openpilot_comma/selfdrive/car/fingerprints.py

from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.honda.values import CAR as HONDA
from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.car.volkswagen.values import CAR as VW

FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)

_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes


def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]):
  adr = msg.address
  # ignore addresses that are more than 11 bits
  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800


def eliminate_incompatible_cars(msg, candidate_cars):
  """Removes cars that could not have sent msg.

     Inputs:
      msg: A cereal/log CanData message from the car.
      candidate_cars: A list of cars to consider.

     Returns:
      A list containing the subset of candidate_cars that could have sent msg.
  """
  compatible_cars = []

  for car_name in candidate_cars:
    car_fingerprints = _FINGERPRINTS[car_name]

    for fingerprint in car_fingerprints:
      # add alien debug address
      if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
        compatible_cars.append(car_name)
        break

  return compatible_cars


def all_known_cars():
  """Returns a list of all known car strings."""
  return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})


def all_legacy_fingerprint_cars():
  """Returns a list of all known car strings, FPv1 only."""
  return list(_FINGERPRINTS.keys())


# A dict that maps old platform strings to their latest representations
MIGRATION = {
  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
  "AUDI A3": VW.AUDI_A3_MK3,
  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.ACCORD,
  "HONDA ACCORD 1.5T 2018": HONDA.ACCORD,
  "HONDA ACCORD 2018 LX 1.5T": HONDA.ACCORD,
  "HONDA ACCORD 2018 SPORT 2T": HONDA.ACCORD,
  "HONDA ACCORD 2T 2018": HONDA.ACCORD,
  "HONDA ACCORD HYBRID 2018": HONDA.ACCORD,
  "HONDA CIVIC 2016 TOURING": HONDA.CIVIC,
  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.CIVIC_BOSCH,
  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.CIVIC_BOSCH_DIESEL,
  "HONDA CR-V 2016 EXECUTIVE": HONDA.CRV_EU,
  "HONDA CR-V 2016 TOURING": HONDA.CRV,
  "HONDA CR-V 2017 EX": HONDA.CRV_5G,
  "HONDA CR-V 2019 HYBRID": HONDA.CRV_HYBRID,
  "HONDA FIT 2018 EX": HONDA.FIT,
  "HONDA HRV 2019 TOURING": HONDA.HRV,
  "HONDA INSIGHT 2019 TOURING": HONDA.INSIGHT,
  "HONDA ODYSSEY 2018 EX-L": HONDA.ODYSSEY,
  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.ODYSSEY_CHN,
  "HONDA PILOT 2017 TOURING": HONDA.PILOT,
  "HONDA PILOT 2019 ELITE": HONDA.PILOT,
  "HONDA PILOT 2019": HONDA.PILOT,
  "HONDA PASSPORT 2021": HONDA.PILOT,
  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.RIDGELINE,
  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.ELANTRA,
  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.SANTA_FE,
  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.TUCSON,
  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
  "TOYOTA SIENNA XLE 2018": TOYOTA.SIENNA,
  "TOYOTA C-HR HYBRID 2018": TOYOTA.CHR,
  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.COROLLA_TSS2,
  "TOYOTA RAV4 HYBRID 2019": TOYOTA.RAV4_TSS2,
  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.ALPHARD_TSS2,
  "TOYOTA AVALON HYBRID 2019": TOYOTA.AVALON_2019,
  "TOYOTA AVALON HYBRID 2022": TOYOTA.AVALON_TSS2,
  "TOYOTA CAMRY HYBRID 2018": TOYOTA.CAMRY,
  "TOYOTA CAMRY HYBRID 2021": TOYOTA.CAMRY_TSS2,
  "TOYOTA C-HR HYBRID 2022": TOYOTA.CHR_TSS2,
  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.HIGHLANDER_TSS2,
  "TOYOTA RAV4 HYBRID 2022": TOYOTA.RAV4_TSS2_2022,
  "TOYOTA RAV4 HYBRID 2023": TOYOTA.RAV4_TSS2_2023,
  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.HIGHLANDER,
  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.TUCSON_4TH_GEN,
  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
}