mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-10-01 03:43:42 +08:00
Justin Newberry
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# tools/car_porting
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Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car.
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## Useful car porting utilities
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Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
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### [Cabana](/tools/cabana/README.md)
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View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
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Example:
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```bash
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> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
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```
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### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py)
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Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py
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Example:
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```bash
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> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
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Attempting to add fw version for: SUBARU OUTBACK 6TH GEN
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```
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### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
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Finds common bugs for car interfaces, without even requiring a route.
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#### Example: Typo in signal name
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```bash
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> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on
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=====================================================================
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FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
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```
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### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py)
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Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.
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#### Example: panda safety mismatch for gasPressed
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```bash
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> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'
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=====================================================================
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FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
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Assert that panda safety matches openpilot's carState
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----------------------------------------------------------------------
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Traceback (most recent call last):
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File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
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self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
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AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
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```
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Executable
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#!/usr/bin/env python3
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import argparse
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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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from openpilot.selfdrive.car.fw_versions import match_fw_to_car
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from openpilot.selfdrive.car.interfaces import get_interface_attr
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ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
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ALL_CARS = get_interface_attr("CAR")
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PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
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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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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
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parser.add_argument("route", help="The route name to use")
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parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
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args = parser.parse_args()
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route = Route(args.route)
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lr = MultiLogIterator(route.qlog_paths())
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carFw = None
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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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carVin = msg.carParams.carVin
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carPlatform = msg.carParams.carFingerprint
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break
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if carFw is None:
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raise Exception("No fw versions in the provided route...")
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if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
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_, possible_platforms = match_fw_to_car(carFw, log=False)
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if len(possible_platforms) != 1:
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print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
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if carPlatform != "mock":
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print("Using platform from route")
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platform = carPlatform
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else:
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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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for fw in carFw:
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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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fw_versions[platform][key].append(fw.fwVersion)
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format_brand_fw_versions(brand, fw_versions)
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Executable
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#!/usr/bin/env python3
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import argparse
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import sys
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from typing import List
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import unittest
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from openpilot.selfdrive.car.tests.routes import CarTestRoute
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from openpilot.selfdrive.car.tests.test_models import TestCarModel
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from openpilot.tools.lib.route import SegmentName
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def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite:
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test_suite = unittest.TestSuite()
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for test_route in routes:
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# create new test case and discover tests
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test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci}
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CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
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test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
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return test_suite
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
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"Uses selfdrive/car/tests/test_models.py")
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parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
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parser.add_argument("--car", help="Specify car model for test route")
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parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
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args = parser.parse_args()
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if len(sys.argv) == 1:
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parser.print_help()
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sys.exit()
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route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
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segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
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test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
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test_suite = create_test_models_suite([test_route], ci=args.ci)
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unittest.TextTestRunner().run(test_suite)
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