Cameron Clough
1 year ago
parent
062591411d
commit
d2363b7492
1 changed files with 297 additions and 0 deletions
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{ |
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"cells": [ |
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{ |
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"cell_type": "code", |
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"execution_count": 1, |
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"metadata": {}, |
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"outputs": [ |
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{ |
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"name": "stderr", |
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"output_type": "stream", |
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"text": [ |
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"kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /mnt/c/Users/camer/AppData/Local/Programs/Microsoft VS Code\n" |
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] |
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}, |
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{ |
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"name": "stdout", |
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"output_type": "stream", |
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"text": [ |
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"Got 287 segments for platform FORD BRONCO SPORT 1ST GEN\n", |
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"Got 137 segments for platform FORD ESCAPE 4TH GEN\n", |
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"Got 1041 segments for platform FORD EXPLORER 6TH GEN\n", |
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"Got 5 segments for platform FORD F-150 14TH GEN\n", |
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"Got 56 segments for platform FORD FOCUS 4TH GEN\n", |
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"Got 637 segments for platform FORD MAVERICK 1ST GEN\n", |
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"Got 3 segments for platform FORD F-150 LIGHTNING 1ST GEN\n", |
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"Got 3 segments for platform FORD MUSTANG MACH-E 1ST GEN\n", |
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"Got 2169 segments total\n" |
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] |
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} |
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], |
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"source": [ |
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"from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", |
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"from openpilot.selfdrive.car.ford.values import CAR\n", |
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"\n", |
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"database = get_comma_car_segments_database()\n", |
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"platforms = [c.value for c in CAR]\n", |
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"segments = []\n", |
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"\n", |
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"for platform in platforms:\n", |
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" if platform not in database:\n", |
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" print(f'Skipping platform: {platform}, no data available')\n", |
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" continue\n", |
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"\n", |
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" platform_segments = database[platform]\n", |
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" print(f'Got {len(platform_segments)} segments for platform {platform}')\n", |
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" segments += platform_segments\n", |
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"\n", |
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"print(f'Got {len(segments)} segments total')" |
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] |
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}, |
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{ |
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"cell_type": "code", |
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"execution_count": 2, |
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"metadata": {}, |
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"outputs": [ |
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{ |
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"name": "stderr", |
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"output_type": "stream", |
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"text": [ |
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"100%|██████████| 2169/2169 [12:52<00:00, 2.81it/s] " |
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] |
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}, |
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{ |
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"name": "stdout", |
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"output_type": "stream", |
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"text": [ |
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"Got 76 car params to check\n" |
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] |
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}, |
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{ |
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"name": "stderr", |
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"output_type": "stream", |
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"text": [ |
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"\n" |
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] |
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} |
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], |
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"source": [ |
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"from multiprocessing import Pool\n", |
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"\n", |
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"from tqdm import tqdm\n", |
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"\n", |
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"from openpilot.tools.lib.logreader import LogReader\n", |
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"\n", |
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"\n", |
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"def get_car_params(segment):\n", |
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" lr = LogReader(segment)\n", |
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" return lr.first('carParams')\n", |
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"\n", |
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"\n", |
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"CAR_FW_TO_CHECK = []\n", |
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"VINS = set()\n", |
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"\n", |
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"with Pool(processes=10) as p:\n", |
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" with tqdm(total=len(segments)) as pbar:\n", |
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" for CP in p.imap_unordered(get_car_params, segments):\n", |
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" pbar.update()\n", |
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" if CP is None or CP.carVin in VINS:\n", |
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" continue\n", |
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" if not CP.carVin.startswith(\"000000\"):\n", |
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" VINS.add(CP.carVin)\n", |
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" CAR_FW_TO_CHECK.append(CP)\n", |
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"\n", |
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"print(f'Got {len(CAR_FW_TO_CHECK)} car params to check')" |
