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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb

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{
"cells": [
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
"from opendbc.car import structs\n",
"from opendbc.car.subaru.values import CAR, SubaruFlags\n",
"from opendbc.car.subaru.fingerprints import FW_VERSIONS\n",
"\n",
"TEST_PLATFORMS = set(CAR) - CAR.with_flags(SubaruFlags.PREGLOBAL)\n",
"\n",
"Ecu = structs.CarParams.Ecu\n",
"\n",
"FW_BY_ECU = {platform: {ecu: versions for (ecu, addr, sub_addr), versions in fw_versions.items()} for platform, fw_versions in FW_VERSIONS.items()}"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
"PLATFORM_CODES = {\n",
" Ecu.abs: {\n",
" 0: {\n",
" b'\\xa5': [CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023],\n",
" b'\\xa2': [CAR.SUBARU_IMPREZA, CAR.SUBARU_IMPREZA_2020, CAR.SUBARU_CROSSTREK_HYBRID],\n",
" b'\\xa1': [CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023],\n",
" b'\\xa3': [CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_HYBRID, CAR.SUBARU_FORESTER_2022],\n",
" b'z': [CAR.SUBARU_IMPREZA],\n",
" }\n",
" }\n",
"}\n",
"\n",
"YEAR_CODES = {\n",
" Ecu.abs: {\n",
" 2: {\n",
" b'\\x18': 2018,\n",
" b'\\x19': 2019,\n",
" b'\\x20': 2020,\n",
" b'\\x21': 2021,\n",
" b'\\x22': 2022,\n",
" b'\\x23': 2023,\n",
" }\n",
" }\n",
"}"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [],
"source": [
"def get_codes(platforms, codes):\n",
" results = []\n",
" for platform in platforms:\n",
" for ecu in codes:\n",
" for i in codes[ecu]:\n",
" if isinstance(i, tuple):\n",
" j = slice(i[0], i[1])\n",
" else:\n",
" j = slice(i, i+1)\n",
" for version in FW_BY_ECU[platform][ecu]:\n",
" code = version[j]\n",
" if code not in codes[ecu][i]:\n",
" print(f\"{platform} {code.hex()} not in {codes[ecu][i].keys()}\")\n",
" else:\n",
" results.append((platform, codes[ecu][i][code]))\n",
" return results"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"SUBARU_IMPREZA 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU_IMPREZA 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU_IMPREZA 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU_IMPREZA 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU_IMPREZA 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU_IMPREZA 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"correct_year=False platform=SUBARU_FORESTER year=2018 years=[2019, 2020, 2021]\n",
"correct_year=False platform=SUBARU_FORESTER year=2018 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_FORESTER year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_FORESTER year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_FORESTER year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_FORESTER year=2020 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_FORESTER year=2020 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2022 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_OUTBACK year=2022 years=[2020, 2021, 2022]\n",
"correct_year=False platform=SUBARU_FORESTER_HYBRID year=2019 years=[2020]\n",
"correct_year=False platform=SUBARU_CROSSTREK_HYBRID year=2019 years=[2020]\n",
"correct_year=False platform=SUBARU_CROSSTREK_HYBRID year=2021 years=[2020]\n",
"correct_year=True platform=SUBARU_ASCENT_2023 year=2023 years=[2023]\n",
"correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU_IMPREZA year=2018 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n",
"correct_year=False platform=SUBARU_FORESTER_2022 year=2021 years=[2022, 2023, 2024]\n",
"correct_year=False platform=SUBARU_FORESTER_2022 year=2021 years=[2022, 2023, 2024]\n",
"correct_year=True platform=SUBARU_FORESTER_2022 year=2022 years=[2022, 2023, 2024]\n",
"correct_year=True platform=SUBARU_FORESTER_2022 year=2022 years=[2022, 2023, 2024]\n",
"correct_year=True platform=SUBARU_ASCENT year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_ASCENT year=2021 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU_OUTBACK_2023 year=2023 years=[2023]\n",
"correct_year=True platform=SUBARU_OUTBACK_2023 year=2023 years=[2023]\n",
"correct_year=False platform=SUBARU_IMPREZA_2020 year=2019 years=[2020, 2021, 2022]\n",
"correct_year=False platform=SUBARU_IMPREZA_2020 year=2019 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_IMPREZA_2020 year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n"
]
}
],
"source": [
"def test_year_code(platform, year):\n",
" car_docs = CAR(platform).config.car_docs\n",
" if isinstance(car_docs, list):\n",
" car_docs = car_docs[0]\n",
" years = [int(y) for y in car_docs.year_list]\n",
" correct_year = year in years\n",
" print(f\"{correct_year=!s: <6} {platform=: <32} {year=: <5} {years=}\")\n",
"\n",
"codes = get_codes(TEST_PLATFORMS, YEAR_CODES)\n",
"for platform, year in codes:\n",
" test_year_code(platform, year)"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER_HYBRID platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_CROSSTREK_HYBRID platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_CROSSTREK_HYBRID platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_ASCENT_2023 platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n",
"in_possible_platforms=True platform=SUBARU_ASCENT platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n",
"in_possible_platforms=True platform=SUBARU_ASCENT platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK_2023 platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_OUTBACK_2023 platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n",
"in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n",
"in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n"
]
}
],
"source": [
"def test_platform_code(platform, platforms):\n",
" platforms = [str(p) for p in platforms]\n",
" in_possible_platforms = platform in platforms\n",
" print(f\"{in_possible_platforms=!s: <6} {platform=: <32} {platforms=}\")\n",
"\n",
"codes = get_codes(TEST_PLATFORMS, PLATFORM_CODES)\n",
"for platform, possible_platforms in codes:\n",
" test_platform_code(platform, possible_platforms)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
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},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
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