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tools: updates to find_segments_with_message notebook (#34782)

Browse Source 
* cleanup, refactor, progress bar

* more cleanup, add EXTRA_SEGMENTS

* not everyone can see that route

* add to README

* update README

* red panda support
pull/34784/head
Jason Young 2 months ago committed by GitHub
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  1. 39
      tools/car_porting/README.md
  2. 291
      tools/car_porting/examples/find_segments_with_message.ipynb

39
tools/car_porting/README.md
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@ -57,7 +57,21 @@ Traceback (most recent call last):
AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
``` ```
### [tools/car_porting/examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb) ## Jupyter notebooks
To use these notebooks, install Jupyter within your [openpilot virtual environment](/tools/README.md).
```bash
uv pip install jupyter ipykernel
```
Launching:
```bash
jupyter notebook
```
### [examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
An example of searching through a database of segments for a specific condition, and plotting the results. An example of searching through a database of segments for a specific condition, and plotting the results.
@ -65,7 +79,7 @@ An example of searching through a database of segments for a specific condition,
*a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change* *a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change*
### [tools/car_porting/examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb) ### [examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)
An example of plotting the response of an actuator when it is active. An example of plotting the response of an actuator when it is active.
@ -73,7 +87,7 @@ An example of plotting the response of an actuator when it is active.
*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.* *a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
### [tools/car_porting/examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb) ### [examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford. In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.
@ -94,3 +108,22 @@ vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determi
vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False
vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False
``` ```
### [examples/find_segments_with_message.ipynb](/tools/car_porting/examples/find_segments_with_message.ipynb)
Searches for segments where a set of given CAN message IDs are present. In the example, we search for all messages
used for CAN-based ignition detection.
```
Match found: 46b21f1c5f7aa885/2024-01-23--15-19-34/20/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']
Match found: a63a23c3e628f288/2023-11-05--18-36-20/8/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']
Match found: ce31b7a998781ba8/2024-01-19--07-05-29/23/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']
Match found: e1dfba62a4e33f7b/2023-12-25--19-31-00/4/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']
