openpilot_comma/selfdrive/car/__init__.py

import os

from common.realtime import sec_since_boot
from common.fingerprints import eliminate_incompatible_cars, all_known_cars

from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from common.fingerprints import HONDA, TOYOTA, GM

def load_interfaces(x):
  ret = {}
  for interface in x:
    try:
      imp = __import__('selfdrive.car.%s.interface' % interface, fromlist=['CarInterface']).CarInterface
    except ImportError:
      imp = None
    for car in x[interface]:
      ret[car] = imp
  return ret

# imports from directory selfdrive/car/<name>/
interfaces = load_interfaces({
  'honda': [HONDA.CIVIC, HONDA.ACURA_ILX, HONDA.CRV, HONDA.ODYSSEY, HONDA.ACURA_RDX, HONDA.PILOT, HONDA.RIDGELINE],
  'toyota': [TOYOTA.PRIUS, TOYOTA.RAV4, TOYOTA.RAV4H, TOYOTA.COROLLA, TOYOTA.LEXUS_RXH],
  'gm': [GM.VOLT],
  'simulator2': ['simulator2'],
  'mock': ['mock']})

# **** for use live only ****
def fingerprint(logcan, timeout):
  if os.getenv("SIMULATOR2") is not None:
    return ("simulator2", None)

  finger_st = sec_since_boot()

  cloudlog.warning("waiting for fingerprint...")
  candidate_cars = all_known_cars()
  finger = {}
  st = None
  while 1:
    for a in messaging.drain_sock(logcan, wait_for_one=True):
      if st is None:
        st = sec_since_boot()
      for can in a.can:
        if can.src == 0:
          finger[can.address] = len(can.dat)
        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)

    ts = sec_since_boot()
    # if we only have one car choice and the time_fingerprint since we got our first
    # message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
    # broadcast immediately
    if len(candidate_cars) == 1 and st is not None:
      # TODO: better way to decide to wait more if Toyota
      time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
      if (ts-st) > time_fingerprint:
        break

    # bail if no cars left or we've been waiting too long
    elif len(candidate_cars) == 0 or (timeout and ts-finger_st > timeout):
      return None, finger

  cloudlog.warning("fingerprinted %s", candidate_cars[0])
  return (candidate_cars[0], finger)


def get_car(logcan, sendcan=None, passive=True):
  # TODO: timeout only useful for replays so controlsd can start before unlogger
  timeout = 1. if passive else None
  candidate, fingerprints = fingerprint(logcan, timeout)

  if candidate is None:
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
    if passive:
      candidate = "mock"
    else:
      return None, None

  interface_cls = interfaces[candidate]
  if interface_cls is None:
    cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
    return None, None

  params = interface_cls.get_params(candidate, fingerprints)

  return interface_cls(params, sendcan), params