  
  def get_car_params(msgs, fsm, can_sock, fingerprint):
    if fingerprint:
      CarInterface, _, _ = interfaces[fingerprint]
      CP = CarInterface.get_non_essential_params(fingerprint)
    else:
      can = FakeSocket(wait=False)
      sendcan = FakeSocket(wait=False)
  
      canmsgs = [msg for msg in msgs if msg.which() == 'can']
 
</s> remove         CP = interfaces[car_model][0].get_non_essential_params(car_model)
 </s> add         CP = interfaces[car_model][0].get_params(car_model) </s> remove     CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
 </s> add     CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")]) </s> remove     CP = CarInterface.get_non_essential_params("mock")
 </s> add     CP = CarInterface.get_params("mock") </s> remove   def get_non_essential_params(cls, candidate: str):
    """
    Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
    """
    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False)
 </s> add   def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
    if fingerprint is None:
      fingerprint = gen_empty_fingerprint()

    if car_fw is None:
      car_fw = list() </s> remove     CP = CarInterface.get_non_essential_params(car_name)
 </s> add     CP = CarInterface.get_params(car_name)
    CP = CarInterface.get_params(fingerprint)
  
  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']
keep keep keep keep replace keep keep keep keep keep
 Revert "Car interface: require fingerprint and FW versions to get params (#26766)"

This reverts commit b68dabb689104ef0819a6c881b800076deb866f6. 
selfdrive/test/process_replay/process_replay.py