Match found: e1dfba62a4e33f7b/2024-01-10--14-33-57/2/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']
Match found: ae679616266f4096/2023-12-05--15-43-46/4/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']
Match found: ae679616266f4096/2023-11-18--17-49-42/3/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']
Match found: ae679616266f4096/2024-01-03--21-57-09/25/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']
Match found: 6dae2984cc53cd7f/2023-12-10--11-53-15/17/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']
Match found: 6dae2984cc53cd7f/2023-12-03--17-31-17/29/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']
Match found: 6dae2984cc53cd7f/2023-11-27--23-29-07/1/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']
```

291
tools/car_porting/examples/find_segments_with_message.ipynb
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@ -2,30 +2,26 @@
"cells": [ "cells": [
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 30, "execution_count": 85,
"id": "228a6736-de31-4255-9d72-a6ff391b968d", "id": "facb8edc-9924-491a-a4dd-fe6135b0c6c4",
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [],
{
"name": "stdout",
"output_type": "stream",
"text": [
"Found 221 qualifying vehicles:\n"
]
}
],
"source": [ "source": [
"# Import all cars from opendbc\n",
"\n",
"from opendbc.car import structs\n", "from opendbc.car import structs\n",
"from opendbc.car.values import PLATFORMS\n", "from opendbc.car.values import PLATFORMS as TEST_PLATFORMS\n",
"\n",
"# Example: add additional platforms/segments to test outside of commaCarSegments\n",
"\n", "\n",
"print(f\"Found {len(PLATFORMS)} qualifying vehicles:\")\n", "EXTRA_SEGMENTS = {\n",
"# for platform in PLATFORMS:\n", " # \"81dd9e9fe256c397/0000001f--97c42cf98d\", # Volkswagen ID.4 test route, new car port, not in public dataset\n",
"# print(f\" {platform}\")" "}"
] ]
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 31, "execution_count": 86,
"id": "ed1c8aec-c274-4c61-b83d-711ea194bf86", "id": "ed1c8aec-c274-4c61-b83d-711ea194bf86",
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
@ -33,32 +29,32 @@
"name": "stdout", "name": "stdout",
"output_type": "stream", "output_type": "stream",
"text": [ "text": [
"Collecting segments from commaCarSegments dataset:\n", "Searching 221 platforms\n",
"No segments available for for DODGE_DURANGO\n", "No segments available for DODGE_DURANGO\n",
"No segments available for for FORD_RANGER_MK2\n", "No segments available for FORD_RANGER_MK2\n",
"No segments available for for HOLDEN_ASTRA\n", "No segments available for HOLDEN_ASTRA\n",
"No segments available for for CADILLAC_ATS\n", "No segments available for CADILLAC_ATS\n",
"No segments available for for CHEVROLET_MALIBU\n", "No segments available for CHEVROLET_MALIBU\n",
"No segments available for for CADILLAC_XT4\n", "No segments available for CADILLAC_XT4\n",
"No segments available for for CHEVROLET_VOLT_2019\n", "No segments available for CHEVROLET_VOLT_2019\n",
"No segments available for for CHEVROLET_TRAVERSE\n", "No segments available for CHEVROLET_TRAVERSE\n",
"No segments available for for GMC_YUKON\n", "No segments available for GMC_YUKON\n",
