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openpilot v0.9.7 release

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date: 2024-06-11T01:36:39
master commit: f8cb04e4a8b032b72a909f68b808a50936184bee
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Vehicle Researcher
2025-11-01 12:00:00 -07:00
commit ad4dbe2012
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tools/car_porting/examples/ford_vin_fingerprint.ipynb
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{
"cells": [
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [],
"source": [
"\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n",
"\n",
"from openpilot.tools.lib.logreader import LogReader\n",
"from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
"from openpilot.selfdrive.car.ford.values import CAR\n",
"\n",
"database = get_comma_car_segments_database()\n",
"\n",
"platforms = [c.value for c in CAR]"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
"# Adapted from https://github.com/commaai/openpilot/issues/31052#issuecomment-1902690083\n",
"\n",
"MODEL_YEAR_CODES = {'M': 2021, 'N': 2022, 'P': 2023, 'R': 2024, 'S': 2025}\n",
"\n",
"\n",
"F150_CODES = ['F1C', 'F1E', 'W1C', 'W1E', 'X1C', 'X1E', 'W1R', 'W1P', 'W1S', 'W1T']\n",
"LIGHTNING_CODES = ['L', 'V']\n",
"MACHE_CODES = ['K1R', 'K1S', 'K2S', 'K3R', 'K3S', 'K4S']\n",
"\n",
"FORD_VIN_START = ['1FT', '3FM', '5LM']\n",
"\n",
"def ford_vin_fingerprint(vin): # Check if it's a Ford vehicle and determine the model\n",
" vin_positions_567 = vin[4:7]\n",
"\n",
" if vin.startswith('1FT'):\n",
" if vin_positions_567 in F150_CODES:\n",
" if vin[7] in LIGHTNING_CODES:\n",
" return f\"FORD F-150 LIGHTNING 1ST GEN\"\n",
" else:\n",
" return f\"FORD F-150 14TH GEN\"\n",
" elif vin.startswith('3FM'):\n",
" if vin_positions_567 in MACHE_CODES:\n",
" return f\"FORD MUSTANG MACH-E 1ST GEN\"\n",
" elif vin.startswith('5LM'):\n",
" pass\n",
"\n",
" return \"mock\""
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Got 287 segments for platform FORD BRONCO SPORT 1ST GEN, sampling 5 segments\n",
"Got 137 segments for platform FORD ESCAPE 4TH GEN, sampling 5 segments\n",
"Got 1041 segments for platform FORD EXPLORER 6TH GEN, sampling 5 segments\n",
"Got 5 segments for platform FORD F-150 14TH GEN, sampling 5 segments\n",
"Got 56 segments for platform FORD FOCUS 4TH GEN, sampling 5 segments\n",
"Got 637 segments for platform FORD MAVERICK 1ST GEN, sampling 5 segments\n",
"Got 3 segments for platform FORD F-150 LIGHTNING 1ST GEN, sampling 3 segments\n",
"Got 3 segments for platform FORD MUSTANG MACH-E 1ST GEN, sampling 3 segments\n"
]
}
],
"source": [
"import random\n",
"\n",
"MAX_SEGS_PER_PLATFORM = 5\n",
"\n",
"VINS_TO_CHECK = set()\n",
"\n",
"for platform in platforms:\n",
" if platform not in database:\n",
" print(f\"Skipping platform: {platform}, no data available\")\n",
" continue\n",
" \n",
" all_segments = database[platform]\n",
"\n",
" NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
"\n",
" print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n",
"\n",
" segments = random.sample(all_segments, NUM_SEGMENTS)\n",
"\n",
" for segment in segments:\n",
" lr = LogReader(segment)\n",
" CP = lr.first(\"carParams\")\n",
" if \"FORD\" not in CP.carFingerprint:\n",
" print(segment, CP.carFingerprint)\n",
" VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"vin: 3FTTW8E34PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 00000000000XXXXXX real platform: FORD F-150 14TH GEN determined platform: mock correct: False\n",
"vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n",
"vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n",
"vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n",
"vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n",
"vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n",
"vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 5LM5J7XC1LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n",
"vin: 3FTTW8F97NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n",
"vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n"
]
}
],
"source": [
"for vin, real_fingerprint in VINS_TO_CHECK:\n",
" determined_fingerprint = ford_vin_fingerprint(vin)\n",
" print(f\"vin: {vin} real platform: {real_fingerprint: <30} determined platform: {determined_fingerprint: <30} correct: {real_fingerprint == determined_fingerprint}\")"
]
}
],
"metadata": {
"kernelspec": {
"display_name": ".venv",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.11.4"
}
},
"nbformat": 4,
"nbformat_minor": 2
}
tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
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{
"cells": [
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n"
]
}
],
"source": [
"from cereal import car\n",
"from openpilot.selfdrive.car.subaru.values import CAR, SubaruFlags\n",
"from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n",
"\n",
"TEST_PLATFORMS = set(CAR) - CAR.with_flags(SubaruFlags.PREGLOBAL)\n",
"\n",
"Ecu = car.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": null,
"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": 3,
"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": 4,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n",
"correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n",
"correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n",
"correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2019 years=[2020]\n",
"correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2021 years=[2020]\n",
"correct_year=False platform=SUBARU FORESTER HYBRID 2020 year=2019 years=[2020]\n",
"correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2018 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n",
"correct_year=True platform=SUBARU IMPREZA LIMITED 2019 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=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n",
"correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2020 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n",
"correct_year=True platform=SUBARU ASCENT 2023 year=2023 years=[2023]\n",
"correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2021 years=[2019, 2020, 2021]\n",
"correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n",
"correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n",
"correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\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": 5,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU FORESTER HYBRID 2020 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n",
"in_possible_platforms=True platform=SUBARU ASCENT 2023 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
"in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
"in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n",
"in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\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)"
]
}
],
"metadata": {
"kernelspec": {
"display_name": ".venv",
"language": "python",
"name": "python3"
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"name": "ipython",
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"file_extension": ".py",
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tools/car_porting/examples/subaru_long_accel.ipynb
+120
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{
"cells": [
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"segments = [\n",
" \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n",
"]\n",
"platform = \"SUBARU_OUTBACK\"\n"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import copy\n",
"import numpy as np\n",
"\n",
"from opendbc.can.parser import CANParser\n",
"\n",
"from openpilot.selfdrive.car.subaru.values import DBC\n",
"from openpilot.tools.lib.logreader import LogReader\n",
"\n",
"\"\"\"\n",
"In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n",
"\"\"\"\n",
"\n",
"for segment in segments:\n",
" lr = LogReader(segment)\n",
"\n",
" messages = [\n",
" (\"ES_Distance\", 20),\n",
" (\"ES_Brake\", 20),\n",
" (\"ES_Status\", 20),\n",
" ]\n",
"\n",
" cp = CANParser(DBC[platform][\"pt\"], messages, 1)\n",
"\n",
" es_distance_history = []\n",
" es_status_history = []\n",
" es_brake_history = []\n",
" acceleration_history = []\n",
"\n",
" last_acc = 0\n",
"\n",
" for msg in lr:\n",
" if msg.which() == \"can\":\n",
" cp.update_strings([msg.as_builder().to_bytes()])\n",
" es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n",
" es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n",
" es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
"\n",
" acceleration_history.append(last_acc)\n",
"\n",
" if msg.which() == \"carState\":\n",
" last_acc = msg.carState.aEgo"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"def process(history, func):\n",
" return np.array([func(h) for h in history])\n",
"\n",
"cruise_activated = process(es_status_history, lambda es_status: es_status[\"Cruise_Activated\"])\n",
"cruise_throttle = process(es_distance_history, lambda es_distance: es_distance[\"Cruise_Throttle\"])\n",
"cruise_rpm = process(es_status_history, lambda es_status: es_status[\"Cruise_RPM\"])\n",
"cruise_brake = process(es_brake_history, lambda es_brake: es_brake[\"Brake_Pressure\"])\n",
"acceleration = process(acceleration_history, lambda acc: acc)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import matplotlib.pyplot as plt\n",
"\n",
"valid_brake = (cruise_activated==1) & (cruise_brake>0) # only when cruise is activated and eyesight is braking\n",
"\n",
"ax = plt.figure().add_subplot()\n",
"\n",
"ax.set_title(\"Brake_Pressure vs Acceleration\")\n",
"ax.set_xlabel(\"Brake_Pessure\")\n",
"ax.set_ylabel(\"Acceleration\")\n",
"ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
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"name": "ipython",
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"file_extension": ".py",
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}
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"nbformat_minor": 2
}
tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+110
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{
"cells": [
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"# An example of searching through a database of segments for a specific condition, and plotting the results.\n",
"\n",
"segments = [\n",
" \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n",
"]\n",
"platform = \"SUBARU_OUTBACK\""
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import copy\n",
"import matplotlib.pyplot as plt\n",
"import numpy as np\n",
"\n",
"from opendbc.can.parser import CANParser\n",
"\n",
"from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
"from openpilot.tools.lib.logreader import LogReader\n",
"\n",
"\"\"\"\n",
"In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n",
"has stopped responding to our messages. This analysis would allow you to find the cause of these\n",
"steer warnings and potentially work around them.\n",
"\"\"\"\n",
"\n",
"for segment in segments:\n",
" lr = LogReader(segment)\n",
"\n",
" can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n",
"\n",
" messages = [\n",
" (\"Steering_Torque\", 50)\n",
" ]\n",
"\n",
" cp = CANParser(DBC[platform][\"pt\"], messages, CanBus.main)\n",
"\n",
" steering_torque_history = []\n",
" examples = []\n",
"\n",
" for msg in can_msgs:\n",
" cp.update_strings([msg.as_builder().to_bytes()])\n",
" steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
"\n",
" steer_warning_last = False\n",
" for i, steering_torque_msg in enumerate(steering_torque_history):\n",
" steer_warning = steering_torque_msg[\"Steer_Warning\"]\n",
"\n",
" steer_angle = steering_torque_msg[\"Steering_Angle\"]\n",
"\n",
" if steer_warning and not steer_warning_last: # positive transition of \"Steer_Warning\"\n",
" examples.append(i)\n",
"\n",
" steer_warning_last = steer_warning\n",
"\n",
" FRAME_DELTA = 100 # plot this many frames around the positive transition\n",
"\n",
" for example in examples:\n",
" fig, axs = plt.subplots(2)\n",
"\n",
" min_frame = int(example-FRAME_DELTA/2)\n",
" max_frame = int(example+FRAME_DELTA/2)\n",
"\n",
" steering_angle_history = [msg[\"Steering_Angle\"] for msg in steering_torque_history[min_frame:max_frame]]\n",
" steering_warning_history = [msg[\"Steer_Warning\"] for msg in steering_torque_history[min_frame:max_frame]]\n",
"\n",
" xs = np.arange(-FRAME_DELTA/2, FRAME_DELTA/2)\n",
"\n",
" axs[0].plot(xs, steering_angle_history)\n",
" axs[0].set_ylabel(\"Steering Angle (deg)\")\n",
" axs[1].plot(xs, steering_warning_history)\n",
" axs[1].set_ylabel(\"Steer Warning\")\n",
"\n",
" plt.show()\n"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
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"name": "python3"
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