diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index a0ff582e68..a7a63658ed 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -11,7 +11,6 @@ "DISPLAY": "${localEnv:DISPLAY}", "PYTHONPATH": "${containerWorkspaceFolder}", "TERM": "xterm-256color", - "CARLA_HOST": "host.docker.internal", "force_color_prompt": "1" }, "runArgs": [ diff --git a/.gitattributes b/.gitattributes index d00208ba84..8781a7371f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,18 +1,24 @@ * text=auto +# to move existing files into LFS: +# git add --renormalize . *.dlc filter=lfs diff=lfs merge=lfs -text *.onnx filter=lfs diff=lfs merge=lfs -text +*.svg filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.ttf filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text + selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text -selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text -selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text third_party/**/*.a filter=lfs diff=lfs merge=lfs -text third_party/**/*.so filter=lfs diff=lfs merge=lfs -text +third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text -third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md index 4264363ba2..690c24c9b0 100644 --- a/.github/PULL_REQUEST_TEMPLATE/car_port.md +++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md @@ -8,7 +8,7 @@ assignees: '' **Checklist** -- [ ] added to README +- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py) - [ ] route with openpilot: - [ ] route with stock system: diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md index 466d4f98f4..b94f7dc53f 100644 --- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md +++ b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md @@ -6,6 +6,8 @@ labels: 'fingerprint' assignees: '' --- -Discord username: [] +**Car** +Which car (make, model, year) this fingerprint is for -Route: [] +**Route** +A route with the fingerprint \ No newline at end of file diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md index 05e4312699..4397e5ad20 100644 --- a/.github/PULL_REQUEST_TEMPLATE/tuning.md +++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md @@ -28,5 +28,4 @@ Longitudinal: Lateral: * Straight driving at ~25, ~45 and ~65mph * Turns driving at ~25, ~45 and ~65mph - ---> +--> \ No newline at end of file diff --git a/.github/build.py b/.github/build.py new file mode 100644 index 0000000000..e141ea05df --- /dev/null +++ b/.github/build.py @@ -0,0 +1,30 @@ +import pathlib + +GITHUB_FOLDER = pathlib.Path(__file__).parent + +PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE") + +order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"] + +def create_pull_request_template(): + with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f: + f.write("\n\n") + + for t in order: + template = PULL_REQUEST_TEMPLATES / f"{t}.md" + text = template.read_text() + + # Remove metadata for GitHub + start = text.find("---") + end = text.find("---", start+1) + text = text[end + 4:] + + # Remove comments + text = text.replace("", "") + + f.write(f"\n\n") + +create_pull_request_template() diff --git a/.github/labeler.yaml b/.github/labeler.yaml index d4a17ab78c..47d0d480a9 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -1,65 +1,79 @@ CI / testing: - - all: - - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile'] + - changed-files: + - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}" -car: - - all: - - changed-files: ['selfdrive/car/**'] +car: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/**' body: - - all: - - changed-files: ['selfdrive/car/body/*'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/body/*' + chrysler: - - all: - - changed-files: ['selfdrive/car/chrysler/*'] -ford: - - all: - - changed-files: ['selfdrive/car/ford/*'] -gm: - - all: - - changed-files: ['selfdrive/car/gm/*'] -honda: - - all: - - changed-files: ['selfdrive/car/honda/*'] -hyundai: - - all: - - changed-files: ['selfdrive/car/hyundai/*'] -mazda: - - all: - - changed-files: ['selfdrive/car/mazda/*'] -nissan: - - all: - - changed-files: ['selfdrive/car/nissan/*'] -subaru: - - all: - - changed-files: ['selfdrive/car/subaru/*'] -tesla: - - all: - - changed-files: ['selfdrive/car/tesla/*'] -toyota: - - all: - - changed-files: ['selfdrive/car/toyota/*'] -volkswagen: - - all: - - changed-files: ['selfdrive/car/volkswagen/*'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/chrysler/*' + +ford: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/ford/*' + +gm: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/gm/*' + +honda: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/honda/*' + +hyundai: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/hyundai/*' + +mazda: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/mazda/*' + +nissan: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/nissan/*' + +subaru: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/subaru/*' + +tesla: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/telsa/*' + +toyota: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/toyota/*' + +volkswagen: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/volkswagen/*' + +fingerprint: + - changed-files: + - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py' simulation: - - all: - - changed-files: ['tools/sim/**'] + - changed-files: + - any-glob-to-all-files: 'tools/sim/**' + ui: - - all: - - changed-files: ['selfdrive/ui/**'] -tools: - - all: - - changed-files: ['tools/**'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/ui/**' + +tools: + - changed-files: + - any-glob-to-all-files: 'tools/**' multilanguage: - - all: - - changed-files: ['selfdrive/ui/translations/**'] + - changed-files: + - any-glob-to-all-files: 'selfdrive/ui/translations/**' research: - - all: - - changed-files: [ - 'selfdrive/modeld/models/**', - 'selfdrive/test/process_replay/model_replay_ref_commit', - ] + - changed-files: + - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}" diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 6fbccfbdbb..3e3f42dcbc 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -10,39 +10,59 @@ A route with the fingerprint --> - - - - + + + diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml new file mode 100644 index 0000000000..173803f7f0 --- /dev/null +++ b/.github/workflows/auto-cache/action.yaml @@ -0,0 +1,49 @@ +name: 'automatically cache based on current runner' + +inputs: + path: + description: 'path to cache' + required: true + key: + description: 'key' + required: true + restore-keys: + description: 'restore-keys' + required: true + save: + description: 'whether to save the cache' + default: 'false' + required: false + +runs: + using: "composite" + steps: + - name: setup namespace cache + if: ${{ contains(runner.name, 'nsc') }} + uses: namespacelabs/nscloud-cache-action@v1 + with: + path: ${{ inputs.path }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }} + uses: 'actions/cache@v3' + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + - name: setup github cache + if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }} + uses: 'actions/cache/restore@v3' + with: + path: ${{ inputs.path }} + key: ${{ inputs.key }} + restore-keys: ${{ inputs.restore-keys }} + + # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + run: | + mkdir -p ${{ inputs.path }} + sudo chmod -R 777 ${{ inputs.path }} + sudo chown -R $USER ${{ inputs.path }} \ No newline at end of file diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml new file mode 100644 index 0000000000..820801a2c7 --- /dev/null +++ b/.github/workflows/auto_pr_review.yaml @@ -0,0 +1,200 @@ +name: "PR review" +on: + pull_request_target: + types: [opened, reopened, synchronize, edited, edited] + +jobs: + labeler: + name: apply labels + permissions: + contents: read + pull-requests: write + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + with: + submodules: false + - uses: actions/labeler@v5.0.0 + with: + dot: true + configuration-path: .github/labeler.yaml + + pr_branch_check: + name: check branch + runs-on: ubuntu-latest + if: github.repository == 'commaai/openpilot' + steps: + - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + with: + target: /^(?!master$).*/ + exclude: /commaai:.*/ + change-to: ${{ github.base_ref }} + already-exists-action: close_this + already-exists-comment: "Your PR should be made against the `master` branch" + + check-pr-template: + runs-on: ubuntu-latest + permissions: + contents: read + issues: write + pull-requests: write + actions: read + if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + steps: + - uses: actions/github-script@v7 + with: + script: | + // Comment to add to the PR if no template has been used + const NO_TEMPLATE_MESSAGE = + "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ + Also make sure that you didn't modify any of the checkboxes or headings within the template."; + // body data for future requests + const body_data = { + issue_number: context.issue.number, + owner: context.repo.owner, + repo: context.repo.repo, + }; + + // Utility function to extract all headings + const extractHeadings = (markdown) => { + const headingRegex = /^(#{1,6})\s+(.+)$/gm; + const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm; + const headings = []; + let headingMatch; + while ((headingMatch = headingRegex.exec(markdown))) { + headings.push(headingMatch[2].trim()); + } + let boldMatch; + while ((boldMatch = boldTextRegex.exec(markdown))) { + headings.push(boldMatch[1].trim()); + } + return headings; + }; + + // Utility function to extract all check box descriptions + const extractCheckBoxTexts = (markdown) => { + const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm; + const checkboxes = []; + let match; + while ((match = checkboxRegex.exec(markdown))) { + checkboxes.push(match[2].trim()); + } + return checkboxes; + }; + + // Utility function to check if a list is a subset of another list + isSubset = (subset, superset) => { + return subset.every((item) => superset.includes(item)); + }; + + // Get filenames of all currently checked-in PR templates + const template_contents = await github.rest.repos.getContent({ + owner: context.repo.owner, + repo: context.repo.repo, + path: ".github/PULL_REQUEST_TEMPLATE", + }); + var template_filenames = []; + for (const content of template_contents.data) { + template_filenames.push(content.path); + } + console.debug("Received template filenames: " + template_filenames); + // Retrieve templates + var templates = []; + for (const template_filename of template_filenames) { + const template_response = await github.rest.repos.getContent({ + owner: context.repo.owner, + repo: context.repo.repo, + path: template_filename, + }); + // Convert Base64 content back + const decoded_template = atob(template_response.data.content); + const headings = extractHeadings(decoded_template); + const checkboxes = extractCheckBoxTexts(decoded_template); + if (!headings.length && !checkboxes.length) { + console.warn( + "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" + + decoded_template + ); + } else { + templates.push({ headings: headings, checkboxes: checkboxes }); + } + } + // Retrieve the PR Body + const pull_request = await github.rest.issues.get({ + ...body_data, + }); + const pull_request_text = pull_request.data.body; + console.debug("Received Pull Request body: \n" + pull_request_text); + + /* Check if the PR Body matches one of the templates + A template is defined by all headings and checkboxes it contains + We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that + */ + const pr_headings = extractHeadings(pull_request_text); + const pr_checkboxes = extractCheckBoxTexts(pull_request_text); + console.debug("Found Headings in PR body:\n" + pr_headings); + console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes); + var template_found = false; + // Iterate over each template to check if it applies + for (const template of templates) { + console.log( + "Checking for headings: [" + + template.headings + + "] and checkboxes: [" + + template.checkboxes + "]" + ); + if ( + isSubset(template.checkboxes, pr_checkboxes) && + isSubset(template.headings, pr_headings) + ) { + console.debug("Found matching template!"); + template_found = true; + } + } + + // List comments from previous runs + var existing_comments = []; + const comments = await github.rest.issues.listComments({ + ...body_data, + }); + for (const comment of comments.data) { + if (comment.body === NO_TEMPLATE_MESSAGE) { + existing_comments.push(comment); + } + } + + // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already) + if (!template_found) { + var comment_already_sent = false; + + // Add an 'in-bot-review' label since this PR doesn't have the template + github.rest.issues.addLabels({ + ...body_data, + labels: ["in-bot-review"], + }); + + if (existing_comments.length < 1) { + github.rest.issues.createComment({ + ...body_data, + body: NO_TEMPLATE_MESSAGE, + }); + } + } else { + // If template has been found, delete any old comment about missing template + for (const existing_comment of existing_comments) { + github.rest.issues.deleteComment({ + ...body_data, + comment_id: existing_comment.id, + }); + } + // Remove the 'in-bot-review' label after the review is done and the PR has passed + github.rest.issues.removeLabel({ + ...body_data, + name: "in-bot-review", + }).catch((error) => { + console.log("Label 'in-bot-review' not found, ignoring"); + }); + } + diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index c19be4c563..2f1a7d67c4 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,13 +7,15 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c jobs: badges: name: create badges runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + contents: write steps: - uses: actions/checkout@v4 with: @@ -23,6 +25,8 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" + rm .gitattributes + git checkout --orphan badges git rm -rf --cached . git config user.email "badge-researcher@comma.ai" diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml index 8775c96262..2945b67d2e 100644 --- a/.github/workflows/compile-openpilot/action.yaml +++ b/.github/workflows/compile-openpilot/action.yaml @@ -1,11 +1,5 @@ name: 'compile openpilot' -inputs: - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons' - runs: using: "composite" steps: @@ -24,4 +18,4 @@ runs: if: github.ref == 'refs/heads/master' with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 8b5b165536..c555eafc73 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -15,7 +15,7 @@ env: BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c jobs: docs: @@ -32,7 +32,7 @@ jobs: ${{ env.RUN }} "scons -j$(nproc)" - name: Build docs run: | - ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make html" + ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html" - uses: actions/checkout@v4 if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' @@ -50,9 +50,10 @@ jobs: cd openpilot-docs git checkout --orphan tmp - git rm -rf --cached . + git rm -rf . cp -r ../build/docs/html/ docs/ + cp -r ../docs/README.md . touch docs/.nojekyll echo -n docs.comma.ai > docs/CNAME git add -f . @@ -60,4 +61,4 @@ jobs: git commit -m "build docs" # docs live in different repo to not bloat openpilot's full clone size - git push -f origin gh-pages + git push -f origin tmp:gh-pages diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml deleted file mode 100644 index 95d1af8bc6..0000000000 --- a/.github/workflows/labeler.yaml +++ /dev/null @@ -1,18 +0,0 @@ -name: "Pull Request Labeler" -on: - pull_request_target: - -jobs: - labeler: - permissions: - contents: read - pull-requests: write - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: false - - uses: actions/labeler@v5.0.0-alpha.1 - with: - dot: true - configuration-path: .github/labeler.yaml \ No newline at end of file diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index f5b0b8c558..990be73f72 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -15,14 +15,19 @@ jobs: if: github.repository == 'commaai/openpilot' env: PUSH_IMAGE: true + permissions: + checks: read + contents: read + packages: write steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd + uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f with: ref: master wait-interval: 30 running-workflow-name: 'build prebuilt' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build master-ci).