openpilot_comma/selfdrive/test/test_fingerprints.py

#!/usr/bin/env python3
import os
import sys
from common.basedir import BASEDIR

def _get_fingerprints():
  # read all the folders in selfdrive/car and return a dict where:
  # - keys are all the car names that which we have a fingerprint dict for
  # - values are dicts of fingeprints for each trim
  fingerprints = {}
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
    car_name = car_folder.split('/')[-1]
    try:
      fingerprints[car_name] = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS']).FINGERPRINTS
    except (ImportError, IOError, AttributeError):
      pass

  return fingerprints


def check_fingerprint_consistency(f1, f2):
  # return false if it finds a fingerprint fully included in another

  # max message worth checking is 1800, as above that they usually come too infrequently and not
  # usable for fingerprinting
  max_msg = 1800

  is_f1_in_f2 = True
  for k in f1:
    if (k not in f2 or f1[k] != f2[k]) and k < max_msg:
       is_f1_in_f2 = False

  is_f2_in_f1 = True
  for k in f2:
    if (k not in f1 or f2[k] != f1[k]) and k < max_msg:
       is_f2_in_f1 = False

  return not is_f1_in_f2 and not is_f2_in_f1


fingerprints = _get_fingerprints()
fingerprints_flat = []
car_names = []
for brand in fingerprints:
  for car in fingerprints[brand]:
    fingerprints_flat += fingerprints[brand][car]
    for i in range(len(fingerprints[brand][car])):
      car_names.append(car)


valid = True
for idx1, f1 in enumerate(fingerprints_flat):
  for idx2, f2 in enumerate(fingerprints_flat):
    if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
      valid = False
      print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
      print("")
      print(', '.join("%d: %d" % v for v in sorted(f1.items())))
      print("")
      print(', '.join("%d: %d" % v for v in sorted(f2.items())))
      print("")

print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
if not valid or len(fingerprints_flat) == 0:
  print("TEST FAILED")
  sys.exit(1)
else:
  print("TEST SUCESSFUL")