openpilot_comma/selfdrive/car/toyota/values.py

from common.fingerprints import TOYOTA as CAR

class ECU:
  CAM = 0 # camera
  DSU = 1 # driving support unit
  APGS = 2 # advanced parking guidance system


# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = {0x141: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   2, '\x00\x00\x00\x46'),
               0x128: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   3, '\xf4\x01\x90\x83\x00\x37'),

               0x292: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
               0x283: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
               0x2E6: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
               0x2E7: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),

               0x240: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
               0x241: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
               0x244: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
               0x245: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
               0x248: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
               0x344: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),

               0x160: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
               0x161: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),

               0x32E: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
               0x33E: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
               0x365: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
               0x365: (ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
               0x366: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
               0x366: (ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),

               0x367: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0,  40, '\x06\x00'),

               0x414: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
               0x489: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
               0x48a: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
               0x48b: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
               0x4d3: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
               0x130: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
               0x466: (ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
               0x466: (ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
               0x396: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
               0x43A: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
               0x43B: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
               0x497: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
               0x4CC: (ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
               0x4CB: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
               0x470: (ECU.DSU, (CAR.PRIUS, CAR.RAV4H,), 1, 100, '\x00\x00\x02\x7a'),
              }


def check_ecu_msgs(fingerprint, candidate, ecu):
  # return True if fingerprint contains messages normally sent by a given ecu
  ecu_msgs = [x for x in STATIC_MSGS if (ecu == STATIC_MSGS[x][0] and
                                         candidate in STATIC_MSGS[x][1] and
                                         STATIC_MSGS[x][2] == 0)]

  return any(msg for msg in fingerprint if msg in ecu_msgs)