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 7c36410b32..38dbf07a47 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -14,6 +14,9 @@ jobs: image: ghcr.io/commaai/openpilot-base:latest runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + checks: read + contents: write steps: - name: Install wait-on-check-action dependencies run: | @@ -21,11 +24,12 @@ jobs: sudo apt-get install -y libyaml-dev - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd + uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f with: ref: master wait-interval: 30 running-workflow-name: 'build master-ci' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build prebuilt).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 66e252bf83..1f14895e21 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -2,12 +2,36 @@ name: repo maintenance on: schedule: - - cron: "0 15 * * 2" + - cron: "0 12 * * 1" # every Monday at 12am UTC (4am PST) workflow_dispatch: jobs: - updates: - name: updates + bump_submodules: + name: bump_submodules + runs-on: ubuntu-20.04 + container: + image: ghcr.io/commaai/openpilot-base:latest + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - name: bump submodules + run: | + git config --global --add safe.directory '*' + git -c submodule."tinygrad".update=none submodule update --remote + git add . + - name: Create Pull Request + uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 + with: + token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} + commit-message: bump submodules + title: 'Bump submodules' + branch: auto-bump-submodules + base: master + delete-branch: true + body: 'Automatic PR from repo-maintenance -> bump_submodules' + package_updates: + name: package_updates runs-on: ubuntu-20.04 container: image: ghcr.io/commaai/openpilot-base:latest @@ -30,3 +54,4 @@ jobs: branch: auto-package-updates base: master delete-branch: true + body: 'Automatic PR from repo-maintenance -> package_updates' diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index bb5b0a137a..2daa895de9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -20,14 +20,13 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 - XDIST: -n auto --dist=loadscope jobs: build_release: @@ -43,6 +42,7 @@ jobs: - name: Build devel timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh + - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' @@ -52,13 +52,13 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR - ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" + ${{ env.RUN }} "python selfdrive/manager/build.py" - name: Run tests timeout-minutes: 3 run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST $XDIST selfdrive/car" + MAX_EXAMPLES=5 $PYTEST selfdrive/car" - name: pre-commit timeout-minutes: 3 run: | @@ -67,7 +67,7 @@ jobs: cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all" + ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit" build: strategy: @@ -76,7 +76,7 @@ jobs: ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -84,18 +84,15 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - cache_key_prefix: scons_${{ matrix.arch }} - uses: ./.github/workflows/compile-openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache - with: - cache_key_prefix: scons_${{ matrix.arch }} docker_push: name: docker push strategy: matrix: arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v4 @@ -134,15 +131,18 @@ jobs: static_analysis: name: static analysis - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: submodules: true + - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: pre-commit timeout-minutes: 4 - run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" + run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" valgrind: name: valgrind @@ -164,34 +164,40 @@ jobs: unit_tests: name: unit tests - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: submodules: true - uses: ./.github/workflows/setup-with-retry + with: + docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - name: Build openpilot timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests timeout-minutes: 15 run: | - ${{ env.RUN }} "$PYTEST $XDIST --timeout 30 -o cpp_files=test_* -m 'not slow' && \ + ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ + export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ + $PYTEST --timeout 60 -m 'not slow' -n $(nproc) && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ - ./selfdrive/ui/tests/test_translations.py && \ - ./system/camerad/test/ae_gray_test && \ - ./selfdrive/test/process_replay/test_fuzzy.py" + ./selfdrive/ui/tests/test_translations.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} process_replay: name: process replay runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v4 with: @@ -211,8 +217,9 @@ jobs: - name: Run replay timeout-minutes: 30 run: | - ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ chmod -R 777 /tmp/comma_download_cache && \ + coverage combine && \ coverage xml" - name: Print diff id: print-diff @@ -227,11 +234,13 @@ jobs: - name: Upload reference logs if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} regen: name: regen @@ -257,7 +266,7 @@ jobs: - name: Run regen timeout-minutes: 30 run: | - ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST $XDIST selfdrive/test/process_replay/test_regen.py && \ + ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ chmod -R 777 /tmp/comma_download_cache" test_modeld: @@ -278,10 +287,11 @@ jobs: ${{ env.RUN }} "scons -j$(nproc)" # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - name: Run model replay with ONNX - timeout-minutes: 3 + timeout-minutes: 4 run: | ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ - ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + coverage combine && \ coverage xml" - name: Run unit tests timeout-minutes: 4 @@ -292,10 +302,14 @@ jobs: uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} test_cars: name: cars - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} strategy: fail-fast: false matrix: @@ -316,7 +330,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "$PYTEST $XDIST selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 @@ -325,6 +339,8 @@ jobs: uses: codecov/codecov-action@v3 with: name: ${{ github.job }}-${{ matrix.job }} + env: + CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} car_docs_diff: name: PR comments @@ -379,3 +395,25 @@ jobs: repo: context.repo.repo, comment_id: ${{ steps.fc.outputs.comment-id }} }) + +# need to figure out some stuff with tkinter before enabling this + + # create_ui_report: + # name: Create UI Report + # runs-on: ubuntu-20.04 + # steps: + # - uses: actions/checkout@v4 + # with: + # submodules: true + # - uses: ./.github/workflows/setup-with-retry + # - name: Build openpilot + # run: ${{ env.RUN }} "scons -j$(nproc)" + # - name: Create Test Report + # run: ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ + # export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ + # python selfdrive/ui/tests/test_ui/run.py" + # - name: Upload Test Report + # uses: actions/upload-artifact@v2 + # with: + # name: report + # path: selfdrive/ui/tests/test_ui \ No newline at end of file diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml new file mode 100644 index 0000000000..1b3e16e73f --- /dev/null +++ b/.github/workflows/setup-pre-commit/action.yaml @@ -0,0 +1,12 @@ +name: 'set up pre-commit environment' + +runs: + using: "composite" + steps: + - uses: ./.github/workflows/auto-cache + with: + path: .ci_cache/pre-commit + key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }} + restore-keys: | + pre-commit- + save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }} diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml index e0da746b44..369ac45c9a 100644 --- a/.github/workflows/setup-with-retry/action.yaml +++ b/.github/workflows/setup-with-retry/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: false default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: false - default: 'scons_x86_64' sleep_time: description: 'Time to sleep between retries' required: false @@ -22,7 +18,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup1.outcome == 'failure' shell: bash @@ -33,7 +28,6 @@ runs: continue-on-error: true with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true - if: steps.setup2.outcome == 'failure' shell: bash @@ -43,5 +37,4 @@ runs: uses: ./.github/workflows/setup with: docker_hub_pat: ${{ inputs.docker_hub_pat }} - cache_key_prefix: ${{ inputs.cache_key_prefix }} is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 8bb1ccc376..970d62030d 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -5,10 +5,6 @@ inputs: description: 'Auth token for Docker Hub, required for BuildJet jobs' required: true default: '' - cache_key_prefix: - description: 'Prefix for caching key' - required: true - default: 'scons_x86_64' is_retried: description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' required: false @@ -47,19 +43,14 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - id: restore-scons-cache - uses: actions/cache/restore@v3 + - id: scons-cache + uses: ./.github/workflows/auto-cache with: path: .ci_cache/scons_cache - key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}- - ${{ inputs.cache_key_prefix }}- - # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps - - id: scons-cache-setup - shell: bash - if: steps.restore-scons-cache.outputs.cache-hit != 'true' - run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache + scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }} # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - id: normalize-file-permissions shell: bash @@ -67,12 +58,6 @@ runs: run: | find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - - id: setup-buildx-action - if: contains(runner.name, 'buildjet') - name: Set up Docker Buildx on buildjet to ensure a consistent cache - uses: docker/setup-buildx-action@v2 - with: - driver: docker-container # build our docker image - shell: bash run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml new file mode 100644 index 0000000000..2d60d2f0e9 --- /dev/null +++ b/.github/workflows/stale.yaml @@ -0,0 +1,28 @@ +name: stale +on: + schedule: + - cron: '30 1 * * *' + workflow_dispatch: + +env: + DAYS_BEFORE_PR_CLOSE: 7 + DAYS_BEFORE_PR_STALE: 30 + +jobs: + stale: + runs-on: ubuntu-latest + steps: + - uses: actions/stale@v8 + with: + exempt-milestones: true + + # pull request config + stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' + close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' + delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo + exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale + days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} + days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} + + # issue config + days-before-issue-stale: -1 # ignore issues for now diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 75a34b3c55..e141071d09 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -17,11 +17,11 @@ env: BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c BUILD_CL: selfdrive/test/docker_build.sh cl - RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c jobs: @@ -81,11 +81,29 @@ jobs: - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ - cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/ + cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/ devcontainer up --workspace-folder . - name: Test environment