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Merge pull request #5 from eFiniLan/dragonpilot-cache-fp

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加入暫存指紋功能
This commit is contained in:
dragonpilot
2019-07-12 09:47:38 +10:00
committed by GitHub
parent 0cee9d388a eef175d247
commit 4bde16547e
3 changed files with 64 additions and 43 deletions
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common/params.py
+4
View File
@@ -84,6 +84,10 @@ keys = {
"DragonTempDisableSteerOnSignal": [TxType.PERSISTENT],
"DragonDisableLogger": [TxType.PERSISTENT],
"DragonNoctuaMode": [TxType.PERSISTENT],
"DragonCacheCar": [TxType.PERSISTENT],
"DragonCachedModel": [TxType.PERSISTENT],
"DragonCachedFP": [TxType.PERSISTENT],
"DragonCachedVIN": [TxType.PERSISTENT],
}
selfdrive/car/car_helpers.py
+56 -43
View File
@@ -5,6 +5,9 @@ from common.fingerprints import eliminate_incompatible_cars, all_known_cars
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
import pickle
from common.params import Params
params = Params()
def get_startup_alert(car_recognized, controller_available):
@@ -79,58 +82,68 @@ def fingerprint(logcan, sendcan):
vin = ""
frame = 0
while True:
a = messaging.recv_one(logcan)
for can in a.can:
can_seen = True
if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "":
candidate_cars = [params.get("DragonCachedModel")]
finger = params.get("DragonCachedFP")
vin = params.get("DragonCachedVIN")
else:
while True:
a = messaging.recv_one(logcan)
# have we got a VIN query response?
if can.src == 0 and can.address == 0x7e8:
vin_never_responded = False
# basic sanity checks on ISO-TP response
if is_vin_response_valid(can.dat, vin_step, vin_cnt):
vin_dat += can.dat[2:] if vin_step == 0 else can.dat[1:]
vin_cnt += 1
if vin_cnt == vin_cnts[vin_step]:
vin_responded = True
vin_step += 1
for can in a.can:
can_seen = True
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints.
# also exclude VIN query response on 0x7e8
if can.src == 0 and can.address < 0x800 and can.address != 0x7e8:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
# have we got a VIN query response?
if can.src == 0 and can.address == 0x7e8:
vin_never_responded = False
# basic sanity checks on ISO-TP response
if is_vin_response_valid(can.dat, vin_step, vin_cnt):
vin_dat += can.dat[2:] if vin_step == 0 else can.dat[1:]
vin_cnt += 1
if vin_cnt == vin_cnts[vin_step]:
vin_responded = True
vin_step += 1
if can_seen_frame is None and can_seen:
can_seen_frame = frame
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints.
# also exclude VIN query response on 0x7e8
if can.src == 0 and can.address < 0x800 and can.address != 0x7e8:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and can_seen_frame is not None:
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
if (frame - can_seen_frame) > (time_fingerprint * 100):
break
if can_seen_frame is None and can_seen:
can_seen_frame = frame
# bail if no cars left or we've been waiting for more than 2s since can_seen
elif len(candidate_cars) == 0 or (can_seen_frame is not None and (frame - can_seen_frame) > 200):
return None, finger, ""
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and can_seen_frame is not None:
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
if (frame - can_seen_frame) > (time_fingerprint * 100):
break
# keep sending VIN qury if ECU isn't responsing.
# sendcan is probably not ready due to the zmq slow joiner syndrome
# TODO: VIN query temporarily disabled until we have the harness
if False and can_seen and (vin_never_responded or (vin_responded and vin_step < len(vin_cnts))):
sendcan.send(can_list_to_can_capnp([vin_query_msg[vin_step]], msgtype='sendcan'))
vin_responded = False
vin_cnt = 0
# bail if no cars left or we've been waiting for more than 2s since can_seen
elif len(candidate_cars) == 0 or (can_seen_frame is not None and (frame - can_seen_frame) > 200):
return None, finger, ""
frame += 1
# keep sending VIN qury if ECU isn't responsing.
# sendcan is probably not ready due to the zmq slow joiner syndrome
# TODO: VIN query temporarily disabled until we have the harness
if False and can_seen and (vin_never_responded or (vin_responded and vin_step < len(vin_cnts))):
sendcan.send(can_list_to_can_capnp([vin_query_msg[vin_step]], msgtype='sendcan'))
vin_responded = False
vin_cnt = 0
# only report vin if procedure is finished
if vin_step == len(vin_cnts) and vin_cnt == vin_cnts[-1]:
vin = "".join(vin_dat[3:])
frame += 1
# only report vin if procedure is finished
if vin_step == len(vin_cnts) and vin_cnt == vin_cnts[-1]:
vin = "".join(vin_dat[3:])
params.put("DragonCachedModel", pickle.dumps(candidate_cars))
params.put("DragonCachedFP", pickle.dumps(finger))
params.put("DragonCachedVIN", pickle.dumps(vin))
cloudlog.warning("fingerprinted %s", candidate_cars[0])
cloudlog.warning("VIN %s", vin)
selfdrive/dragonpilot/dragonconf/__init__.py
+4
View File
@@ -12,6 +12,10 @@ default_conf = {
'DragonTempDisableSteerOnSignal': '0',
'DragonDisableLogger': '0',
'DragonNoctuaMode': '0',
'DragonCacheCar': '1',
'DragonCachedModel': '', # for cache car
'DragonCachedFP': '', # for cache car
'DragonCachedVIN': '', # for cache car
}
def dragonpilot_set_params(params):