mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 16:23:46 +08:00
add script to automatically format fingerprints file (#30792)
* Add script * fix script * fix script * fix for subaddr * run the script * old style can fingerprints * cleanup * sort imports, make executable, fix path * newline w/o newline * match og can formatting * match og formatting * generate template once * standard name * less nested * can fingerprints comments * fix spacing * no need for PLATFORM_TO_ENUM_NAME! * prep for PRs * comments for all, add honda comments * Auto-generated fingerprint PR from fuzzy fingerprinting cars * Revert "Auto-generated fingerprint PR from fuzzy fingerprinting cars" This reverts commit 97bc9e3bdb9d819dcbe684ceba92ea702d40eaf0. * even closer to original * readd this comment * and run script * add to precommit * add comments * add comments * add to release * use for auto fingerprint * disable precommit for now --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 3713e4d5eaed783738ea8ecdbd3b7e6abaa974c0
This commit is contained in:
Justin Newberry
@@ -1,7 +1,9 @@
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#!/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 collections import defaultdict
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from typing import Optional
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from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions
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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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@@ -16,31 +18,6 @@ PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[b
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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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@@ -55,6 +32,8 @@ if __name__ == "__main__":
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carVin = None
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carPlatform = None
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platform: Optional[str] = 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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@@ -75,31 +54,26 @@ if __name__ == "__main__":
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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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platform = None
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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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if platform is None:
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raise Exception("unable to determine platform, try manually specifying the fingerprint.")
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print("Attempting to add fw version for: ", platform)
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fw_versions: dict[str, dict[tuple, list[bytes]]] = defaultdict(lambda: defaultdict(list))
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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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if fw.brand == brand and not fw.logging:
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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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fw_versions[platform][key].append(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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format_brand_fw_versions(brand, fw_versions)
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Executable
+86
@@ -0,0 +1,86 @@
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#!/usr/bin/env python3
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import jinja2
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import os
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from cereal import car
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from openpilot.common.basedir import BASEDIR
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from openpilot.selfdrive.car.interfaces import get_interface_attr
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Ecu = car.CarParams.Ecu
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CARS = get_interface_attr('CAR')
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FW_VERSIONS = get_interface_attr('FW_VERSIONS')
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FINGERPRINTS = get_interface_attr('FINGERPRINTS')
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ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
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FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
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{%- if FINGERPRINTS[brand] %}
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# ruff: noqa: E501
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{% endif %}
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{% if FW_VERSIONS[brand] %}
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from cereal import car
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{% endif %}
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from openpilot.selfdrive.car.{{brand}}.values import CAR
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{% if FW_VERSIONS[brand] %}
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Ecu = car.CarParams.Ecu
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{% endif %}
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{% if comments +%}
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{{ comments | join() }}
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{% endif %}
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{% if FINGERPRINTS[brand] %}
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FINGERPRINTS = {
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{% for car, fingerprints in FINGERPRINTS[brand].items() %}
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CAR.{{car.name}}: [{
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{% for fingerprint in fingerprints %}
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{% if not loop.first %}
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{{ "{" }}
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{% endif %}
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{% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
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}{% if loop.last %}]{% endif %},
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{% endfor %}
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{% endfor %}
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}
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{% endif %}
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{% if FW_VERSIONS[brand] %}
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FW_VERSIONS = {
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{% for car, _ in FW_VERSIONS[brand].items() %}
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CAR.{{car.name}}: {
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{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
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(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
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{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
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{% for fw_version in fw_versions %}
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{{fw_version}},
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{% endfor %}
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],
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{% endfor %}
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},
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{% endfor %}
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}
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{% endif %}
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""", trim_blocks=True)
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def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
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fw_versions = FW_VERSIONS.copy()
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# TODO: this modifies FW_VERSIONS in place
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if extra_fw_versions is not None:
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for platform, ecus in extra_fw_versions.items():
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for ecu, fws in ecus.items():
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fw_versions[brand][platform][ecu] += set(fws) - set(fw_versions[brand][platform][ecu])
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fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py")
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with open(fingerprints_file, "r") as f:
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comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
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with open(fingerprints_file, "w") as f:
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f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
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FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=fw_versions))
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if __name__ == "__main__":
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for brand in FW_VERSIONS.keys():
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format_brand_fw_versions(brand)
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