Vehicle fingerprint selection

2026-06-28 01:52:06 +08:00 · 2025-12-01 12:00:00 -07:00
parent 59241611b8
commit db9bcb2967
4 changed files with 146 additions and 5 deletions
@@ -1,5 +1,95 @@
+#include <QRegularExpression>
+
 #include "frogpilot/ui/qt/offroad/vehicle_settings.h"

+QStringList getCarNames(const QString &carMake, QMap<QString, QString> &carModels) {
+  static const QHash<QString, QString> makeToFolder = {
+    {"acura", "honda"},
+    {"audi", "volkswagen"},
+    {"buick", "gm"},
+    {"cadillac", "gm"},
+    {"chevrolet", "gm"},
+    {"chrysler", "chrysler"},
+    {"cupra", "volkswagen"},
+    {"dodge", "chrysler"},
+    {"ford", "ford"},
+    {"genesis", "hyundai"},
+    {"gmc", "gm"},
+    {"holden", "gm"},
+    {"honda", "honda"},
+    {"hyundai", "hyundai"},
+    {"jeep", "chrysler"},
+    {"kia", "hyundai"},
+    {"lexus", "toyota"},
+    {"lincoln", "ford"},
+    {"man", "volkswagen"},
+    {"mazda", "mazda"},
+    {"nissan", "nissan"},
+    {"peugeot", "psa"},
+    {"ram", "chrysler"},
+    {"rivian", "rivian"},
+    {"seat", "volkswagen"},
+    {"škoda", "volkswagen"},
+    {"subaru", "subaru"},
+    {"tesla", "tesla"},
+    {"toyota", "toyota"},
+    {"volkswagen", "volkswagen"}
+  };
+
+  QStringList carNames;
+
+  const QString folder = makeToFolder.value(carMake.toLower());
+  if (folder.isEmpty()) {
+    return carNames;
+  }
+
+  QFile file(QString("../../opendbc/car/%1/values.py").arg(folder));
+  if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    return carNames;
+  }
+
+  QString content = file.readAll();
+  file.close();
+
+  static const QRegularExpression commentRe("#[^\\n]*");
+  static const QRegularExpression footnoteRe("footnotes=\\[[^\\]]*\\],\\s*");
+  content.remove(commentRe).remove(footnoteRe);
+
+  static const QRegularExpression platformRe("(\\w+)\\s*=\\s*\\w+\\s*\\(");
+  QRegularExpressionMatchIterator platformIt = platformRe.globalMatch(content);
+
+  QVector<QPair<int, QString>> platforms;
+  while (platformIt.hasNext()) {
+    QRegularExpressionMatch match = platformIt.next();
+    platforms.append({match.capturedStart(), match.captured(1)});
+  }
+  platforms.append({content.length(), QString()});
+
+  static const QRegularExpression carNameRe("CarDocs\\w*\\s*\\(\\s*\"([^\"]+)\"");
+  const QString lowerMake = carMake.toLower();
+
+  for (int i = 0; i < platforms.size() - 1; ++i) {
+    int start = platforms[i].first;
+    int end = platforms[i + 1].first;
+    const QString &platformName = platforms[i].second;
+
+    QRegularExpressionMatchIterator carIt = carNameRe.globalMatch(
+      content.mid(start, end - start)
+    );
+
+    while (carIt.hasNext()) {
+      QString carName = carIt.next().captured(1);
+      if (carName.startsWith(carMake, Qt::CaseInsensitive)) {
+        carModels[carName] = platformName;
+        carNames.append(carName);
+      }
+    }
+  }
+
+  carNames.sort(Qt::CaseInsensitive);
+  return carNames;
+}
+
 FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent, bool forceOpen) : FrogPilotListWidget(parent), parent(parent) {
  forceOpenDescriptions = forceOpen;

@@ -12,6 +102,37 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent,

  vehiclesLayout->addWidget(vehiclesPanel);

