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from openpilot.selfdrive.car.interfaces import get_interface_attr
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from openpilot.selfdrive.car.honda.values import CAR as HONDA
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from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
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from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
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from openpilot.selfdrive.car.volkswagen.values import CAR as VW
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FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
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_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
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_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes
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def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]):
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adr = msg.address
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# ignore addresses that are more than 11 bits
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return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
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def eliminate_incompatible_cars(msg, candidate_cars):
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"""Removes cars that could not have sent msg.
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Inputs:
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msg: A cereal/log CanData message from the car.
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candidate_cars: A list of cars to consider.
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Returns:
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A list containing the subset of candidate_cars that could have sent msg.
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"""
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compatible_cars = []
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for car_name in candidate_cars:
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car_fingerprints = _FINGERPRINTS[car_name]
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for fingerprint in car_fingerprints:
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# add alien debug address
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if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
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compatible_cars.append(car_name)
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break
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return compatible_cars
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def all_known_cars():
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"""Returns a list of all known car strings."""
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return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})
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def all_legacy_fingerprint_cars():
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"""Returns a list of all known car strings, FPv1 only."""
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return list(_FINGERPRINTS.keys())
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# A dict that maps old platform strings to their latest representations
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MIGRATION = {
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"ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
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"ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
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"ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
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"AUDI A3": VW.AUDI_A3_MK3,
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"HONDA ACCORD 2018 HYBRID TOURING": HONDA.ACCORD,
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"HONDA ACCORD 1.5T 2018": HONDA.ACCORD,
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"HONDA ACCORD 2018 LX 1.5T": HONDA.ACCORD,
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"HONDA ACCORD 2018 SPORT 2T": HONDA.ACCORD,
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"HONDA ACCORD 2T 2018": HONDA.ACCORD,
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"HONDA ACCORD HYBRID 2018": HONDA.ACCORD,
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"HONDA CIVIC 2016 TOURING": HONDA.CIVIC,
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"HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.CIVIC_BOSCH,
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"HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.CIVIC_BOSCH_DIESEL,
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"HONDA CR-V 2016 EXECUTIVE": HONDA.CRV_EU,
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"HONDA CR-V 2016 TOURING": HONDA.CRV,
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"HONDA CR-V 2017 EX": HONDA.CRV_5G,
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"HONDA CR-V 2019 HYBRID": HONDA.CRV_HYBRID,
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"HONDA FIT 2018 EX": HONDA.FIT,
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"HONDA HRV 2019 TOURING": HONDA.HRV,
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"HONDA INSIGHT 2019 TOURING": HONDA.INSIGHT,
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"HONDA ODYSSEY 2018 EX-L": HONDA.ODYSSEY,
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"HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.ODYSSEY_CHN,
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"HONDA PILOT 2017 TOURING": HONDA.PILOT,
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"HONDA PILOT 2019 ELITE": HONDA.PILOT,
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"HONDA PILOT 2019": HONDA.PILOT,
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"HONDA PASSPORT 2021": HONDA.PILOT,
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"HONDA RIDGELINE 2017 BLACK EDITION": HONDA.RIDGELINE,
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"HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.ELANTRA,
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"HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.SANTA_FE,
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"HYUNDAI TUCSON DIESEL 2019": HYUNDAI.TUCSON,
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"KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
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"KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
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"KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
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"LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
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"LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
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"LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
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"LEXUS IS300 2018": TOYOTA.LEXUS_IS,
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"LEXUS NX300 2018": TOYOTA.LEXUS_NX,
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"LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
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"LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
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"LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
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"LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
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"TOYOTA SIENNA XLE 2018": TOYOTA.SIENNA,
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"TOYOTA C-HR HYBRID 2018": TOYOTA.CHR,
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"TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.COROLLA_TSS2,
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"TOYOTA RAV4 HYBRID 2019": TOYOTA.RAV4_TSS2,
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"LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
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"LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
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"LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
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"LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
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"TOYOTA ALPHARD HYBRID 2021": TOYOTA.ALPHARD_TSS2,
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"TOYOTA AVALON HYBRID 2019": TOYOTA.AVALON_2019,
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"TOYOTA AVALON HYBRID 2022": TOYOTA.AVALON_TSS2,
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"TOYOTA CAMRY HYBRID 2018": TOYOTA.CAMRY,
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"TOYOTA CAMRY HYBRID 2021": TOYOTA.CAMRY_TSS2,
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"TOYOTA C-HR HYBRID 2022": TOYOTA.CHR_TSS2,
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"TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.HIGHLANDER_TSS2,
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"TOYOTA RAV4 HYBRID 2022": TOYOTA.RAV4_TSS2_2022,
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"TOYOTA RAV4 HYBRID 2023": TOYOTA.RAV4_TSS2_2023,
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"TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.HIGHLANDER,
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"LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
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"LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
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"HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.TUCSON_4TH_GEN,
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"KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
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"KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
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}
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