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tools: notebook for HKG alt message validation (#33647)

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Jason Young 1 year ago committed by GitHub
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  1. 277
      tools/car_porting/examples/hkg_canfd_gear_message.ipynb

277
tools/car_porting/examples/hkg_canfd_gear_message.ipynb
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{
"cells": [
{
"cell_type": "code",
"execution_count": 62,
"id": "228a6736-de31-4255-9d72-a6ff391b968d",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Found 6 qualifying vehicles:\n",
" KIA_EV6\n",
" HYUNDAI_KONA_EV_2ND_GEN\n",
" HYUNDAI_IONIQ_5\n",
" KIA_NIRO_EV_2ND_GEN\n",
" HYUNDAI_IONIQ_6\n",
" GENESIS_GV60_EV_1ST_GEN\n"
]
}
],
"source": [
"from opendbc.car import structs\n",
"from opendbc.car.hyundai.values import CAR, HyundaiFlags\n",
"from opendbc.car.hyundai.fingerprints import FW_VERSIONS\n",
"\n",
"TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD electric vehicles only\n",
"#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD hybrid and ICE vehicles only\n",
"\n",
"print(f\"Found {len(TEST_PLATFORMS)} qualifying vehicles:\")\n",
"for platform in TEST_PLATFORMS:\n",
" print(f\" {platform}\")"
]
},
{
"cell_type": "code",
"execution_count": 63,
"id": "ed1c8aec-c274-4c61-b83d-711ea194bf86",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Collecting segments from commaCarSegments dataset:\n",
"Got 1300 segments for platform KIA_EV6, sampling 5 segments\n",
"Got 9 segments for platform HYUNDAI_KONA_EV_2ND_GEN, sampling 5 segments\n",
"Got 1570 segments for platform HYUNDAI_IONIQ_5, sampling 5 segments\n",
"Got 34 segments for platform KIA_NIRO_EV_2ND_GEN, sampling 5 segments\n",
"Got 974 segments for platform HYUNDAI_IONIQ_6, sampling 5 segments\n",
"Got 157 segments for platform GENESIS_GV60_EV_1ST_GEN, sampling 5 segments\n",
"Collected 30 segments for analysis\n"
]
}
],
"source": [
"import random\n",
"\n",
"from openpilot.tools.lib.logreader import LogReader\n",
"from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
"from opendbc.car.hyundai.values import CAR\n",
"\n",
"database = get_comma_car_segments_database()\n",
"TEST_SEGMENTS = []\n",
"\n",
"MAX_SEGS_PER_PLATFORM = 5 # TODO: Increase this to search more segments\n",
"\n",
"print(\"Collecting segments from commaCarSegments dataset:\")\n",
"for platform in TEST_PLATFORMS:\n",
" assert(platform in database)\n",
" #if platform not in database:\n",
" # print(f\"Skipping platform: {platform}, no data available\")\n",
" # continue\n",
" \n",
" all_segments = database[platform]\n",
"\n",
" NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
"\n",
" print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n",
"\n",
" TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n",
"\n",
"print(f\"Collected {len(TEST_SEGMENTS)} segments for analysis\")\n"
]
},
{
"cell_type": "code",
"execution_count": 64,
"id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Analyzing segment ff2bd20623fcaeaa/2023-11-26--16-27-04/5/s for KIA EV6 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 3f1a6480f940cf9a/2024-01-10--23-06-11/16/s for KIA EV6 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment b0a9998109ed0053/2023-12-15--11-10-18/12/s for KIA EV6 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 6e14aa2ed85025df/2023-11-15--13-18-12/24/s for KIA EV6 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment a43f21df3a1ca12d/2024-01-25--08-56-22/16/s for KIA EV6 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 1618132d68afc876/2023-12-05--13-49-24/11/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 1618132d68afc876/2023-11-26--12-31-18/17/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 1618132d68afc876/2023-12-05--11-51-44/3/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 1618132d68afc876/2023-08-27--09-32-14/13/s for HYUNDAI KONA 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 1618132d68afc876/2024-01-25--15-07-04/24/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 223780ed74116bc2/2023-11-16--09-44-56/15/s for HYUNDAI IONIQ 5 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment ba9951252624f37d/2024-01-20--22-33-23/118/s for HYUNDAI IONIQ 5 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 8379b28e51ceb3b1/2023-11-09--23-21-58/92/s for HYUNDAI IONIQ 5 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 26fac43e27cd6091/2023-11-06--12-23-21/9/s for HYUNDAI IONIQ 5 2022\n",
