openpilot_comma/tools/car_porting/auto_fingerprint.py

#!/usr/bin/env python3

import argparse
from collections import defaultdict
from typing import Optional
from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions

from openpilot.selfdrive.car.fw_versions import match_fw_to_car
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.tools.lib.logreader import LogReader, ReadMode


ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
ALL_CARS = get_interface_attr("CAR")

PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))


if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
  parser.add_argument("route", help="The route name to use")
  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
  args = parser.parse_args()

  lr = LogReader(args.route, ReadMode.QLOG)

  carFw = None
  carVin = None
  carPlatform = None

  platform: Optional[str] = None

  for msg in lr:
    if msg.which() == "carParams":
      carFw = msg.carParams.carFw
      carVin = msg.carParams.carVin
      carPlatform = msg.carParams.carFingerprint
      break

  if carFw is None:
    raise Exception("No fw versions in the provided route...")

  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
    _, possible_platforms = match_fw_to_car(carFw, log=False)

    if len(possible_platforms) != 1:
      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")

      if carPlatform != "mock":
        print("Using platform from route")
        platform = carPlatform
      else:
        platform = None
    else:
      platform = list(possible_platforms)[0]
  else:
    platform = args.platform

  if platform is None:
    raise Exception("unable to determine platform, try manually specifying the fingerprint.")

  print("Attempting to add fw version for: ", platform)

  fw_versions: dict[str, dict[tuple, list[bytes]]] = defaultdict(lambda: defaultdict(list))
  brand = PLATFORM_TO_BRAND[platform]

  for fw in carFw:
    if fw.brand == brand and not fw.logging:
      addr = fw.address
      subAddr = None if fw.subAddress == 0 else fw.subAddress
      key = (fw.ecu.raw, addr, subAddr)

      fw_versions[platform][key].append(fw.fwVersion)

  format_brand_fw_versions(brand, fw_versions)