.dbc.name_to_msg["STEERING_CONTROL"].address]
+    assert not state.ignore_alive
+
+    # never becomes valid again, no matter how many times it's checked
+    # (can_valid debounces over MAX_BAD_COUNTER reads before flipping false)
+    for _ in range(MAX_BAD_COUNTER):
+      parser.can_valid
+    for _ in range(20):
+      assert not parser.can_valid
+
   def test_parser_updated_list(self):
     msgs = [("CAN_FD_MESSAGE", 10), ]
     parser = CANParser(TEST_DBC, msgs, 0)