"No segments available for for HONDA_ODYSSEY_CHN\n", "No segments available for HONDA_ODYSSEY_CHN\n",
"No segments available for for HYUNDAI_KONA_2022\n", "No segments available for HYUNDAI_KONA_2022\n",
"No segments available for for HYUNDAI_NEXO_1ST_GEN\n", "No segments available for HYUNDAI_NEXO_1ST_GEN\n",
"No segments available for for GENESIS_GV70_ELECTRIFIED_1ST_GEN\n", "No segments available for GENESIS_GV70_ELECTRIFIED_1ST_GEN\n",
"No segments available for for GENESIS_G80_2ND_GEN_FL\n", "No segments available for GENESIS_G80_2ND_GEN_FL\n",
"No segments available for for RIVIAN_R1_GEN1\n", "No segments available for RIVIAN_R1_GEN1\n",
"No segments available for for SUBARU_FORESTER_HYBRID\n", "No segments available for SUBARU_FORESTER_HYBRID\n",
"No segments available for for TESLA_MODEL_3\n", "No segments available for TESLA_MODEL_3\n",
"No segments available for for TESLA_MODEL_Y\n", "No segments available for TESLA_MODEL_Y\n",
"No segments available for for TOYOTA_RAV4_PRIME\n", "No segments available for TOYOTA_RAV4_PRIME\n",
"No segments available for for TOYOTA_SIENNA_4TH_GEN\n", "No segments available for TOYOTA_SIENNA_4TH_GEN\n",
"No segments available for for LEXUS_LC_TSS2\n", "No segments available for LEXUS_LC_TSS2\n",
"No segments available for for VOLKSWAGEN_CADDY_MK3\n", "No segments available for VOLKSWAGEN_CADDY_MK3\n",
"No segments available for for VOLKSWAGEN_CRAFTER_MK2\n", "No segments available for VOLKSWAGEN_CRAFTER_MK2\n",
"No segments available for for VOLKSWAGEN_JETTA_MK6\n", "No segments available for VOLKSWAGEN_JETTA_MK6\n",
"Collected 577 segments for analysis\n" "Searching 577 segments\n"
] ]
} }
], ],
@ -68,174 +64,131 @@
"from openpilot.tools.lib.logreader import LogReader\n", "from openpilot.tools.lib.logreader import LogReader\n",
"from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
"\n", "\n",
"\n",
"MAX_SEGS_PER_PLATFORM = 3 # Increase this to search more segments\n",
"\n",
"database = get_comma_car_segments_database()\n", "database = get_comma_car_segments_database()\n",
"TEST_SEGMENTS = []\n", "TEST_SEGMENTS = []\n",
"\n", "\n",
"MAX_SEGS_PER_PLATFORM = 3 # Increase this to search more segments\n", "print(f\"Searching {len(TEST_PLATFORMS)} platforms\")\n",
"\n", "\n",
"print(\"Collecting segments from commaCarSegments dataset:\")\n",
"for platform in TEST_PLATFORMS:\n", "for platform in TEST_PLATFORMS:\n",
" if platform not in database:\n", " if platform not in database:\n",
" print(f\"No segments available for for {platform}\")\n", " print(f\"No segments available for {platform}\")\n",
" continue\n", " continue\n",
" \n", " \n",
" all_segments = database[platform]\n", " all_segments = database[platform]\n",
"\n",
" NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\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",
" TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n", " TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n",
"\n", "\n",
"print(f\"Collected {len(TEST_SEGMENTS)} segments for analysis\")\n" "TEST_SEGMENTS.extend(EXTRA_SEGMENTS)\n",
"\n",
"print(f\"Searching {len(TEST_SEGMENTS)} segments\")"
] ]
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 33, "execution_count": null,
