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128 lines
4.9 KiB
128 lines
4.9 KiB
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_FINGERPRINTS = {
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"ACURA ILX 2016 ACURAWATCH PLUS": {
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1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
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# sent messages
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0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
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},
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"HONDA CIVIC 2016 TOURING": {
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1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
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# sent messages
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0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
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},
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"HONDA ACCORD 2016 TOURING": {
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1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
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}
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}
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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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adr = msg.address
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if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
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_FINGERPRINTS[car_name][adr] == len(msg.dat)):
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compatible_cars.append(car_name)
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else:
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pass
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#isin = adr in _FINGERPRINTS[car_name]
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#print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
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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 _FINGERPRINTS.keys()
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# **** for use live only ****
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def fingerprint(logcan):
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import selfdrive.messaging as messaging
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from cereal import car
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from common.realtime import sec_since_boot
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import os
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if os.getenv("SIMULATOR") is not None or logcan is None:
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# send message
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ret = car.CarParams.new_message()
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ret.carName = "simulator"
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ret.radarName = "nidec"
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ret.carFingerprint = "THE LOW QUALITY SIMULATOR"
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ret.enableSteer = True
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ret.enableBrake = True
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ret.enableGas = True
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ret.enableCruise = False
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ret.wheelBase = 2.67
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ret.steerRatio = 15.3
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ret.slipFactor = 0.0014
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ret.steerKp, ret.steerKi = 12.0, 1.0
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return ret
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print "waiting for fingerprint..."
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brake_only = True
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candidate_cars = all_known_cars()
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finger = {}
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st = None
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while 1:
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for a in messaging.drain_sock(logcan, wait_for_one=True):
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if st is None:
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st = sec_since_boot()
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for can in a.can:
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# pedal
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if can.address == 0x201 and can.src == 0:
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brake_only = False
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if can.src == 0:
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finger[can.address] = len(can.dat)
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candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
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# if we only have one car choice and it's been 100ms since we got our first message, exit
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if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
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break
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elif len(candidate_cars) == 0:
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print map(hex, finger.keys())
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raise Exception("car doesn't match any fingerprints")
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print "fingerprinted", candidate_cars[0]
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# send message
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ret = car.CarParams.new_message()
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ret.carName = "honda"
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ret.radarName = "nidec"
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ret.carFingerprint = candidate_cars[0]
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ret.enableSteer = True
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ret.enableBrake = True
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ret.enableGas = not brake_only
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ret.enableCruise = brake_only
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#ret.enableCruise = False
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ret.wheelBase = 2.67
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ret.steerRatio = 15.3
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ret.slipFactor = 0.0014
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if candidate_cars[0] == "HONDA CIVIC 2016 TOURING":
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ret.steerKp, ret.steerKi = 12.0, 1.0
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elif candidate_cars[0] == "ACURA ILX 2016 ACURAWATCH PLUS":
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if not brake_only:
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# assuming if we have an interceptor we also have a torque mod
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ret.steerKp, ret.steerKi = 6.0, 0.5
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else:
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ret.steerKp, ret.steerKi = 12.0, 1.0
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elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
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ret.steerKp, ret.steerKi = 12.0, 1.0
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else:
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raise ValueError("unsupported car %s" % candidate_cars[0])
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return ret
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