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] |
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}, |
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{ |
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"cell_type": "code", |
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"execution_count": 3, |
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"metadata": {}, |
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"outputs": [ |
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{ |
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"name": "stderr", |
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"output_type": "stream", |
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"text": [ |
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"/tmp/ipykernel_144036/34027631.py:1: DeprecationWarning: \n", |
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"Pyarrow will become a required dependency of pandas in the next major release of pandas (pandas 3.0),\n", |
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"(to allow more performant data types, such as the Arrow string type, and better interoperability with other libraries)\n", |
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"but was not found to be installed on your system.\n", |
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"If this would cause problems for you,\n", |
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"please provide us feedback at https://github.com/pandas-dev/pandas/issues/54466\n", |
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" \n", |
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" import pandas as pd\n" |
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] |
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}, |
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{ |
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"name": "stdout", |
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"output_type": "stream", |
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"text": [ |
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"vin='5LM5J7XC1LGXXXXXX' real_fingerprint=FORD EXPLORER 6TH GEN source=fixed determined_fingerprint=mock (exact_match=True)\n", |
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" addr=0x7e0 fw={b'LB5A-14C204-AZJ\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x730 fw={b'L1MC-14D003-AJ\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x706 fw={b'LC5T-14F397-AE\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x760 fw={b'L1MC-2D053-AJ\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x764 fw={b'LB5T-14D049-AB\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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"\n", |
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"vin='00000000000XXXXXX' real_fingerprint=FORD F-150 14TH GEN source=fixed determined_fingerprint=mock (exact_match=True)\n", |
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"\n", |
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"vin='00000000000XXXXXX' real_fingerprint=FORD F-150 14TH GEN source=fixed determined_fingerprint=mock (exact_match=True)\n", |
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"\n", |
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"vin='00000000000XXXXXX' real_fingerprint=FORD F-150 14TH GEN source=fixed determined_fingerprint=mock (exact_match=True)\n", |
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"\n", |
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"vin='00000000000XXXXXX' real_fingerprint=FORD F-150 14TH GEN source=fixed determined_fingerprint=mock (exact_match=True)\n", |
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"\n", |
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"vin='00000000000XXXXXX' real_fingerprint=FORD F-150 14TH GEN source=fixed determined_fingerprint=mock (exact_match=True)\n", |
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"\n", |
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"vin='3FTTW8E3XPRXXXXXX' real_fingerprint=FORD MAVERICK 1ST GEN source=fw determined_fingerprint=mock (exact_match=True)\n", |
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" addr=0x7e0 fw={b'PZ6A-14C204-JE\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x730 fw={b'NZ6C-14D003-AL\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x760 fw={b'PZ6C-2D053-ED\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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" addr=0x706 fw={b'NZ6T-14F397-AC\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00'}\n", |
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"\n", |
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" vin has_radar real_fingerprint real_fuzzy determined_fingerprint determined_fuzzy changed\n", |
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"0 3FMCR9B69NRXXXXXX True FORD BRONCO SPORT 1ST GEN False FORD BRONCO SPORT 1ST GEN False False\n", |
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"1 00000000000XXXXXX True FORD ESCAPE 4TH GEN False FORD ESCAPE 4TH GEN False False\n", |
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"2 00000000000XXXXXX True FORD ESCAPE 4TH GEN False FORD ESCAPE 4TH GEN False False\n", |
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"3 00000000000XXXXXX True FORD ESCAPE 4TH GEN False FORD ESCAPE 4TH GEN False False\n", |
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"4 1FMCU9J94MUXXXXXX True FORD ESCAPE 4TH GEN False FORD ESCAPE 4TH GEN False False\n", |
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"5 1FM5K7LC0MGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"6 5LM5J7XC9LGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"7 1FM5K8GC7LGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"8 1FM5K8GC7NGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"9 1FM5K8HC7MGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"10 5LM5J7XC8MGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"11 5LM5J7XC1LGXXXXXX True FORD EXPLORER 6TH GEN False mock False True\n", |
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"12 1FM5K8HC2LGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"13 1FMSK8DHXNGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"14 1FMSK8DH0NGXXXXXX True FORD EXPLORER 6TH GEN False FORD EXPLORER 6TH GEN False False\n", |
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"15 00000000000XXXXXX False FORD F-150 14TH GEN False mock False True\n", |
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"16 00000000000XXXXXX False FORD F-150 14TH GEN False mock False True\n", |
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"17 00000000000XXXXXX False FORD F-150 14TH GEN False mock False True\n", |
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"18 00000000000XXXXXX False FORD F-150 14TH GEN False mock False True\n", |
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"19 00000000000XXXXXX False FORD F-150 14TH GEN False mock False True\n", |
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"20 WF0NXXGCHNJXXXXXX True FORD FOCUS 4TH GEN False FORD FOCUS 4TH GEN False False\n", |
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"21 3FTTW8E31PRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"22 3FTTW8E99NRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"23 3FTTW8E33NRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"24 3FTTW8F98NRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"25 3FTTW8E3XPRXXXXXX False FORD MAVERICK 1ST GEN True mock False True\n", |