run: | - devcontainer exec --workspace-folder . scons -j$(nproc) + devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/ devcontainer exec --workspace-folder . pip install pip-install-test devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json - devcontainer exec --workspace-folder . sudo touch /root/test.txt \ No newline at end of file + devcontainer exec --workspace-folder . sudo touch /root/test.txt + + notebooks: + name: notebooks + runs-on: ubuntu-20.04 + if: github.repository == 'commaai/openpilot' + timeout-minutes: 45 + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + timeout-minutes: 5 + run: ${{ env.RUN }} "scons -j$(nproc)" + - name: Test notebooks + timeout-minutes: 2 + run: | + ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" \ No newline at end of file diff --git a/.gitignore b/.gitignore index e414e4301a..3e91531d08 100644 --- a/.gitignore +++ b/.gitignore @@ -46,7 +46,6 @@ selfdrive/boardd/boardd selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd -selfdrive/ui/_ui selfdrive/ui/translations/alerts_generated.h selfdrive/ui/translations/tmp selfdrive/test/longitudinal_maneuvers/out diff --git a/.gitmodules b/.gitmodules index bbba90827a..f3e72346bc 100644 --- a/.gitmodules +++ b/.gitmodules @@ -4,9 +4,6 @@ [submodule "opendbc"] path = opendbc url = ../../sunnyhaibin/opendbc.git -[submodule "laika_repo"] - path = laika_repo - url = ../../commaai/laika.git [submodule "cereal"] path = cereal url = ../../sunnyhaibin/cereal.git @@ -16,6 +13,9 @@ [submodule "body"] path = body url = ../../commaai/body.git +[submodule "teleoprtc_repo"] + path = teleoprtc_repo + url = ../../commaai/teleoprtc [submodule "tinygrad"] path = tinygrad_repo url = https://github.com/geohot/tinygrad.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e584758ecb..fa05b5b8a2 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -19,14 +19,15 @@ repos: - id: check-executables-have-shebangs - id: check-shebang-scripts-are-executable - id: check-added-large-files + exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)' args: - - --maxkb=500 + - --maxkb=120 - --enforce-all - repo: https://github.com/codespell-project/codespell rev: v2.2.6 hooks: - id: codespell - exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' + exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' args: # if you've got a short variable name that's getting flagged, add it here - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints @@ -38,13 +39,15 @@ repos: entry: mypy language: system types: [python] - args: ['--explicit-package-bases'] - exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' + args: + - --local-partial-types + - --explicit-package-bases + exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.4 + rev: v0.1.14 hooks: - id: ruff - exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' + exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck @@ -78,6 +81,7 @@ repos: entry: selfdrive/ui/tests/test_translations.py language: script pass_filenames: false + files: 'selfdrive/ui/translations/*' - repo: https://github.com/python-poetry/poetry rev: '1.7.0' hooks: @@ -86,6 +90,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.27.1 + rev: 0.27.3 hooks: - id: check-github-workflows diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 3541be92b0..1e15722bb9 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -13,9 +13,8 @@ COPY SConstruct ${OPENPILOT_PATH} COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./laika ${OPENPILOT_PATH}/laika -COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo COPY ./rednose ${OPENPILOT_PATH}/rednose +COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons COPY ./tools ${OPENPILOT_PATH}/tools COPY ./release ${OPENPILOT_PATH}/release COPY ./common ${OPENPILOT_PATH}/common diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 98d07ea39e..5d3d26c981 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1 ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh && \ + apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio && \ rm -rf /var/lib/apt/lists/* RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen @@ -40,7 +40,9 @@ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ tools/install_python_dependencies.sh && \ rm -rf /tmp/* && \ - rm -rf /home/$USER/.cache + rm -rf /home/$USER/.cache && \ + find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \ + rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test USER root RUN sudo git config --global --add safe.directory /tmp/openpilot \ No newline at end of file diff --git a/Jenkinsfile b/Jenkinsfile index 314170341e..e45bcd16b2 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -1,3 +1,14 @@ +def retryWithDelay(int maxRetries, int delay, Closure body) { + for (int i = 0; i < maxRetries; i++) { + try { + return body() + } catch (Exception e) { + sleep(delay) + } + } + throw Exception("Failed after ${maxRetries} retries") +} + def device(String ip, String step_label, String cmd) { withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) { def ssh_cmd = """ @@ -14,6 +25,9 @@ export GIT_BRANCH=${env.GIT_BRANCH} export GIT_COMMIT=${env.GIT_COMMIT} export AZURE_TOKEN='${env.AZURE_TOKEN}' export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}' +# only use 1 thread for tici tests since most require HIL +export PYTEST_ADDOPTS="-n 0" + export GIT_SSH_COMMAND="ssh -i /data/gitkey" @@ -21,7 +35,9 @@ source ~/.bash_profile if [ -f /TICI ]; then source /etc/profile + rm -rf /tmp/tmp* rm -rf ~/.commacache + rm -rf /dev/shm/* if ! systemctl is-active --quiet