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Merge branch 'incognitojam/ford-mach-e-fw' into ford-platform-codes

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pull/31124/head
Cameron Clough 2 years ago
parent a5553de1df 491bcec108
commit 772e31208e
12 changed files with 102 additions and 58 deletions
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  1. 2
      docs/CARS.md
  2. 23
      selfdrive/car/chrysler/fingerprints.py
  3. 2
      selfdrive/car/chrysler/values.py
  4. 1
      selfdrive/car/ford/fingerprints.py
  5. 6
      selfdrive/car/fw_versions.py
  6. 12
      selfdrive/car/nissan/values.py
  7. 4
      selfdrive/car/tests/test_fw_fingerprint.py
  8. 19
      selfdrive/debug/test_fw_query_on_routes.py
  9. 15
      tools/car_porting/auto_fingerprint.py
  10. 42
      tools/car_porting/examples/ford_vin_fingerprint.ipynb
  11. 23
      tools/lib/logreader.py
  12. 11
      tools/lib/tests/test_logreader.py

2
docs/CARS.md
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@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||

23
selfdrive/car/chrysler/fingerprints.py
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@ -62,6 +62,29 @@ FINGERPRINTS = {
}
FW_VERSIONS = {
CAR.PACIFICA_2020: {
(Ecu.combinationMeter, 0x742, None): [
b'68594993AB',
],
(Ecu.srs, 0x744, None): [
b'68526663AB',
],
(Ecu.abs, 0x747, None): [
b'68593395AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'68598670AB',
],
(Ecu.eps, 0x75a, None): [
b'68594340AB',
],
(Ecu.engine, 0x7e0, None): [
b'68700306AB ',
],
(Ecu.transmission, 0x7e1, None): [
b'68586231AD',
],
},
CAR.JEEP_GRAND_CHEROKEE_2019: {
(Ecu.combinationMeter, 0x742, None): [
b'68402971AD',

2
selfdrive/car/chrysler/values.py
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@ -70,7 +70,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: [
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
],
CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),

1
selfdrive/car/ford/fingerprints.py
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@ -145,6 +145,7 @@ FW_VERSIONS = {
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],

6
selfdrive/car/fw_versions.py
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@ -105,11 +105,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
return set()
def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]:
def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]:
"""Do an exact FW match. Returns all cars that match the given
FW versions for a list of "essential" ECUs. If an ECU is not considered
essential the FW version can be missing to get a fingerprint, but if it's present it
needs to match the database."""
if extra_fw_versions is None:
extra_fw_versions = {}
invalid = set()
candidates = {c: f for c, f in FW_VERSIONS.items() if
is_brand(MODEL_TO_BRAND[c], match_brand)}
@ -117,6 +120,7 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
for candidate, fws in candidates.items():
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
for ecu, expected_versions in fws.items():
expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
ecu_type = ecu[0]
addr = ecu[1:]

12
selfdrive/car/nissan/values.py
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@ -59,27 +59,35 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
NISSAN_RX_OFFSET = 0x20
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
requests=[request for bus, logging in ((0, True), (1, False)) for request in [
Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
bus=bus,
logging=logging,
),
Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
rx_offset=NISSAN_RX_OFFSET,
bus=bus,
logging=logging,
),
# Rogue's engine solely responds to this
Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
bus=bus,
logging=logging,
),
Request(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
rx_offset=NISSAN_RX_OFFSET,
bus=bus,
logging=logging,
),
],
]],
)
DBC = {

4
selfdrive/car/tests/test_fw_fingerprint.py
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@ -238,7 +238,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
@pytest.mark.timeout(60)
def test_fw_query_timing(self):
total_ref_time = 6.1
total_ref_time = 6.5
brand_ref_times = {
1: {
'body': 0.1,
@ -247,7 +247,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
'honda': 0.45,
'hyundai': 0.65,
'mazda': 0.2,
'nissan': 0.4,
'nissan': 0.8,
'subaru': 0.45,
'tesla': 0.2,
'toyota': 1.6,

19
selfdrive/debug/test_fw_query_on_routes.py
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@ -6,8 +6,8 @@ import argparse
import os
import traceback
from tqdm import tqdm
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.logreader import LogReader, ReadMode
from openpilot.tools.lib.route import SegmentRange
from openpilot.selfdrive.car.car_helpers import interface_names
from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
@ -44,23 +44,14 @@ if __name__ == "__main__":
dongles = []
for route in tqdm(routes):
route = route.rstrip()
dongle_id, time = route.split('|')
dongle_id = SegmentRange(route).dongle_id
if dongle_id in dongles:
continue
if NO_API:
qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
else:
route = Route(route)
qlog_path = next((p for p in route.qlog_paths() if p is not None), None)
if qlog_path is None:
continue
lr = LogReader(route, default_mode=ReadMode.QLOG)
try:
lr = LogReader(qlog_path)
dongles.append(dongle_id)
CP = None
@ -98,13 +89,11 @@ if __name__ == "__main__":
if len(fuzzy_matches) == 1:
if list(fuzzy_matches)[0] != live_fingerprint:
wrong_fuzzy += 1
print(f"{dongle_id}|{time}")
print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
else:
good_fuzzy += 1
break
print(f"{dongle_id}|{time}")
print("Old style:", live_fingerprint, "Vin", CP.carVin)
print("New style (exact):", exact_matches)
print("New style (fuzzy):", fuzzy_matches)