+  QStringList makes = {
+    "Acura", "Audi", "Buick", "Cadillac", "Chevrolet", "Chrysler", "CUPRA",
+    "Dodge", "Ford", "Genesis", "GMC", "Holden", "Honda", "Hyundai", "Jeep",
+    "Kia", "Lexus", "Lincoln", "MAN", "Mazda", "Nissan", "Peugeot", "Ram",
+    "Rivian", "SEAT", "Škoda", "Subaru", "Tesla", "Toyota", "Volkswagen"
+  };
+
+  ButtonControl *selectMakeButton = new ButtonControl(tr("Car Make"), tr("SELECT"));
+  QObject::connect(selectMakeButton, &ButtonControl::clicked, [makes, selectMakeButton, this]() {
+    QString makeSelection = MultiOptionDialog::getSelection(tr("Choose your car make"), makes, "", this);
+    if (!makeSelection.isEmpty()) {
+      params.put("CarMake", makeSelection.toStdString());
+      selectMakeButton->setValue(makeSelection);
+    }
+  });
+  settingsList->addItem(selectMakeButton);
+
+  ButtonControl *selectModelButton = new ButtonControl(tr("Car Model"), tr("SELECT"));
+  QObject::connect(selectModelButton, &ButtonControl::clicked, [selectModelButton, this]() {
+    QString modelSelection = MultiOptionDialog::getSelection(tr("Choose your car model"), getCarNames(QString::fromStdString(params.get("CarMake")).toLower(), carModels), "", this);
+    if (!modelSelection.isEmpty()) {
+      params.put("CarModel", carModels.value(modelSelection).toStdString());
+      params.put("CarModelName", modelSelection.toStdString());
+      selectModelButton->setValue(modelSelection);
+    }
+  });
+  settingsList->addItem(selectModelButton);
+
+  forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("<b>Force the selected fingerprint</b> and prevent it from ever changing."), "");
+  settingsList->addItem(forceFingerprint);
+
  disableOpenpilotLong = new ParamControl("DisableOpenpilotLongitudinal", tr("Disable openpilot Longitudinal Control"), tr("<b>Disable openpilot longitudinal</b> and use the car's stock ACC instead."), "");
  QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [parent, this](bool state) {
    if (state) {
@@ -195,10 +316,18 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent,

  openDescriptions(forceOpenDescriptions, toggles);

+  QObject::connect(uiState(), &UIState::offroadTransition, [selectMakeButton, selectModelButton, this]() {
+    std::thread([selectMakeButton, selectModelButton, this]() {
+      selectMakeButton->setValue(QString::fromStdString(params.get("CarMake", true)));
+      selectModelButton->setValue(QString::fromStdString(params.get(params.get("CarModelName").empty() ? "CarModel" : "CarModelName", true)));
+    }).detach();
+  });
+
  QObject::connect(parent, &FrogPilotSettingsWindow::closeSubPanel, [vehiclesLayout, vehiclesPanel, this] {
    if (forceOpenDescriptions) {
      openDescriptions(forceOpenDescriptions, toggles);
      disableOpenpilotLong->showDescription();
+      forceFingerprint->showDescription();
    }
    vehiclesLayout->setCurrentWidget(vehiclesPanel);
  });
@@ -208,6 +337,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent,
 void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
  if (forceOpenDescriptions) {
    disableOpenpilotLong->showDescription();
+    forceFingerprint->showDescription();
  }

  QStringList detected;
@@ -298,6 +428,7 @@ void FrogPilotVehiclesPanel::updateToggles() {
  }

  disableOpenpilotLong->setVisible((parent->hasOpenpilotLongitudinal || parent->openpilotLongitudinalControlDisabled) && !parent->hasAlphaLongitudinal && parent->tuningLevel >= parent->frogpilotToggleLevels["DisableOpenpilotLongitudinal"].toBool());
+  forceFingerprint->setVisible(parent->tuningLevel >= parent->frogpilotToggleLevels["ForceFingerprint"].toBool());

  openDescriptions(forceOpenDescriptions, toggles);

@@ -35,6 +35,9 @@ private:
  FrogPilotSettingsWindow *parent;

  ParamControl *disableOpenpilotLong;
+  ParamControl *forceFingerprint;

  Params params;
+
+  QMap<QString, QString> carModels;
 };
@@ -14,6 +14,7 @@ from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.toyota.values import ToyotaFrogPilotFlags
 from opendbc.car.values import BRANDS
 from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
+from openpilot.common.params import Params

 FRAME_FINGERPRINT = 100  # 1s

@@ -156,12 +157,18 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu


 def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
-            is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None, frogpilot_toggles: SimpleNamespace = None):
+            is_release: bool, params: Params, num_pandas: int = 1, cached_params: CarParamsT | None = None, frogpilot_toggles: SimpleNamespace = None):
  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)

-  if candidate is None:
-    carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
-    candidate = "MOCK"
+  if candidate is None or frogpilot_toggles.force_fingerprint:
+    if frogpilot_toggles.force_fingerprint:
+      candidate = frogpilot_toggles.car_model
+    else:
+      carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
+      candidate = "MOCK"
+  else:
+    params.put_nonblocking("CarMake", candidate.split('_')[0].title())
+    params.put_nonblocking("CarModel", str(candidate))

  if frogpilot_toggles.block_user:
    candidate = "MOCK"
@@ -106,7 +106,7 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, get_frogpilot_toggles())
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, self.params, num_pandas, cached_params, get_frogpilot_toggles())
      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
      self.CP = self.CI.CP