mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-14 13:52:12 +08:00
vanillagorillaa
94 lines
2.8 KiB
Python
94 lines
2.8 KiB
Python
import os
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from cereal import car
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from common.realtime import sec_since_boot
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from common.fingerprints import eliminate_incompatible_cars, all_known_cars
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from selfdrive.swaglog import cloudlog
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import selfdrive.messaging as messaging
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from selfdrive.car.honda.interface import CarInterface as HondaInterface
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from selfdrive.car.toyota.interface import CarInterface as ToyotaInterface
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from selfdrive.car.mock.interface import CarInterface as MockInterface
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from common.fingerprints import HONDA, TOYOTA
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try:
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from .simulator.interface import CarInterface as SimInterface
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except ImportError:
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SimInterface = None
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try:
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from .simulator2.interface import CarInterface as Sim2Interface
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except ImportError:
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Sim2Interface = None
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interfaces = {
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HONDA.CIVIC: HondaInterface,
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HONDA.ACURA_ILX: HondaInterface,
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HONDA.CRV: HondaInterface,
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HONDA.ODYSSEY: HondaInterface,
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HONDA.ACURA_RDX: HondaInterface,
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TOYOTA.PRIUS: ToyotaInterface,
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TOYOTA.RAV4: ToyotaInterface,
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TOYOTA.RAV4H: ToyotaInterface,
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TOYOTA.COROLLA: ToyotaInterface,
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"simulator2": Sim2Interface,
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"mock": MockInterface
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}
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# **** for use live only ****
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def fingerprint(logcan, timeout):
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if os.getenv("SIMULATOR2") is not None:
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return ("simulator2", None)
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finger_st = sec_since_boot()
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cloudlog.warning("waiting for fingerprint...")
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candidate_cars = all_known_cars()
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finger = {}
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st = None
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while 1:
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for a in messaging.drain_sock(logcan, wait_for_one=True):
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if st is None:
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st = sec_since_boot()
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for can in a.can:
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if can.src == 0:
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finger[can.address] = len(can.dat)
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candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
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ts = sec_since_boot()
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# if we only have one car choice and the time_fingerprint since we got our first
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# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
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# broadcast immediately
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if len(candidate_cars) == 1 and st is not None:
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time_fingerprint = 1.0 if "TOYOTA" in candidate_cars[0] else 0.1
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if (ts-st) > time_fingerprint:
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break
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# bail if no cars left or we've been waiting too long
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elif len(candidate_cars) == 0 or (timeout and ts-finger_st > timeout):
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return None, finger
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cloudlog.warning("fingerprinted %s", candidate_cars[0])
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return (candidate_cars[0], finger)
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def get_car(logcan, sendcan=None, passive=True):
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# TODO: timeout only useful for replays so controlsd can start before unlogger
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timeout = 1. if passive else None
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candidate, fingerprints = fingerprint(logcan, timeout)
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if candidate is None:
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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if passive:
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candidate = "mock"
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else:
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return None, None
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interface_cls = interfaces[candidate]
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params = interface_cls.get_params(candidate, fingerprints)
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return interface_cls(params, sendcan), params
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