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"26 3FTTW8F97NRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"27 3FTTW8E34PRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"28 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"29 3FTTW8E33PRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"30 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"31 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"32 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"33 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"34 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"35 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"36 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"37 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"38 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"39 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"40 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"41 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"42 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"43 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"44 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"45 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"46 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"47 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"48 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"49 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"50 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"51 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"52 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"53 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"54 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"55 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"56 3FTTW8E36PRXXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"57 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"58 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"59 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"60 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"61 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"62 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"63 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"64 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"65 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"66 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"67 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"68 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"69 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"70 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"71 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"72 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"73 00000000000XXXXXX True FORD MAVERICK 1ST GEN False FORD MAVERICK 1ST GEN False False\n", |
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"74 1FTVW1EL4NWXXXXXX True FORD F-150 LIGHTNING 1ST GEN False FORD F-150 LIGHTNING 1ST GEN False False\n", |
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"75 3FMTK3SU0MMXXXXXX True FORD MUSTANG MACH-E 1ST GEN False FORD MUSTANG MACH-E 1ST GEN False False\n" |
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] |
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} |
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], |
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"source": [ |
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"import pandas as pd\n", |
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"\n", |
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"from openpilot.selfdrive.car.fw_versions import build_fw_dict, match_fw_to_car\n", |
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"\n", |
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"results = []\n", |
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"for CP in CAR_FW_TO_CHECK:\n", |
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" vin = CP.carVin\n", |
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" real_fingerprint, real_fuzzy, source = CP.carFingerprint, CP.fuzzyFingerprint, CP.fingerprintSource\n", |
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" car_fw = CP.carFw\n", |
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"\n", |
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" exact_match, determined_fingerprint = match_fw_to_car(car_fw, log=False)\n", |
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" determined_fuzzy = not exact_match\n", |
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"\n", |
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" if len(determined_fingerprint) == 1:\n", |
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" determined_fingerprint = determined_fingerprint.pop()\n", |
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" elif len(determined_fingerprint) == 0:\n", |
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" determined_fingerprint = 'mock'\n", |
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" else:\n", |
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" determined_fingerprint = 'multiple'\n", |
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"\n", |
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" fw_dict = build_fw_dict(CP.carFw)\n", |
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" has_radar = (0x764, None) in fw_dict.keys()\n", |
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"\n", |
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" changed = (real_fingerprint != determined_fingerprint) or (real_fuzzy != determined_fuzzy)\n", |
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" results.append((vin, has_radar,\n", |
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" real_fingerprint, real_fuzzy, determined_fingerprint, determined_fuzzy,\n", |
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" changed))\n", |
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"\n", |
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" if changed:\n", |
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" print(f'{vin=} {real_fingerprint=:<28} source={source} {determined_fingerprint=:<28} ({exact_match=})')\n", |
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" if determined_fingerprint != real_fingerprint:\n", |
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" for addr, fw in build_fw_dict(car_fw).items():\n", |
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" print(f' addr={hex(addr[0])} {fw=}')\n", |
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" print()\n", |
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"\n", |
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"df = pd.DataFrame(results, columns=['vin', 'has_radar',\n", |
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" 'real_fingerprint', 'real_fuzzy', 'determined_fingerprint', 'determined_fuzzy',\n", |
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" 'changed'])\n", |
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"print(df.to_string())" |
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] |
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} |
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], |
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"metadata": { |
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"kernelspec": { |
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"display_name": ".venv", |
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"language": "python", |
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"name": "python3" |
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}, |
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"language_info": { |
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"codemirror_mode": { |
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"name": "ipython", |
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"version": 3 |
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}, |
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"file_extension": ".py", |
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"mimetype": "text/x-python", |
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"name": "python", |
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"nbconvert_exporter": "python", |
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"pygments_lexer": "ipython3", |
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"version": "3.11.4" |
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} |
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}, |
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"nbformat": 4, |
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"nbformat_minor": 2 |
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} |
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Reference in new issue