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108 lines
3.7 KiB
108 lines
3.7 KiB
import os
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import time
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from common.basedir import BASEDIR
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from common.realtime import sec_since_boot
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from common.fingerprints import eliminate_incompatible_cars, all_known_cars
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from selfdrive.swaglog import cloudlog
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import selfdrive.messaging as messaging
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def load_interfaces(x):
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ret = {}
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for interface in x:
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try:
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imp = __import__('selfdrive.car.%s.interface' % interface, fromlist=['CarInterface']).CarInterface
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except ImportError:
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imp = None
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for car in x[interface]:
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ret[car] = imp
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return ret
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def _get_interface_names():
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# read all the folders in selfdrive/car and return a dict where:
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# - keys are all the car names that which we have an interface for
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# - values are lists of spefic car models for a given car
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interface_names = {}
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for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
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try:
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car_name = car_folder.split('/')[-1]
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model_names = __import__('selfdrive.car.%s.values' % car_name, fromlist=['CAR']).CAR
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model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
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interface_names[car_name] = model_names
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except (ImportError, IOError):
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pass
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return interface_names
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# imports from directory selfdrive/car/<name>/
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interfaces = load_interfaces(_get_interface_names())
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# BOUNTY: every added fingerprint in selfdrive/car/*/values.py is a $100 coupon code on shop.comma.ai
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# **** for use live only ****
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def fingerprint(logcan, timeout):
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if os.getenv("SIMULATOR2") is not None:
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return ("simulator2", None)
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elif os.getenv("SIMULATOR") is not None:
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return ("simulator", None)
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cloudlog.warning("waiting for fingerprint...")
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candidate_cars = all_known_cars()
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finger = {}
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st = None
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st_passive = sec_since_boot() # only relevant when passive
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can_seen = False
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while 1:
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for a in messaging.drain_sock(logcan):
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for can in a.can:
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can_seen = True
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# ignore everything not on bus 0 and with more than 11 bits,
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# which are ussually sporadic and hard to include in fingerprints
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if can.src == 0 and can.address < 0x800:
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finger[can.address] = len(can.dat)
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candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
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if st is None and can_seen:
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st = sec_since_boot() # start time
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ts = sec_since_boot()
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# if we only have one car choice and the time_fingerprint since we got our first
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# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
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# broadcast immediately
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if len(candidate_cars) == 1 and st is not None:
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# TODO: better way to decide to wait more if Toyota
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time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
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if (ts-st) > time_fingerprint:
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break
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# bail if no cars left or we've been waiting too long
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elif len(candidate_cars) == 0 or (timeout and (ts - st_passive) > timeout):
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return None, finger
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time.sleep(0.01)
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cloudlog.warning("fingerprinted %s", candidate_cars[0])
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return (candidate_cars[0], finger)
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def get_car(logcan, sendcan=None, passive=True):
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# TODO: timeout only useful for replays so controlsd can start before unlogger
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timeout = 2. if passive else None
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candidate, fingerprints = fingerprint(logcan, timeout)
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if candidate is None:
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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if passive:
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candidate = "mock"
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else:
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return None, None
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interface_cls = interfaces[candidate]
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if interface_cls is None:
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cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
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return None, None
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params = interface_cls.get_params(candidate, fingerprints)
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return interface_cls(params, sendcan), params
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