mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-22 06:22:06 +08:00
Arne Schwarck
3db63b781d
Tesla is not supported so do we still need this here as VW uses 840 in their FP
98 lines
3.1 KiB
Python
Executable File
98 lines
3.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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from common.basedir import BASEDIR
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from selfdrive.car.fingerprints import IGNORED_FINGERPRINTS
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# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can)
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# (addr, len)
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CAN_IGNITION_MSGS = {
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'gm': [(0x1F1, 8), (0x160, 5)],
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#'tesla' : [(0x348, 8)],
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}
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def _get_fingerprints():
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# read all the folders in selfdrive/car and return a dict where:
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# - keys are all the car names that which we have a fingerprint dict for
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# - values are dicts of fingeprints for each trim
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fingerprints = {}
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for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
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car_name = car_folder.split('/')[-1]
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try:
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fingerprints[car_name] = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS']).FINGERPRINTS
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except (ImportError, IOError, AttributeError):
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pass
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return fingerprints
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def check_fingerprint_consistency(f1, f2):
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# return false if it finds a fingerprint fully included in another
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# max message worth checking is 1800, as above that they usually come too infrequently and not
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# usable for fingerprinting
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max_msg = 1800
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is_f1_in_f2 = True
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for k in f1:
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if (k not in f2 or f1[k] != f2[k]) and k < max_msg:
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is_f1_in_f2 = False
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is_f2_in_f1 = True
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for k in f2:
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if (k not in f1 or f2[k] != f1[k]) and k < max_msg:
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is_f2_in_f1 = False
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return not is_f1_in_f2 and not is_f2_in_f1
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def check_can_ignition_conflicts(fingerprints, brands):
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# loops through all the fingerprints and exits if CAN ignition dedicated messages
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# are found in unexpected fingerprints
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for brand_can, msgs_can in CAN_IGNITION_MSGS.items():
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for i, f in enumerate(fingerprints):
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for msg_can in msgs_can:
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if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]:
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print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i]))
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print("TEST FAILED")
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sys.exit(1)
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fingerprints = _get_fingerprints()
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fingerprints_flat = []
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car_names = []
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brand_names = []
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for brand in fingerprints:
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for car in fingerprints[brand]:
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if car in IGNORED_FINGERPRINTS:
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continue
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fingerprints_flat += fingerprints[brand][car]
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for i in range(len(fingerprints[brand][car])):
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car_names.append(car)
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brand_names.append(brand)
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# first check if CAN ignition specific messages are unexpectedly included in other fingerprints
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check_can_ignition_conflicts(fingerprints_flat, brand_names)
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valid = True
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for idx1, f1 in enumerate(fingerprints_flat):
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for idx2, f2 in enumerate(fingerprints_flat):
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if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
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valid = False
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print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f1.items())))
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print("")
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print(', '.join("%d: %d" % v for v in sorted(f2.items())))
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print("")
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print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
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if not valid or len(fingerprints_flat) == 0:
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print("TEST FAILED")
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sys.exit(1)
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else:
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print("TEST SUCESSFUL")
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