"id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f", "id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f",
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
"name": "stdout", "data": {
"output_type": "stream", "application/vnd.jupyter.widget-view+json": {
"text": [ "model_id": "27a243c33de44498b2b946190df44b23",
"Match found in d753e5427226080e/2023-12-30--10-14-03/9/s for CHRYSLER PACIFICA HYBRID 2018\n", "version_major": 2,
"Match found in 810855dc1450c716/2023-12-26--10-03-20/3/s for CHRYSLER PACIFICA HYBRID 2018\n", "version_minor": 0
"Match found in 7f268b92fc672c4d/2023-11-02--20-54-34/103/s for CHRYSLER PACIFICA HYBRID 2018\n", },
"Match found in 1a10807c60c127fd/2023-12-09--19-21-30/49/s for CHRYSLER PACIFICA HYBRID 2019\n", "text/plain": [
"Match found in b70b56b76a6217f2/2023-12-26--12-29-24/4/s for CHRYSLER PACIFICA HYBRID 2019\n", "segments searched: 0%| | 0/577 [00:00<?, ?it/s]"
"Match found in 86deeb65f10c3129/2023-12-29--07-38-12/179/s for CHRYSLER PACIFICA HYBRID 2019\n", ]
"Match found in 0a3e89f78b1d0071/2023-11-30--10-33-13/13/s for CHRYSLER PACIFICA 2018\n", },
"Match found in 8fc6a1b72c8b1357/2023-11-30--17-35-04/10/s for CHRYSLER PACIFICA 2018\n", "metadata": {},
"Match found in d5de6f3e9371e89e/2023-11-16--17-19-54/48/s for CHRYSLER PACIFICA 2018\n", "output_type": "display_data"
"Match found in 5fc1717be83fc0da/2024-01-03--13-16-03/27/s for CHRYSLER PACIFICA 2020\n",
"Match found in c1feb10d20626c65/2023-12-16--17-46-24/9/s for CHRYSLER PACIFICA 2020\n",
"Match found in c1feb10d20626c65/2023-11-21--17-40-18/25/s for CHRYSLER PACIFICA 2020\n",
"Match found in a63a23c3e628f288/2023-11-05--18-36-20/22/s for JEEP GRAND CHEROKEE V6 2018\n",
"Match found in 46b21f1c5f7aa885/2023-11-14--15-22-04/21/s for JEEP GRAND CHEROKEE V6 2018\n",
"Match found in a63a23c3e628f288/2023-12-13--09-15-47/27/s for JEEP GRAND CHEROKEE V6 2018\n",
"Match found in 4ffe7a3fb831a625/2024-01-04--09-15-33/22/s for JEEP GRAND CHEROKEE 2019\n",
"Match found in c5b49919572d2c5a/2023-12-17--15-54-06/73/s for JEEP GRAND CHEROKEE 2019\n",
"Match found in 9c2b832d06f93621/2024-01-25--13-52-19/8/s for JEEP GRAND CHEROKEE 2019\n",
"Match found in 1618132d68afc876/2023-11-24--10-21-12/4/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
"Match found in 1618132d68afc876/2023-08-27--09-32-14/13/s for HYUNDAI KONA 2ND GEN\n",
"Match found in 1618132d68afc876/2023-11-24--10-21-12/3/s for HYUNDAI KONA ELECTRIC 2ND GEN\n",
"Match found in df7fdd56970d90fe/2023-12-29--07-48-56/53/s for HYUNDAI IONIQ 6 2023\n",
"Match found in 0ad7facc77922c3e/2023-12-29--17-12-45/14/s for HYUNDAI IONIQ 6 2023\n",
"Match found in 0ad7facc77922c3e/2023-12-16--08-49-13/39/s for HYUNDAI IONIQ 6 2023\n",
"Match found in 78ad5150de133637/2023-09-13--16-15-57/0/s for KIA K8 HYBRID 1ST GEN\n",
"Match found in 78ad5150de133637/2023-09-13--16-15-57/2/s for KIA K8 HYBRID 1ST GEN\n",
"Match found in 78ad5150de133637/2023-09-13--16-15-57/1/s for KIA K8 HYBRID 1ST GEN\n",
"Match found in b153671049a867b3/2023-12-15--20-40-16/0/s for KIA NIRO EV 2ND GEN\n",
"Match found in b153671049a867b3/2024-01-12--17-43-31/2/s for KIA NIRO EV 2ND GEN\n",