systemd-resolved; then echo "restarting resolved" @@ -53,13 +69,14 @@ END""" } } -def deviceStage(String stageName, String deviceType, List env, def steps) { +def deviceStage(String stageName, String deviceType, List extra_env, def steps) { stage(stageName) { if (currentBuild.result != null) { return } - def extra = env.collect { "export ${it}" }.join('\n'); + def extra = extra_env.collect { "export ${it}" }.join('\n'); + def branch = env.BRANCH_NAME ?: 'master'; docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) { @@ -68,6 +85,10 @@ def deviceStage(String stageName, String deviceType, List env, def steps) { device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) } steps.each { item -> + if (branch != "master" && item.size() == 3 && !hasDirectoryChanged(item[2])) { + println "Skipped '${item[0]}', no relevant changes were detected." + return; + } device(device_ip, item[0], item[1]) } } @@ -85,26 +106,31 @@ def pcStage(String stageName, Closure body) { checkout scm - def dockerArgs = '--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache'; - docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) { - timeout(time: 20, unit: 'MINUTES') { - try { - // TODO: remove these after all jenkins jobs are running as batman (merged with master) - sh "sudo chown -R batman:batman /tmp/scons_cache" - sh "sudo chown -R batman:batman /tmp/comma_download_cache" + def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}"; - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --recursive" - sh "git lfs pull" - body() - } finally { - sh "rm -rf ${env.WORKSPACE}/* || true" - sh "rm -rf .* || true" + def openpilot_base = retryWithDelay (3, 15) { + return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .") + } + + lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) { + openpilot_base.inside(dockerArgs) { + timeout(time: 20, unit: 'MINUTES') { + try { + retryWithDelay (3, 15) { + sh "git config --global --add safe.directory '*'" + sh "git submodule update --init --recursive" + sh "git lfs pull" + } + body() + } finally { + sh "rm -rf ${env.WORKSPACE}/* || true" + sh "rm -rf .* || true" + } + } } } } } - } } def setupCredentials() { @@ -117,6 +143,21 @@ def setupCredentials() { } } +def hasDirectoryChanged(List paths) { + for (change in currentBuild.changeSets) { + for (item in change.items) { + for (affectedPath in item.affectedPaths) { + for (path in paths) { + if (affectedPath.startsWith(path)) { + return true + } + } + } + } + } + return false +} + node { env.CI = "1" env.PYTHONWARNINGS = "error" @@ -128,7 +169,7 @@ node { env.GIT_COMMIT = checkout(scm).GIT_COMMIT def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging', - 'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*'] + 'testing-closet*', 'hotfix-*'] def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') if (env.BRANCH_NAME != 'master') { @@ -140,7 +181,7 @@ node { try { if (env.BRANCH_NAME == 'devel-staging') { deviceStage("build release3-staging", "tici-needs-can", [], [ - ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"], + ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"], ]) } @@ -154,23 +195,23 @@ node { parallel ( // tici tests 'onroad tests': { - deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [ - ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], + deviceStage("onroad", "tici-needs-can", [], [ + // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it + //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], + ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { deviceStage("tici", "tici-common", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]], ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], ["test manager", "pytest selfdrive/manager/test/test_manager.py"], - ["test nav", "pytest selfdrive/navd/tests/"], ]) }, 'loopback': { @@ -194,27 +235,27 @@ node { 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) }, 'replay': { deviceStage("tici", "tici-replay", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], + ["model replay", "selfdrive/test/process_replay/model_replay.py"], ]) }, 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ ["build openpilot", "cd selfdrive/manager && ./build.py"], ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], - ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], + ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", ["system/qcomgpsd/"]], ]) }, @@ -223,15 +264,16 @@ node { pcStage("PC tests") { // tests that our build system's dependencies are configured properly, // needs a machine with lots of cores - sh label: "test multi-threaded build", script: "scons --no-cache --random -j42" + sh label: "test multi-threaded build", + script: '''#!/bin/bash + scons --no-cache --random -j$(nproc)''' } }, 'car tests': { pcStage("car tests") { - sh "scons -j30" - sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ - pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" - sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" + sh label: "build", script: "selfdrive/manager/build.py" + sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=300 INTERNAL_SEG_CNT=300 FILEREADER_CACHE=1 \ + INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py" } }, diff --git a/RELEASES.md b/RELEASES.md index 1d88480278..36a4a89dd2 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,16 @@ -Version 0.9.5 (2023-11-16) +Version 0.9.6 (20XX-XX-XX) +======================== +* New driving model + * Vision model trained on more data + * Improved driving performance +* AGNOS 9 +* comma body streaming and controls