openpilot_comma/common/fingerprints.py

import os
from common.basedir import BASEDIR

def get_fingerprint_list():
  # read all the folders in selfdrive/car and return a dict where:
  # - keys are all the car models for which we have a fingerprint
  # - values are lists dicts of messages that constitute the unique 
  #   CAN fingerprint of each car model and all its variants
  fingerprints = {}
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
    try:
      car_name = car_folder.split('/')[-1]
      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
      if hasattr(values, 'FINGERPRINTS'):
        car_fingerprints = values.FINGERPRINTS
      else:
        continue
      for f, v in car_fingerprints.iteritems():
        fingerprints[f] = v
    except (ImportError, IOError):
      pass
  return fingerprints


_FINGERPRINTS = get_fingerprint_list()

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

def is_valid_for_fingerprint(msg, car_fingerprint):
  adr = msg.address
  bus = msg.src
  # ignore addresses that are more than 11 bits
  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or \
         bus != 0 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:
      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address

      if is_valid_for_fingerprint(msg, fingerprint):
        compatible_cars.append(car_name)
        break

  return compatible_cars


def all_known_cars():
  """Returns a list of all known car strings."""
  return _FINGERPRINTS.keys()