"Match found in b153671049a867b3/2023-12-03--21-08-30/3/s for KIA NIRO EV 2ND GEN\n",
"Match found in 7387ab2a564c6d9f/2023-12-02--07-10-34/52/s for KIA NIRO HYBRID 2ND GEN\n",
"Match found in 7387ab2a564c6d9f/2024-01-06--16-24-36/1/s for KIA NIRO HYBRID 2ND GEN\n",
"Match found in 7387ab2a564c6d9f/2024-01-06--16-24-36/9/s for KIA NIRO HYBRID 2ND GEN\n",
"Match found in 2efdac7dc41207f1/2023-12-27--07-24-22/89/s for KIA EV6 2022\n",
"Match found in 5ac586afbb236b5d/2023-12-05--18-23-10/7/s for VOLKSWAGEN ARTEON 1ST GEN\n",
"Match found in c34ef43981b6d888/2024-01-18--16-00-06/9/s for VOLKSWAGEN ARTEON 1ST GEN\n",
"Match found in 5ac586afbb236b5d/2024-01-04--20-01-19/4/s for VOLKSWAGEN ARTEON 1ST GEN\n",
"Match found in 16758e226aa2f747/2023-12-16--10-24-39/13/s for VOLKSWAGEN ATLAS 1ST GEN\n",
"Match found in 3174d252cec3bf6f/2023-12-12--18-39-06/6/s for VOLKSWAGEN ATLAS 1ST GEN\n",
"Match found in e80066d826c705a9/2024-01-06--17-28-45/211/s for VOLKSWAGEN ATLAS 1ST GEN\n",
"Match found in 2cdded3a5da75b6a/2024-01-06--13-37-16/2/s for VOLKSWAGEN GOLF 7TH GEN\n",
"Match found in abe0b7fe730c51a9/2023-10-30--14-24-49/4/s for VOLKSWAGEN GOLF 7TH GEN\n",
"Match found in 8fe9ced03c94e256/2023-12-14--16-31-55/8/s for VOLKSWAGEN GOLF 7TH GEN\n",
"Match found in a97d27ce2a78958a/2024-01-09--06-57-35/9/s for VOLKSWAGEN JETTA 7TH GEN\n",
"Match found in 0649d406184b7131/2024-01-20--14-43-41/3/s for VOLKSWAGEN JETTA 7TH GEN\n",
"Match found in 0649d406184b7131/2023-11-07--16-30-10/17/s for VOLKSWAGEN JETTA 7TH GEN\n",
"Match found in 5405cac0c9d58c3d/2023-11-05--17-13-17/6/s for VOLKSWAGEN PASSAT 8TH GEN\n",
"Match found in 2d7d87433a67c925/2024-01-05--16-31-16/38/s for VOLKSWAGEN PASSAT 8TH GEN\n",
"Match found in 2d7d87433a67c925/2023-12-26--08-44-17/2/s for VOLKSWAGEN PASSAT 8TH GEN\n",
"Match found in 0cd0b7f7e31a3853/2021-11-03--19-30-22/0/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 0bbe367c98fa1538/2023-07-01--19-42-26/7/s for VOLKSWAGEN POLO 6TH GEN\n",
"Match found in 0cd0b7f7e31a3853/2021-11-03--19-30-22/2/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 7d82b2f3a9115f1f/2021-10-21--15-39-42/1/s for VOLKSWAGEN TAOS 1ST GEN\n",
"Match found in 7d82b2f3a9115f1f/2021-10-21--15-39-42/0/s for VOLKSWAGEN TAOS 1ST GEN\n",
"Match found in 7d82b2f3a9115f1f/2021-10-21--15-39-42/2/s for VOLKSWAGEN TAOS 1ST GEN\n",
"Match found in 2744c89a8dda9a51/2021-07-24--21-28-06/0/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 2744c89a8dda9a51/2021-07-24--21-28-06/2/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 2744c89a8dda9a51/2021-07-24--21-28-06/1/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 4e144f64a2535890/2023-12-05--12-22-10/5/s for VOLKSWAGEN TIGUAN 2ND GEN\n",
"Match found in 1b5cf3b409037cc4/2023-12-11--10-23-35/5/s for VOLKSWAGEN TIGUAN 2ND GEN\n",
"Match found in 1b41980e9972d348/2023-10-29--15-13-08/3/s for VOLKSWAGEN TIGUAN 2ND GEN\n",
"Match found in a589dcc642fdb10a/2021-06-14--20-54-26/0/s for VOLKSWAGEN TOURAN 2ND GEN\n",
"Match found in a589dcc642fdb10a/2021-06-14--20-54-26/2/s for VOLKSWAGEN TOURAN 2ND GEN\n",
"Match found in a589dcc642fdb10a/2021-06-14--20-54-26/1/s for VOLKSWAGEN TOURAN 2ND GEN\n",
