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129 lines
7.3 KiB
129 lines
7.3 KiB
# tools/car_porting
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Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
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## Useful car porting utilities
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Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
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### [Cabana](/tools/cabana/README.md)
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View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
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Example:
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```bash
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> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
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```
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### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py)
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Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py
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Example:
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```bash
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> python3 tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
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Attempting to add fw version for: OUTBACK
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```
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### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
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Finds common bugs for car interfaces, without even requiring a route.
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#### Example: Typo in signal name
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```bash
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> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on
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=====================================================================
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FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
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```
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### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py)
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Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
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#### Example: panda safety mismatch for gasPressed
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```bash
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> python3 tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
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=====================================================================
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FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
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Assert that panda safety matches openpilot's carState
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----------------------------------------------------------------------
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Traceback (most recent call last):
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File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
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self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
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AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
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```
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## Jupyter notebooks
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To use these notebooks, install Jupyter within your [openpilot virtual environment](/tools/README.md).
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```bash
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uv pip install jupyter ipykernel
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```
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Launching:
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```bash
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jupyter notebook
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```
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### [examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb)
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An example of searching through a database of segments for a specific condition, and plotting the results.
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*a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change*
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### [examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb)
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An example of plotting the response of an actuator when it is active.
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*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.*
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### [examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb)
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In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.
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```
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vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False
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vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False
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vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False
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vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True
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vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False
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vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False
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vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False
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vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False
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vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False
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vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True
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vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False
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vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False
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vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False
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vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False
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vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False
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```
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### [examples/find_segments_with_message.ipynb](/tools/car_porting/examples/find_segments_with_message.ipynb)
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Searches for segments where a set of given CAN message IDs are present. In the example, we search for all messages
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used for CAN-based ignition detection.
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```
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Match found: 46b21f1c5f7aa885/2024-01-23--15-19-34/20/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']
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Match found: a63a23c3e628f288/2023-11-05--18-36-20/8/s JEEP GRAND CHEROKEE V6 2018 ['VW CAN Ign']
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Match found: ce31b7a998781ba8/2024-01-19--07-05-29/23/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']
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Match found: e1dfba62a4e33f7b/2023-12-25--19-31-00/4/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']
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Match found: e1dfba62a4e33f7b/2024-01-10--14-33-57/2/s JEEP GRAND CHEROKEE 2019 ['VW CAN Ign']
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Match found: ae679616266f4096/2023-12-05--15-43-46/4/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']
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Match found: ae679616266f4096/2023-11-18--17-49-42/3/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']
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Match found: ae679616266f4096/2024-01-03--21-57-09/25/s RAM HD 5TH GEN ['Tesla 3/Y CAN Ign']
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Match found: 6dae2984cc53cd7f/2023-12-10--11-53-15/17/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']
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Match found: 6dae2984cc53cd7f/2023-12-03--17-31-17/29/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']
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Match found: 6dae2984cc53cd7f/2023-11-27--23-29-07/1/s FORD BRONCO SPORT 1ST GEN ['Rivian CAN Ign']
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```
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