190 lines
6.6 KiB
Python
190 lines
6.6 KiB
Python
import os
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from common.params import Params
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from common.basedir import BASEDIR
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from selfdrive.version import comma_remote, tested_branch
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from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
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from selfdrive.car.vin import get_vin, VIN_UNKNOWN
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from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
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from selfdrive.swaglog import cloudlog
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import cereal.messaging as messaging
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from selfdrive.car import gen_empty_fingerprint
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from cereal import car
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EventName = car.CarEvent.EventName
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def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint):
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if comma_remote and tested_branch:
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event = EventName.startup
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else:
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event = EventName.startupMaster
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if not car_recognized:
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event = EventName.startupNoCar
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elif car_recognized and not controller_available:
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event = EventName.startupNoControl
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elif car_recognized and fuzzy_fingerprint:
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event = EventName.startupFuzzyFingerprint
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return event
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def get_one_can(logcan):
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while True:
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can = messaging.recv_one_retry(logcan)
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if len(can.can) > 0:
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return can
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def load_interfaces(brand_names):
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ret = {}
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for brand_name in brand_names:
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path = ('selfdrive.car.%s' % brand_name)
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CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
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if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
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CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
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else:
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CarState = None
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if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
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CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
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else:
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CarController = None
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for model_name in brand_names[brand_name]:
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ret[model_name] = (CarInterface, CarController, CarState)
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return ret
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def _get_interface_names():
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# read all the folders in selfdrive/car and return a dict where:
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# - keys are all the car names that which we have an interface for
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# - values are lists of spefic car models for a given car
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brand_names = {}
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for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
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try:
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brand_name = car_folder.split('/')[-1]
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model_names = __import__('selfdrive.car.%s.values' % brand_name, fromlist=['CAR']).CAR
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model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
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brand_names[brand_name] = model_names
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except (ImportError, IOError):
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pass
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return brand_names
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# imports from directory selfdrive/car/<name>/
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interface_names = _get_interface_names()
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interfaces = load_interfaces(interface_names)
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def only_toyota_left(candidate_cars):
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return all(("TOYOTA" in c or "LEXUS" in c) for c in candidate_cars) and len(candidate_cars) > 0
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# **** for use live only ****
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def fingerprint(logcan, sendcan):
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fixed_fingerprint = os.environ.get('FINGERPRINT', "")
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skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
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if not fixed_fingerprint and not skip_fw_query:
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# Vin query only reliably works thorugh OBDII
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bus = 1
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cached_params = Params().get("CarParamsCache")
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if cached_params is not None:
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cached_params = car.CarParams.from_bytes(cached_params)
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if cached_params.carName == "mock":
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cached_params = None
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if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
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cloudlog.warning("Using cached CarParams")
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vin = cached_params.carVin
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car_fw = list(cached_params.carFw)
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else:
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cloudlog.warning("Getting VIN & FW versions")
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_, vin = get_vin(logcan, sendcan, bus)
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car_fw = get_fw_versions(logcan, sendcan, bus)
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exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
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else:
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vin = VIN_UNKNOWN
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exact_fw_match, fw_candidates, car_fw = True, set(), []
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cloudlog.warning("VIN %s", vin)
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Params().put("CarVin", vin)
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finger = gen_empty_fingerprint()
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candidate_cars = {i: all_known_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
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frame = 0
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frame_fingerprint = 10 # 0.1s
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car_fingerprint = None
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done = False
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while not done:
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a = get_one_can(logcan)
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for can in a.can:
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# need to independently try to fingerprint both bus 0 and 1 to work
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# for the combo black_panda and honda_bosch. Ignore extended messages
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# and VIN query response.
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# Include bus 2 for toyotas to disambiguate cars using camera messages
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# (ideally should be done for all cars but we can't for Honda Bosch)
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if can.src in range(0, 4):
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finger[can.src][can.address] = len(can.dat)
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for b in candidate_cars:
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if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
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can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
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candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
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# if we only have one car choice and the time since we got our first
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# message has elapsed, exit
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for b in candidate_cars:
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# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
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if only_toyota_left(candidate_cars[b]):
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frame_fingerprint = 100 # 1s
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if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
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# fingerprint done
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car_fingerprint = candidate_cars[b][0]
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# bail if no cars left or we've been waiting for more than 2s
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failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
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car_fingerprint = "ALBATROSS"
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succeeded = car_fingerprint is not None
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done = failed or succeeded
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frame += 1
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exact_match = True
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source = car.CarParams.FingerprintSource.can
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# If FW query returns exactly 1 candidate, use it
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if len(fw_candidates) == 1:
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car_fingerprint = list(fw_candidates)[0]
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source = car.CarParams.FingerprintSource.fw
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exact_match = exact_fw_match
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if fixed_fingerprint:
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car_fingerprint = fixed_fingerprint
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source = car.CarParams.FingerprintSource.fixed
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cloudlog.warning("fingerprinted %s", car_fingerprint)
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return car_fingerprint, finger, vin, car_fw, source, exact_match
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def get_car(logcan, sendcan):
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candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
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if candidate is None:
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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candidate = "mock"
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CarInterface, CarController, CarState = interfaces[candidate]
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car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
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car_params.carVin = vin
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car_params.carFw = car_fw
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car_params.fingerprintSource = source
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car_params.fuzzyFingerprint = not exact_match
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return CarInterface(car_params, CarController, CarState), car_params
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