"Match found in 207b9d7ee3fb513a/2023-12-19--14-59-25/14/s for VOLKSWAGEN TRANSPORTER T6.1\n",
"Match found in a459f4556782eba1/2023-11-05--17-16-20/22/s for VOLKSWAGEN TRANSPORTER T6.1\n",
"Match found in a459f4556782eba1/2023-11-27--12-27-58/47/s for VOLKSWAGEN TRANSPORTER T6.1\n",
"Match found in 0cd0b7f7e31a3853/2021-11-18--00-38-32/0/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 0cd0b7f7e31a3853/2021-11-18--00-38-32/1/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 0cd0b7f7e31a3853/2021-11-18--00-38-32/2/s for SKODA KODIAQ 1ST GEN\n",
"Match found in a973e9182bc96a2c/2024-01-14--15-14-33/54/s for AUDI A3 3RD GEN\n",
"Match found in 23daff6c438612d2/2023-12-21--15-37-32/22/s for AUDI A3 3RD GEN\n",
"Match found in 23daff6c438612d2/2024-01-17--09-31-14/20/s for AUDI A3 3RD GEN\n",
"Match found in 6c6b466346192818/2021-06-06--14-17-47/0/s for AUDI Q2 1ST GEN\n",
"Match found in 6c6b466346192818/2021-06-06--14-17-47/1/s for AUDI Q2 1ST GEN\n",
"Match found in 6c6b466346192818/2021-06-06--14-17-47/2/s for AUDI Q2 1ST GEN\n",
"Match found in 839125529d3c3cdf/2023-11-29--15-49-50/56/s for AUDI Q3 2ND GEN\n",
"Match found in d7bfab70d5011e1d/2023-11-24--00-49-14/24/s for AUDI Q3 2ND GEN\n",
"Match found in 98a3015c4f16846d/2023-11-04--12-32-32/76/s for AUDI Q3 2ND GEN\n",
"Match found in fc6b6c9a3471c846/2021-05-27--13-39-56/2/s for SEAT LEON 3RD GEN\n",
"Match found in fc6b6c9a3471c846/2021-05-27--13-39-56/1/s for SEAT LEON 3RD GEN\n",
"Match found in aef9c04d6ec5cd57/2023-07-15--16-49-38/12/s for SEAT LEON 3RD GEN\n",
"Match found in 0bbe367c98fa1538/2023-03-04--17-46-11/2/s for VOLKSWAGEN POLO 6TH GEN\n",
"Match found in 0bbe367c98fa1538/2023-03-04--17-46-11/1/s for VOLKSWAGEN POLO 6TH GEN\n",
"Match found in 0bbe367c98fa1538/2023-03-04--17-46-11/0/s for VOLKSWAGEN POLO 6TH GEN\n",
"Match found in 026b6d18fba6417f/2021-03-26--09-17-04/0/s for SKODA SCALA 1ST GEN\n",
"Match found in 026b6d18fba6417f/2021-03-26--09-17-04/1/s for SKODA SCALA 1ST GEN\n",
"Match found in 026b6d18fba6417f/2021-03-26--09-17-04/2/s for SKODA SCALA 1ST GEN\n",
"Match found in 12d6ae3057c04b0d/2021-09-04--21-21-21/1/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 12d6ae3057c04b0d/2021-09-04--21-21-21/0/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 7d76baac7cf42e15/2024-01-13--03-42-46/2/s for SKODA KAROQ 1ST GEN\n",
"Match found in 8a5da7c1d1783730/2024-01-17--06-32-18/4/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 8a5da7c1d1783730/2023-12-23--16-48-07/42/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 2ca49a03c8084514/2023-12-27--08-54-31/4/s for SKODA KODIAQ 1ST GEN\n",
"Match found in 66e5edc3a16459c5/2021-05-25--19-00-29/1/s for SKODA OCTAVIA 3RD GEN\n",
"Match found in f5392228324cda8d/2023-10-29--14-05-24/120/s for SKODA OCTAVIA 3RD GEN\n",
"Match found in 3fa7570f2fcace3d/2023-11-11--07-57-34/1/s for SKODA OCTAVIA 3RD GEN\n",
"Match found in 54ada937747ef8ca/2023-11-09--16-13-28/12/s for SKODA SUPERB 3RD GEN\n"
]
}, },
{ {
"name": "stdout", "name": "stdout",
"output_type": "stream", "output_type": "stream",
"text": [ "text": [
