dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#!/usr/bin/env python3
import sys
from tools.lib.route import Route
from tools.lib.logreader import MultiLogIterator
def get_fingerprint(lr):
# TODO: make this a nice tool for car ports. should also work with qlogs for FW
fw = None
msgs = {}
for msg in lr:
if msg.which() == 'carParams':
fw = msg.carParams.carFw
elif msg.which() == 'can':
for c in msg.can:
# read also msgs sent by EON on CAN bus 0x80 and filter out the
# addr with more than 11 bits
if c.src % 0x80 == 0 and c.address < 0x800:
msgs[c.address] = len(c.dat)
# show CAN fingerprint
fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
print(fingerprint)
# TODO: also print the fw fingerprint merged with the existing ones
# show FW fingerprint
print("\nFW fingerprint:\n")
for f in fw:
print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
print(f" {f.fwVersion},")
print(" ],")
print()
if __name__ == "__main__":
if len(sys.argv) < 2:
print("Usage: ./fingerprint_from_route.py <route>")
sys.exit(1)
route = Route(sys.argv[1])
lr = MultiLogIterator(route.log_paths()[:5], wraparound=False)
get_fingerprint(lr)