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96 lines
3.1 KiB
96 lines
3.1 KiB
#!/usr/bin/env python3
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import os
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import sys
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from openpilot.common.basedir import BASEDIR
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# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can)
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# (addr, len)
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CAN_IGNITION_MSGS = {
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'gm': [(0x1F1, 8), (0x160, 5)],
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#'tesla' : [(0x348, 8)],
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}
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def _get_fingerprints():
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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 a fingerprint dict for
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# - values are dicts of fingeprints for each trim
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fingerprints = {}
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for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
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car_name = car_folder.split('/')[-1]
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try:
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fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS
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except (ImportError, OSError, AttributeError):
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pass
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return fingerprints
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def check_fingerprint_consistency(f1, f2):
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# return false if it finds a fingerprint fully included in another
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# max message worth checking is 1800, as above that they usually come too infrequently and not
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# usable for fingerprinting
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max_msg = 1800
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is_f1_in_f2 = True
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for k in f1:
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if (k not in f2 or f1[k] != f2[k]) and k < max_msg:
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is_f1_in_f2 = False
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is_f2_in_f1 = True
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for k in f2:
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if (k not in f1 or f2[k] != f1[k]) and k < max_msg:
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is_f2_in_f1 = False
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return not is_f1_in_f2 and not is_f2_in_f1
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def check_can_ignition_conflicts(fingerprints, brands):
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# loops through all the fingerprints and exits if CAN ignition dedicated messages
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# are found in unexpected fingerprints
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for brand_can, msgs_can in CAN_IGNITION_MSGS.items():
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for i, f in enumerate(fingerprints):
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for msg_can in msgs_can:
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if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]:
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print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i]))
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print("TEST FAILED")
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sys.exit(1)
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if __name__ == "__main__":
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fingerprints = _get_fingerprints()
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fingerprints_flat: list[dict] = []
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car_names = []
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brand_names = []
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for brand in fingerprints:
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for car in fingerprints[brand]:
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fingerprints_flat += fingerprints[brand][car]
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for _ in range(len(fingerprints[brand][car])):
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car_names.append(car)
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brand_names.append(brand)
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# first check if CAN ignition specific messages are unexpectedly included in other fingerprints
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check_can_ignition_conflicts(fingerprints_flat, brand_names)
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valid = True
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for idx1, f1 in enumerate(fingerprints_flat):
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for idx2, f2 in enumerate(fingerprints_flat):
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if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
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valid = False
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print(f"Those two fingerprints are inconsistent {car_names[idx1]} {car_names[idx2]}")
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f1.items())))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f2.items())))
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print("")
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print(f"Found {len(fingerprints_flat)} individual fingerprints")
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if not valid or len(fingerprints_flat) == 0:
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print("TEST FAILED")
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sys.exit(1)
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else:
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print("TEST SUCCESSFUL")
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