252 lines
7.8 KiB
Python
Executable File
252 lines
7.8 KiB
Python
Executable File
#!/usr/bin/env python3
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import struct
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import traceback
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from typing import Any
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from tqdm import tqdm
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import panda.python.uds as uds
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from cereal import car
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from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
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from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.swaglog import cloudlog
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Ecu = car.CarParams.Ecu
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def p16(val):
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return struct.pack("!H", val)
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TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
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TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
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SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
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SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
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DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
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uds.SESSION_TYPE.DEFAULT])
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DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
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uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
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EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
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uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
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EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
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uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
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UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
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HYUNDAI_VERSION_REQUEST_SHORT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(0xf1a0) # 4 Byte version number
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HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(0xf100) # Long description
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HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
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p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
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p16(0xf100) + \
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p16(0xf1a0)
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HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
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TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
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TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
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OBD_VERSION_REQUEST = b'\x09\x04'
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OBD_VERSION_RESPONSE = b'\x49\x04'
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# supports subaddressing, request, response
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REQUESTS = [
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# Hundai
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(
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"hyundai",
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[HYUNDAI_VERSION_REQUEST_SHORT],
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[HYUNDAI_VERSION_RESPONSE],
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),
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(
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"hyundai",
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[HYUNDAI_VERSION_REQUEST_LONG],
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[HYUNDAI_VERSION_RESPONSE],
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),
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(
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"hyundai",
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[HYUNDAI_VERSION_REQUEST_MULTI],
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[HYUNDAI_VERSION_RESPONSE],
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),
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# Honda
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(
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"honda",
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[UDS_VERSION_REQUEST],
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[UDS_VERSION_RESPONSE],
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),
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# Toyota
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(
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"toyota",
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[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
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[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
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),
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(
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"toyota",
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[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
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[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
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),
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(
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"toyota",
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[TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
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[TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
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)
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]
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def chunks(l, n=128):
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for i in range(0, len(l), n):
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yield l[i:i + n]
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def match_fw_to_car(fw_versions):
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candidates = FW_VERSIONS
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invalid = []
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fw_versions_dict = {}
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for fw in fw_versions:
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addr = fw.address
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sub_addr = fw.subAddress if fw.subAddress != 0 else None
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fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
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for candidate, fws in candidates.items():
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for ecu, expected_versions in fws.items():
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ecu_type = ecu[0]
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addr = ecu[1:]
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found_version = fw_versions_dict.get(addr, None)
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ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa, Ecu.electricBrakeBooster]
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if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER] and found_version is None:
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continue
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# TODO: COROLLA_TSS2 engine can show on two different addresses
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if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR] and found_version is None:
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continue
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# ignore non essential ecus
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if ecu_type not in ESSENTIAL_ECUS and found_version is None:
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continue
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if found_version not in expected_versions:
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invalid.append(candidate)
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break
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return set(candidates.keys()) - set(invalid)
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def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
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ecu_types = {}
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# Extract ECU adresses to query from fingerprints
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# ECUs using a subadress need be queried one by one, the rest can be done in parallel
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addrs = []
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parallel_addrs = []
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versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
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if extra is not None:
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versions.update(extra)
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for brand, brand_versions in versions.items():
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for c in brand_versions.values():
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for ecu_type, addr, sub_addr in c.keys():
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a = (brand, addr, sub_addr)
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if a not in ecu_types:
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ecu_types[(addr, sub_addr)] = ecu_type
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if sub_addr is None:
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if a not in parallel_addrs:
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parallel_addrs.append(a)
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else:
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if [a] not in addrs:
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addrs.append([a])
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addrs.insert(0, parallel_addrs)
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fw_versions = {}
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for i, addr in enumerate(tqdm(addrs, disable=not progress)):
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for addr_chunk in chunks(addr):
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for brand, request, response in REQUESTS:
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try:
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addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any')]
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if addrs:
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query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, debug=debug)
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t = 2 * timeout if i == 0 else timeout
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fw_versions.update(query.get_data(t))
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except Exception:
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cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
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# Build capnp list to put into CarParams
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car_fw = []
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for addr, version in fw_versions.items():
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu_types[addr]
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f.fwVersion = version
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f.address = addr[0]
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if addr[1] is not None:
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f.subAddress = addr[1]
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car_fw.append(f)
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return car_fw
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if __name__ == "__main__":
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import time
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import argparse
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import cereal.messaging as messaging
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from selfdrive.car.vin import get_vin
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parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
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parser.add_argument('--scan', action='store_true')
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parser.add_argument('--debug', action='store_true')
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args = parser.parse_args()
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logcan = messaging.sub_sock('can')
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sendcan = messaging.pub_sock('sendcan')
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extra: Any = None
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if args.scan:
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extra = {}
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# Honda
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for i in range(256):
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extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
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extra[(Ecu.unknown, 0x700 + i, None)] = []
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extra[(Ecu.unknown, 0x750, i)] = []
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extra = {"any": {"debug": extra}}
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time.sleep(1.)
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t = time.time()
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print("Getting vin...")
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addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
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print(f"VIN: {vin}")
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print("Getting VIN took %.3f s" % (time.time() - t))
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print()
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t = time.time()
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fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
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candidates = match_fw_to_car(fw_vers)
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print()
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print("Found FW versions")
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print("{")
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for version in fw_vers:
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subaddr = None if version.subAddress == 0 else hex(version.subAddress)
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print(f" (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
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print("}")
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print()
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print("Possible matches:", candidates)
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print("Getting fw took %.3f s" % (time.time() - t))
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