"Match found in 54ada937747ef8ca/2023-12-14--08-14-41/8/s for SKODA SUPERB 3RD GEN\n", "Match found: 0f53b336851e1384/2023-11-20--09-44-03/12/s CHRYSLER PACIFICA HYBRID 2018 ['VW CAN Ign']\n",
"Match found in 54ada937747ef8ca/2023-11-16--06-01-05/7/s for SKODA SUPERB 3RD GEN\n", "Match found: 7620ad20d3cefc64/2023-10-28--08-14-40/3/s CHRYSLER PACIFICA HYBRID 2018 ['VW CAN Ign']\n",
"Analysis finished\n" "Match found: 00d247a9bb1f9196/2023-11-06--13-33-17/9/s CHRYSLER PACIFICA HYBRID 2018 ['VW CAN Ign']\n",
"Match found: 120a432f63cb0de2/2023-10-30--20-01-34/1/s CHRYSLER PACIFICA HYBRID 2019 ['VW CAN Ign']\n",
"Match found: b70b56b76a6217f2/2023-12-19--08-30-22/35/s CHRYSLER PACIFICA HYBRID 2019 ['VW CAN Ign']\n",
"Match found: 97e388680a6716ed/2024-01-17--10-15-13/9/s CHRYSLER PACIFICA HYBRID 2019 ['VW CAN Ign']\n",
"Match found: 2137b01aa0ca63f9/2024-01-06--22-06-14/70/s CHRYSLER PACIFICA 2018 ['VW CAN Ign']\n",
"Match found: 8fc6a1b72c8b1357/2023-11-06--07-50-05/8/s CHRYSLER PACIFICA 2018 ['VW CAN Ign']\n",
"Match found: 7e705eb5c27a49cc/2024-01-18--16-51-20/3/s CHRYSLER PACIFICA 2018 ['VW CAN Ign']\n",
"Match found: 12208e5acdc97eb3/2024-01-20--14-46-24/12/s CHRYSLER PACIFICA 2020 ['VW CAN Ign']\n",
"Match found: 12208e5acdc97eb3/2023-11-30--12-01-09/2/s CHRYSLER PACIFICA 2020 ['VW CAN Ign']\n",
"Match found: 9cad19e0efce3650/2024-01-26--10-24-52/27/s CHRYSLER PACIFICA 2020 ['VW CAN Ign']\n",
"Match found: 9db428338427dec2/2023-11-05--18-40-09/21/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']\n",
"Match found: d50ada8ee55a5e74/2023-12-11--13-38-09/0/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']\n",
"Match found: 900dfa83b4addfe6/2023-12-30--19-20-08/28/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']\n",
"Match found: 20acda0eb23d7f23/2024-01-19--17-33-26/41/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']\n",
"Match found: 1cc3b46843cad2ca/2024-01-10--20-20-54/24/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']\n",
"Match found: 2d9b6425552c52c1/2023-12-07--10-31-46/22/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']\n",
"Match found: ae679616266f4096/2023-12-04--13-13-56/16/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']\n",
"Match found: ae679616266f4096/2024-01-08--07-58-12/65/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']\n",
"Match found: ae679616266f4096/2023-12-05--15-43-46/25/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']\n",
"Match found: 6dae2984cc53cd7f/2024-01-09--21-41-11/4/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']\n",
"Match found: 440a155809ba2b6d/2023-12-30--08-51-53/2/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']\n",
"Match found: 6dae2984cc53cd7f/2024-01-06--10-11-07/1/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']\n",
"Match found: a4218e6416dfd978/2023-11-27--13-48-46/19/s FORD ESCAPE 4TH GEN ['Rivian CAN Ign']\n",
"Match found: a4218e6416dfd978/2023-11-10--14-13-14/0/s FORD ESCAPE 4TH GEN ['Rivian CAN Ign']\n",
"Match found: a4218e6416dfd978/2023-11-27--13-48-46/4/s FORD ESCAPE 4TH GEN ['Rivian CAN Ign']\n",
"Match found: 8a732841c3a8d5ef/2023-12-10--19-02-33/3/s FORD EXPLORER 6TH GEN ['Rivian CAN Ign']\n",
"Match found: 0b91b433b9332780/2023-12-28--14-02-49/4/s FORD EXPLORER 6TH GEN ['Rivian CAN Ign']\n",
