174 lines
6.4 KiB
Python
174 lines
6.4 KiB
Python
import os
|
|
from common.params import Params
|
|
from common.basedir import BASEDIR
|
|
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
|
|
from selfdrive.car.vin import get_vin, VIN_UNKNOWN
|
|
from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
|
|
from selfdrive.swaglog import cloudlog
|
|
import cereal.messaging as messaging
|
|
from selfdrive.car import gen_empty_fingerprint
|
|
|
|
from cereal import car
|
|
EventName = car.CarEvent.EventName
|
|
|
|
def get_startup_event(car_recognized, controller_available):
|
|
event = EventName.startup
|
|
if Params().get("GitRemote", encoding="utf8") in ['git@github.com:commaai/openpilot.git', 'https://github.com/commaai/openpilot.git']:
|
|
if Params().get("GitBranch", encoding="utf8") not in ['devel', 'release2-staging', 'dashcam-staging', 'release2', 'dashcam']:
|
|
event = EventName.startupMaster
|
|
if not car_recognized:
|
|
event = EventName.startupNoCar
|
|
elif car_recognized and not controller_available:
|
|
event = EventName.startupNoControl
|
|
return event
|
|
|
|
|
|
def load_interfaces(brand_names):
|
|
ret = {}
|
|
for brand_name in brand_names:
|
|
path = ('selfdrive.car.%s' % brand_name)
|
|
CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
|
|
|
|
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
|
|
CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
|
|
else:
|
|
CarState = None
|
|
|
|
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
|
|
CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
|
|
else:
|
|
CarController = None
|
|
|
|
for model_name in brand_names[brand_name]:
|
|
ret[model_name] = (CarInterface, CarController, CarState)
|
|
return ret
|
|
|
|
|
|
def _get_interface_names():
|
|
# read all the folders in selfdrive/car and return a dict where:
|
|
# - keys are all the car names that which we have an interface for
|
|
# - values are lists of spefic car models for a given car
|
|
brand_names = {}
|
|
for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
|
|
try:
|
|
brand_name = car_folder.split('/')[-1]
|
|
model_names = __import__('selfdrive.car.%s.values' % brand_name, fromlist=['CAR']).CAR
|
|
model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
|
|
brand_names[brand_name] = model_names
|
|
except (ImportError, IOError):
|
|
pass
|
|
|
|
return brand_names
|
|
|
|
|
|
# imports from directory selfdrive/car/<name>/
|
|
interface_names = _get_interface_names()
|
|
interfaces = load_interfaces(interface_names)
|
|
|
|
|
|
def only_toyota_left(candidate_cars):
|
|
return all(("TOYOTA" in c or "LEXUS" in c) for c in candidate_cars) and len(candidate_cars) > 0
|
|
|
|
|
|
# **** for use live only ****
|
|
def fingerprint(logcan, sendcan, has_relay):
|
|
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
|
|
|
|
if has_relay and not fixed_fingerprint:
|
|
# Vin query only reliably works thorugh OBDII
|
|
bus = 1
|
|
|
|
cached_params = Params().get("CarParamsCache")
|
|
if cached_params is not None:
|
|
cached_params = car.CarParams.from_bytes(cached_params)
|
|
if cached_params.carName == "mock":
|
|
cached_params = None
|
|
|
|
if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
|
|
cloudlog.warning("Using cached CarParams")
|
|
vin = cached_params.carVin
|
|
car_fw = list(cached_params.carFw)
|
|
else:
|
|
cloudlog.warning("Getting VIN & FW versions")
|
|
_, vin = get_vin(logcan, sendcan, bus)
|
|
car_fw = get_fw_versions(logcan, sendcan, bus)
|
|
|
|
fw_candidates = match_fw_to_car(car_fw)
|
|
else:
|
|
vin = VIN_UNKNOWN
|
|
fw_candidates, car_fw = set(), []
|
|
|
|
cloudlog.warning("VIN %s", vin)
|
|
Params().put("CarVin", vin)
|
|
|
|
finger = gen_empty_fingerprint()
|
|
candidate_cars = {i: all_known_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
|
|
frame = 0
|
|
frame_fingerprint = 10 # 0.1s
|
|
car_fingerprint = None
|
|
done = False
|
|
|
|
while not done:
|
|
a = messaging.get_one_can(logcan)
|
|
|
|
for can in a.can:
|
|
# need to independently try to fingerprint both bus 0 and 1 to work
|
|
# for the combo black_panda and honda_bosch. Ignore extended messages
|
|
# and VIN query response.
|
|
# Include bus 2 for toyotas to disambiguate cars using camera messages
|
|
# (ideally should be done for all cars but we can't for Honda Bosch)
|
|
if can.src in range(0, 4):
|
|
finger[can.src][can.address] = len(can.dat)
|
|
for b in candidate_cars:
|
|
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
|
|
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
|
|
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
|
|
|
|
# if we only have one car choice and the time since we got our first
|
|
# message has elapsed, exit
|
|
for b in candidate_cars:
|
|
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
|
|
if only_toyota_left(candidate_cars[b]):
|
|
frame_fingerprint = 100 # 1s
|
|
if len(candidate_cars[b]) == 1:
|
|
if frame > frame_fingerprint:
|
|
# fingerprint done
|
|
car_fingerprint = candidate_cars[b][0]
|
|
|
|
# bail if no cars left or we've been waiting for more than 2s
|
|
failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200
|
|
succeeded = car_fingerprint is not None
|
|
done = failed or succeeded
|
|
|
|
frame += 1
|
|
|
|
source = car.CarParams.FingerprintSource.can
|
|
|
|
# If FW query returns exactly 1 candidate, use it
|
|
if len(fw_candidates) == 1:
|
|
car_fingerprint = list(fw_candidates)[0]
|
|
source = car.CarParams.FingerprintSource.fw
|
|
|
|
if fixed_fingerprint:
|
|
car_fingerprint = fixed_fingerprint
|
|
source = car.CarParams.FingerprintSource.fixed
|
|
|
|
cloudlog.warning("fingerprinted %s", car_fingerprint)
|
|
return car_fingerprint, finger, vin, car_fw, source
|
|
|
|
|
|
def get_car(logcan, sendcan, has_relay=False):
|
|
candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)
|
|
|
|
if candidate is None:
|
|
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
|
|
candidate = "mock"
|
|
|
|
CarInterface, CarController, CarState = interfaces[candidate]
|
|
car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
|
|
car_params.carVin = vin
|
|
car_params.carFw = car_fw
|
|
car_params.fingerprintSource = source
|
|
|
|
return CarInterface(car_params, CarController, CarState), car_params
|