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87 lines
2.9 KiB
87 lines
2.9 KiB
import os
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from common.realtime import sec_since_boot
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from common.fingerprints import eliminate_incompatible_cars, all_known_cars
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from selfdrive.swaglog import cloudlog
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import selfdrive.messaging as messaging
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from common.fingerprints import HONDA, TOYOTA, GM, FORD
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def load_interfaces(x):
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ret = {}
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for interface in x:
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try:
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imp = __import__('selfdrive.car.%s.interface' % interface, fromlist=['CarInterface']).CarInterface
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except ImportError:
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imp = None
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for car in x[interface]:
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ret[car] = imp
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return ret
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# imports from directory selfdrive/car/<name>/
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interfaces = load_interfaces({
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'honda': [HONDA.CIVIC, HONDA.ACURA_ILX, HONDA.CRV, HONDA.ODYSSEY, HONDA.ACURA_RDX, HONDA.PILOT, HONDA.RIDGELINE],
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'toyota': [TOYOTA.PRIUS, TOYOTA.RAV4, TOYOTA.RAV4H, TOYOTA.COROLLA, TOYOTA.LEXUS_RXH],
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'gm': [GM.VOLT, GM.CADILLAC_CT6],
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'ford': [FORD.FUSION],
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'simulator2': ['simulator2'],
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'mock': ['mock']})
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# **** for use live only ****
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def fingerprint(logcan, timeout):
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if os.getenv("SIMULATOR2") is not None:
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return ("simulator2", None)
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finger_st = sec_since_boot()
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cloudlog.warning("waiting for fingerprint...")
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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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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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ts = sec_since_boot()
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# if we only have one car choice and the time_fingerprint since we got our first
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# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
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# broadcast immediately
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if len(candidate_cars) == 1 and st is not None:
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# TODO: better way to decide to wait more if Toyota
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time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
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if (ts-st) > time_fingerprint:
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break
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# bail if no cars left or we've been waiting too long
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elif len(candidate_cars) == 0 or (timeout and ts-finger_st > timeout):
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return None, finger
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cloudlog.warning("fingerprinted %s", candidate_cars[0])
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return (candidate_cars[0], finger)
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def get_car(logcan, sendcan=None, passive=True):
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# TODO: timeout only useful for replays so controlsd can start before unlogger
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timeout = 1. if passive else None
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candidate, fingerprints = fingerprint(logcan, timeout)
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if candidate is None:
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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if passive:
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candidate = "mock"
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else:
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return None, None
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interface_cls = interfaces[candidate]
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if interface_cls is None:
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cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
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return None, None
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params = interface_cls.get_params(candidate, fingerprints)
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return interface_cls(params, sendcan), params
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