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96 lines
2.8 KiB
96 lines
2.8 KiB
6 years ago
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#!/usr/bin/env python
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import time
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from common.realtime import sec_since_boot
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import selfdrive.messaging as messaging
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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def get_vin(logcan, sendcan):
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# works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
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# Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
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query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
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[0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
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cnts = [1, 2] # Number of messages to wait for at each iteration
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vin_valid = True
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dat = []
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for i in range(len(query_msg)):
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cnt = 0
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sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
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got_response = False
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t_start = sec_since_boot()
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while sec_since_boot() - t_start < 0.05 and not got_response:
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for a in messaging.drain_sock(logcan):
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for can in a.can:
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if can.src == 0 and can.address == 0x7e8:
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vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
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dat += can.dat[2:] if i == 0 else can.dat[1:]
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cnt += 1
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if cnt == cnts[i]:
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got_response = True
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time.sleep(0.01)
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return "".join(dat[3:]) if vin_valid else ""
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"""
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if 'vin' not in gctx:
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print "getting vin"
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gctx['vin'] = query_vin()[3:]
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print "got VIN %s" % (gctx['vin'],)
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cloudlog.info("got VIN %s" % (gctx['vin'],))
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# *** determine platform based on VIN ****
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if vin.startswith("19UDE2F36G"):
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print "ACURA ILX 2016"
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self.civic = False
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else:
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# TODO: add Honda check explicitly
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print "HONDA CIVIC 2016"
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self.civic = True
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# *** special case VIN of Acura test platform
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if vin == "19UDE2F36GA001322":
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print "comma.ai test platform detected"
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# it has a gas interceptor and a torque mod
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self.torque_mod = True
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"""
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# sanity checks on response messages from vin query
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def is_vin_response_valid(can_dat, step, cnt):
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can_dat = [ord(i) for i in can_dat]
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if len(can_dat) != 8:
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# ISO-TP meesages are all 8 bytes
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return False
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if step == 0:
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# VIN does not fit in a single message and it's 20 bytes of data
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if can_dat[0] != 0x10 or can_dat[1] != 0x14:
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return False
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if step == 1 and cnt == 0:
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# first response after a CONTINUE query is sent
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if can_dat[0] != 0x21:
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return False
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if step == 1 and cnt == 1:
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# second response after a CONTINUE query is sent
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if can_dat[0] != 0x22:
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return False
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return True
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if __name__ == "__main__":
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import zmq
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from selfdrive.services import service_list
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context = zmq.Context()
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logcan = messaging.sub_sock(context, service_list['can'].port)
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sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
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time.sleep(1.) # give time to sendcan socket to start
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print get_vin(logcan, sendcan)
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