15
tools/car_porting/auto_fingerprint.py
Unescape View File

@ -7,7 +7,7 @@ from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versio
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
from openpilot.tools.lib.logreader import LogReader, ReadMode, get_first_message
ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
@ -32,16 +32,15 @@ if __name__ == "__main__":
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
CP = get_first_message(lr, "carParams")
if carFw is None:
if CP is None:
raise Exception("No fw versions in the provided route...")
carFw = CP.carParams.carFw
carVin = CP.carParams.carVin
carPlatform = CP.carParams.carFingerprint
if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
_, possible_platforms = match_fw_to_car(carFw, log=False)

42
tools/car_porting/examples/ford_vin_fingerprint.ipynb
Unescape View File

@ -2,9 +2,17 @@
"cells": [
{
"cell_type": "code",
"execution_count": 2,
"execution_count": 1,
"metadata": {},
"outputs": [],
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /mnt/c/Users/jnewb/AppData/Local/Programs/Microsoft VS Code\n"
]
}
],
"source": [
"\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n",
"\n",
@ -19,7 +27,7 @@
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
@ -54,7 +62,7 @@
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": 3,
"metadata": {},
"outputs": [
{
@ -66,7 +74,7 @@
}
],
"source": [
"from openpilot.tools.lib.logreader import comma_car_segments_source, get_first_message\n",
"from openpilot.tools.lib.logreader import get_first_message\n",
"\n",
"\n",
"VINS_TO_CHECK = set()\n",
@ -77,35 +85,35 @@
" continue\n",
"\n",
" for segment in database[platform]:\n",
" lr = LogReader(segment, default_source=comma_car_segments_source)\n",
" lr = LogReader(segment)\n",
" CP = get_first_message(lr, \"carParams\").carParams\n",
" VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))"
]
},
{
"cell_type": "code",
"execution_count": 6,
"execution_count": 4,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n",
"vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n",
"vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n",
"vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n",
"vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n",
"vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n",
"vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n",
"vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n",
"vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n",
"vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n"
"vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n",
"vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n"
]
}
],

23
tools/lib/logreader.py
Unescape View File

@ -12,7 +12,7 @@ import sys
import urllib.parse
import warnings
from typing import Iterable, Iterator, List, Type
from typing import Dict, Iterable, Iterator, List, Type
from urllib.parse import parse_qs, urlparse
from cereal import log as capnp_log
@ -129,7 +129,7 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode):
route = Route(sr.route_name)
rlog_paths = [route.log_paths()[seg] for seg in segs]
qlog_paths = [route.log_paths()[seg] for seg in segs]
qlog_paths = [route.qlog_paths()[seg] for seg in segs]
return apply_strategy(mode, rlog_paths, qlog_paths)
@ -173,7 +173,7 @@ def check_source(source, *args):
def auto_source(*args):
# Automatically determine viable source
for source in [internal_source, openpilotci_source]:
for source in [comma_car_segments_source, internal_source, openpilotci_source]:
valid, ret = check_source(source, *args)
if valid:
return ret
@ -232,20 +232,25 @@ class LogReader:
self.sort_by_time = sort_by_time
self.only_union_types = only_union_types
self.__lrs: Dict[int, _LogFileReader] = {}
self.reset()
def _get_lr(self, i):
if i not in self.__lrs:
self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i])
return self.__lrs[i]
def __iter__(self):
for identifier in self.logreader_identifiers:
yield from _LogFileReader(identifier)
for i in range(len(self.logreader_identifiers)):
yield from self._get_lr(i)
def _run_on_segment(self, func, identifier):
lr = _LogFileReader(identifier)
return func(lr)
def _run_on_segment(self, func, i):
return func(self._get_lr(i))
def run_across_segments(self, num_processes, func):
with multiprocessing.Pool(num_processes) as pool:
ret = []
for p in pool.map(partial(self._run_on_segment, func), self.logreader_identifiers):
for p in pool.map(partial(self._run_on_segment, func), range(len(self.logreader_identifiers))):
ret.extend(p)
return ret

11
tools/lib/tests/test_logreader.py
Unescape View File

@ -3,8 +3,11 @@ import tempfile
import numpy as np
import unittest
import pytest
from parameterized import parameterized
import requests
from parameterized import parameterized
from unittest import mock
from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode
from openpilot.tools.lib.route import SegmentRange
@ -104,11 +107,15 @@ class TestLogReader(unittest.TestCase):
self.assertEqual(qlog_len*2, qlog_len_2)
@pytest.mark.slow
def test_multiple_iterations(self):
@mock.patch("openpilot.tools.lib.logreader._LogFileReader")
def test_multiple_iterations(self, init_mock):
lr = LogReader(f"{TEST_ROUTE}/0/q")
qlog_len1 = len(list(lr))
qlog_len2 = len(list(lr))
# ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice
self.assertEqual(init_mock.call_count, 1)
self.assertEqual(qlog_len1, qlog_len2)

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