"Match found: 8a732841c3a8d5ef/2023-11-09--07-28-12/1/s FORD EXPLORER 6TH GEN ['Rivian CAN Ign']\n",
"Match found: e886087f430e7fe7/2023-11-05--19-59-40/59/s FORD FOCUS 4TH GEN ['Rivian CAN Ign']\n",
"Match found: e886087f430e7fe7/2023-11-05--19-59-40/82/s FORD FOCUS 4TH GEN ['Rivian CAN Ign']\n",
"Match found: e886087f430e7fe7/2023-11-05--19-59-40/106/s FORD FOCUS 4TH GEN ['Rivian CAN Ign']\n"
] ]
} }
], ],
"source": [ "source": [
"from openpilot.selfdrive.pandad import can_capnp_to_list\n",
"from openpilot.tools.lib.logreader import LogReader\n", "from openpilot.tools.lib.logreader import LogReader\n",
"from tqdm.notebook import tqdm, tnrange\n",
"\n",
"# Example search for CAN ignition messages\n",
"# Be careful when filtering by bus, account for odd harness arrangements on Honda/HKG\n",
"\n",
"BUSES_TO_SEARCH = [0, 1, 2]\n",
"\n", "\n",
"message_to_check = 0x3c0 # Volkswagen CAN ignition message\n", "# Support for external Red Panda\n",
"EXTERNAL_PANDA_BUSES = [bus + 4 for bus in BUSES_TO_SEARCH]\n",
"\n", "\n",
"segment_count = len(TEST_SEGMENTS)\n", "MESSAGES_TO_FIND = {\n",
"for idx, segment in enumerate(TEST_SEGMENTS):\n", " 0x1F1: \"GM CAN Ign\",\n",
" 0x152: \"Rivian CAN Ign\",\n",
" 0x221: \"Tesla 3/Y CAN Ign\",\n",
" 0x9E: \"Mazda CAN Ign\",\n",
" 0x3C0: \"VW CAN Ign\",\n",
"}\n",
"\n",
"progress_bar = tnrange(len(TEST_SEGMENTS), desc=\"segments searched\")\n",
"\n",
"for segment in TEST_SEGMENTS:\n",
" lr = LogReader(segment)\n", " lr = LogReader(segment)\n",
" CP = lr.first(\"carParams\")\n", " CP = lr.first(\"carParams\")\n",
" if CP is None:\n", " if CP is None:\n",
" progress_bar.update()\n",
" continue\n", " continue\n",
"\n", "\n",
" can_packets = [msg for msg in lr if msg.which() == \"can\"]\n", " can_packets = [msg for msg in lr if msg.which() == \"can\"]\n",
" matched_messages = set()\n",
"\n", "\n",
" # print(f\"Evaluating segment {idx} of {segment_count} for {CP.carFingerprint}\")\n",
"\n",
" matched_segments = {}\n",
" for packet in can_packets:\n", " for packet in can_packets:\n",
" for msg in packet.can:\n", " for msg in packet.can:\n",
" if msg.address == message_to_check:\n", " if msg.address in MESSAGES_TO_FIND and msg.src in (BUSES_TO_SEARCH + EXTERNAL_PANDA_BUSES):\n",
" matched_segments.update({segment: CP.carFingerprint})\n", " # print(msg)\n",
" matched_messages.add(msg.address)\n",
"\n", "\n",
" if segment in matched_segments:\n", " if len(matched_messages) > 0:\n",
" print(f\"Match found in {segment} for {CP.carFingerprint}\")\n", " message_names = [MESSAGES_TO_FIND[message] for message in matched_messages]\n",
" print(f\"Match found: {segment:<45} {CP.carFingerprint:<38} {message_names}\")\n",
"\n", "\n",
"print(f\"Analysis finished\")\n" " progress_bar.update()\n"
] ]
}, },
{ {
@ -257,9 +210,9 @@
], ],
"metadata": { "metadata": {
"kernelspec": { "kernelspec": {
"display_name": "openpilot", "display_name": "Python 3 (ipykernel)",
"language": "python", "language": "python",
"name": "openpilot" "name": "python3"
}, },
"language_info": { "language_info": {
"codemirror_mode": { "codemirror_mode": {

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