openpilot_comma/selfdrive/car/__init__.py

import os
from cereal import car

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 selfdrive.car.honda.interface import CarInterface as HondaInterface
from selfdrive.car.toyota.interface import CarInterface as ToyotaInterface
from selfdrive.car.mock.interface import CarInterface as MockInterface

try:
  from .simulator.interface import CarInterface as SimInterface
except ImportError:
  SimInterface = None

try:
  from .simulator2.interface import CarInterface as Sim2Interface
except ImportError:
  Sim2Interface = None


interfaces = {
  "HONDA CIVIC 2016 TOURING": HondaInterface,
  "ACURA ILX 2016 ACURAWATCH PLUS": HondaInterface,
  "HONDA ACCORD 2016 TOURING": HondaInterface,
  "HONDA CR-V 2016 TOURING": HondaInterface,
  "TOYOTA PRIUS 2017": ToyotaInterface,
  "TOYOTA RAV4 2017": ToyotaInterface,
  "TOYOTA RAV4 2017 HYBRID": ToyotaInterface,

  "simulator": SimInterface,
  "simulator2": Sim2Interface,

  "mock": MockInterface
}

# **** for use live only ****
def fingerprint(logcan, timeout):
  if os.getenv("SIMULATOR") is not None or logcan is None:
    return ("simulator", None)
  elif 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:
      time_fingerprint = 1.0 if "TOYOTA" 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]
  params = interface_cls.get_params(candidate, fingerprints)

  return interface_cls(params, sendcan), params