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105 lines
3.4 KiB
105 lines
3.4 KiB
#!/usr/bin/env python3
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import argparse
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from openpilot.common.basedir import BASEDIR
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from openpilot.tools.lib.logreader import MultiLogIterator
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from openpilot.tools.lib.route import Route
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from openpilot.selfdrive.car.fw_versions import match_fw_to_car
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from openpilot.selfdrive.car.interfaces import get_interface_attr
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ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
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ALL_CARS = get_interface_attr("CAR")
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PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
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BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
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PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
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def add_fw_versions(brand, platform, new_fw_versions):
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filename = f"{BASEDIR}/selfdrive/car/{brand}/fingerprints.py"
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with open(filename, "r") as f:
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values_py = f.read()
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for key in new_fw_versions.keys():
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ecu, addr, subAddr = key
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fw_version = new_fw_versions[key]
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platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
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start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
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try:
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end_str = "],\n"
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end = values_py.index(end_str, start)
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except ValueError:
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end_str = "]\n"
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end = values_py.index(end_str, start)
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values_py = values_py[:end] + f" {fw_version},\n " + values_py[end:]
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with open(filename, "w") as f:
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f.write(values_py)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
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parser.add_argument("route", help="The route name to use")
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parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
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args = parser.parse_args()
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route = Route(args.route)
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lr = MultiLogIterator(route.qlog_paths())
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carFw = None
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carVin = None
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carPlatform = None
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for msg in lr:
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if msg.which() == "carParams":
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carFw = msg.carParams.carFw
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carVin = msg.carParams.carVin
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carPlatform = msg.carParams.carFingerprint
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break
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if carFw is None:
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raise Exception("No fw versions in the provided route...")
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if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
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_, possible_platforms = match_fw_to_car(carFw, log=False)
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if len(possible_platforms) != 1:
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print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
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if carPlatform != "mock":
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print("Using platform from route")
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platform = carPlatform
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else:
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raise Exception("unable to determine platform, try manually specifying the fingerprint.")
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else:
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platform = list(possible_platforms)[0]
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else:
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platform = args.platform
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print("Attempting to add fw version for: ", platform)
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brand = PLATFORM_TO_BRAND[platform]
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new_fw_versions = {}
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for fw in carFw:
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if fw.brand == brand:
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addr = fw.address
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subAddr = None if fw.subAddress == 0 else fw.subAddress
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key = (fw.ecu.raw, addr, subAddr)
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if key in ALL_FW_VERSIONS[brand][platform]:
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fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
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if fw.fwVersion not in fw_versions:
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new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
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if not new_fw_versions:
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print("No new fw versions found...")
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add_fw_versions(brand, platform, new_fw_versions)
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