Tools: a basic auto fingerprinting tool (#30117)

* v1 auto fingerprint tool * executable * static analysis * move to selfdrive/debug * from any directory * fix static analysis old-commit-hash: 05f7c96327
2026-08-07 01:06:01 +08:00 · 2023-09-30 20:50:29 -07:00
parent 1f6ab69805
commit 42ad28875a
1 changed files with 105 additions and 0 deletions
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.basedir import BASEDIR
+
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+
+
+ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
+ALL_CARS = get_interface_attr("CAR")
+
+PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
+BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
+PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
+
+def add_fw_versions(brand, platform, new_fw_versions):
+  filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
+  with open(filename, "r") as f:
+    values_py = f.read()
+
+  for key in new_fw_versions.keys():
+    ecu, addr, subAddr = key
+    fw_version = new_fw_versions[key]
+
+    platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
+
+    start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
+
+    try:
+      end_str = "],\n"
+      end = values_py.index(end_str, start)
+    except ValueError:
+      end_str = "]\n"
+      end = values_py.index(end_str, start)
+
+    values_py = values_py[:end] + f"  {fw_version},\n    " + values_py[end:]
+
+  with open(filename, "w") as f:
+    f.write(values_py)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
+  parser.add_argument("route", help="The route name to use")
+  parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
+  args = parser.parse_args()
+
+  route = Route(args.route)
+  lr = MultiLogIterator(route.qlog_paths())
+
+  carFw = None
+  carVin = None
+  carPlatform = None
+
+  for msg in lr:
+    if msg.which() == "carParams":
+      carFw = msg.carParams.carFw
+      carVin = msg.carParams.carVin
+      carPlatform = msg.carParams.carFingerprint
+      break
+
+  if carFw is None:
+    raise Exception("No fw versions in the provided route...")
+
+  if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
+    _, possible_platforms = match_fw_to_car(carFw, log=False)
+
+    if len(possible_platforms) != 1:
+      print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
+
+      if carPlatform != "mock":
+        print("Using platform from route")
+        platform = carPlatform
+      else:
+        raise Exception("unable to determine platform, try manually specifying the fingerprint.")
+    else:
+      platform = list(possible_platforms)[0]
+
+  else:
+    platform = args.platform
+
+  print("Attempting to add fw version for: ", platform)
+
+  brand = PLATFORM_TO_BRAND[platform]
+
+  new_fw_versions = {}
+
+  for fw in carFw:
+    if fw.brand == brand:
+      addr = fw.address
+      subAddr = None if fw.subAddress == 0 else fw.subAddress
+      key = (fw.ecu.raw, addr, subAddr)
+
+      if key in ALL_FW_VERSIONS[brand][platform]:
+        fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
+        if fw.fwVersion not in fw_versions:
+          new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
+
+  if not new_fw_versions:
+    print("No new fw versions found...")
+
+  add_fw_versions(brand, platform, new_fw_versions)