" GEAR_SHIFTER gear=1.0\n",
" ACCELERATOR gear=0.0\n",
"Analyzing segment 5edb897a0ec7a477/2024-01-13--20-41-36/101/s for HYUNDAI IONIQ 5 2022\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 66cf8ea23b7c2789/2023-12-04--13-48-53/5/s for KIA NIRO EV 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment b153671049a867b3/2023-12-10--20-31-37/2/s for KIA NIRO EV 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment b153671049a867b3/2023-12-03--21-08-30/14/s for KIA NIRO EV 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment b153671049a867b3/2023-11-07--19-52-23/0/s for KIA NIRO EV 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment b153671049a867b3/2023-07-12--19-25-18/6/s for KIA NIRO EV 2ND GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 9ea4578ee2b1abcb/2023-11-18--07-59-26/11/s for HYUNDAI IONIQ 6 2023\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 0ad7facc77922c3e/2023-12-21--17-47-25/18/s for HYUNDAI IONIQ 6 2023\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 26968f888e7330d3/2024-01-02--11-18-37/8/s for HYUNDAI IONIQ 6 2023\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 9ea4578ee2b1abcb/2023-11-27--21-03-24/33/s for HYUNDAI IONIQ 6 2023\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment df7fdd56970d90fe/2024-01-07--01-04-39/26/s for HYUNDAI IONIQ 6 2023\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 94542b2d06f7a9a6/2023-12-11--14-45-44/0/s for GENESIS GV60 ELECTRIC 1ST GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 94542b2d06f7a9a6/2023-12-11--20-57-09/8/s for GENESIS GV60 ELECTRIC 1ST GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 94542b2d06f7a9a6/2024-01-03--12-52-38/5/s for GENESIS GV60 ELECTRIC 1ST GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 94542b2d06f7a9a6/2024-01-19--19-57-52/47/s for GENESIS GV60 ELECTRIC 1ST GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analyzing segment 94542b2d06f7a9a6/2024-01-03--13-01-23/1/s for GENESIS GV60 ELECTRIC 1ST GEN\n",
" GEAR_SHIFTER gear=4.0\n",
" ACCELERATOR gear=5.0\n",
"Analysis finished\n"
]
}
],
"source": [
"import copy\n",
"import matplotlib.pyplot as plt\n",
"import numpy as np\n",
"\n",
"from opendbc.can.parser import CANParser\n",
"from opendbc.car.hyundai.values import DBC\n",
"from opendbc.car.hyundai.hyundaicanfd import CanBus\n",
"\n",
"from openpilot.selfdrive.pandad import can_capnp_to_list\n",
"from openpilot.tools.lib.logreader import LogReader\n",
"\n",
"message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n",
"\n",
"for segment in TEST_SEGMENTS:\n",
" lr = LogReader(segment)\n",
" CP = lr.first(\"carParams\")\n",
" if CP is None:\n",
" continue\n",
"\n",
" can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n",
" parser_messages = []\n",
" for name in message_names:\n",
" parser_messages.append((name, 0))\n",
" cp = CANParser(DBC[platform][\"pt\"], parser_messages, CanBus(CP).ECAN)\n",
"\n",
" parsed_message_history = []\n",
" examples = []\n",
"\n",
" for msg in can_msgs:\n",
" cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n",
" parsed_message_history.append(copy.copy(cp.vl))\n",
"\n",
" print(f\"Analyzing segment {segment:<44} for {CP.carFingerprint}\")\n",
" for name in message_names:\n",
" if parsed_message_history[0][name][\"CHECKSUM\"] != 0: # Message is present for this segment\n",
" gear_prev = parsed_message_history[0][name][\"GEAR\"]\n",
" print(f\" {name:<15} gear={gear_prev}\")\n",
" for i, parsed_messages in enumerate(parsed_message_history):\n",
" gear = parsed_messages[name][\"GEAR\"]\n",
" if gear != gear_prev:\n",
" print(f\" *** Signal transition found! ***\")\n",
" examples.append(i)\n",
" gear_prev = gear\n",
"\n",
"print(f\"Analysis finished\")\n"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "7724dd97-f62e-4fd3-9f64-63d49be669d2",
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "code",
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"id": "9f393e00-8efd-40fb-a41e-d312531a83e8",
"metadata": {},
"outputs": [],
"source": []
}
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