over WebRTC +* Hyundai Staria 2023 support thanks to sunnyhaibin! +* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Toyota RAV4 2023-24 support +* Toyota RAV4 Hybrid 2023-24 support + +Version 0.9.5 (2023-11-17) ======================== * New driving model * Improved navigate on openpilot performance using navigation instructions as an additional model input @@ -8,11 +20,12 @@ Version 0.9.5 (2023-11-16) * Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422! -* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! +* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! -* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Kia Optima Hybrid 2019 support +* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! +* Lexus GS F 2016 support thanks to snyperifle! * Lexus IS 2023 support thanks to L3R5! Version 0.9.4 (2023-07-27) diff --git a/SConstruct b/SConstruct index b96347d9b2..3faa978087 100644 --- a/SConstruct +++ b/SConstruct @@ -9,11 +9,16 @@ import SCons.Errors SCons.Warnings.warningAsException(True) +# pending upstream fix - https://github.com/SCons/scons/issues/4461 +#SetOption('warn', 'all') + TICI = os.path.isfile('/TICI') AGNOS = TICI Decider('MD5-timestamp') +SetOption('num_jobs', int(os.cpu_count()/2)) + AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers') @@ -38,6 +43,12 @@ AddOption('--compile_db', action='store_true', help='build clang compilation database') +AddOption('--ccflags', + action='store', + type='string', + default='', + help='pass arbitrary flags over the command line') + AddOption('--snpe', action='store_true', help='use SNPE on PC') @@ -56,7 +67,7 @@ AddOption('--pc-thneed', AddOption('--minimal', action='store_false', dest='extras', - default=os.path.islink(Dir('#laika/').abspath), + default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link) help='the minimum build to run openpilot. no tests, tools, etc.') ## Architecture name breakdown (arch) @@ -110,10 +121,7 @@ else: cflags = [] cxxflags = [] cpppath = [] - rpath += [ - Dir("#cereal").abspath, - Dir("#common").abspath - ] + rpath += [] # MacOS if arch == "Darwin": @@ -138,8 +146,6 @@ else: f"#third_party/acados/{arch}/lib", f"#third_party/libyuv/{arch}/lib", f"#third_party/mapbox-gl-native-qt/{arch}", - "#cereal", - "#common", "/usr/lib", "/usr/local/lib", ] @@ -170,6 +176,10 @@ if arch != "Darwin": cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""'] cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""'] +ccflags_option = GetOption('ccflags') +if ccflags_option: + ccflags += ccflags_option.split(' ') + env = Environment( ENV=lenv, CCFLAGS=[ @@ -219,10 +229,13 @@ env = Environment( "#opendbc/can", "#selfdrive/boardd", "#common", + "#rednose/helpers", ], CYTHONCFILESUFFIX=".cpp", COMPILATIONDB_USE_ABSPATH=True, - tools=["default", "cython", "compilation_db"], + REDNOSE_ROOT="#", + tools=["default", "cython", "compilation_db", "rednose_filter"], + toolpath=["#rednose_repo/site_scons/site_tools"], ) if arch == "Darwin": @@ -284,8 +297,11 @@ else: qt_env['QTDIR'] = qt_install_prefix qt_dirs = [ f"{qt_install_headers}", - f"{qt_install_headers}/QtGui/5.12.8/QtGui", ] + + qt_gui_path = os.path.join(qt_install_headers, "QtGui") + qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))] + qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else [] qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] qt_libs = [f"Qt5{m}" for m in qt_modules] @@ -357,31 +373,7 @@ SConscript([ 'panda/SConscript', ]) -# Build rednose library and ekf models -rednose_deps = [ - "#selfdrive/locationd/models/constants.py", - "#selfdrive/locationd/models/gnss_helpers.py", -] - -rednose_config = { - 'generated_folder': '#selfdrive/locationd/models/generated', - 'to_build': { - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps), - 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps), - 'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps), - }, -} - -if arch != "larch64": - rednose_config['to_build'].update({ - 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), - 'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps), - 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), - 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), - 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), - }) - -Export('rednose_config') +# Build rednose library SConscript(['rednose/SConscript']) # Build system services diff --git a/body b/body index 6ff44357a3..61ace31efa 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 6ff44357a3e416d29044b1d085a3e9223db9691a +Subproject commit 61ace31efad27ae0d6d86888842f82bc92545e72 diff --git a/codecov.yml b/codecov.yml index 40d03dcd7a..519e7d1a38 100644 --- a/codecov.yml +++ b/codecov.yml @@ -9,4 +9,5 @@ coverage: ignore: - "**/test_*.py" - "selfdrive/test/**" - - "system/version.py" # codecov changes depending on if we are in a branch or not \ No newline at end of file + - "system/version.py" # codecov changes depending on if we are in a branch or not + - "tools" diff --git a/common/SConscript b/common/SConscript index 97322b248d..829db6eeec 100644 --- a/common/SConscript +++ b/common/SConscript @@ -2,7 +2,6 @@ Import('env', 'envCython', 'arch') common_libs = [ 'params.cc', - 'statlog.cc', 'swaglog.cc', 'util.cc', 'i2c.cc', @@ -24,18 +23,17 @@ Export('_common', '_gpucommon') if GetOption('extras'): env.Program('tests/test_common', - ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) # Cython bindings params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) SConscript([ - 'kalman/SConscript', - 'transformations/SConscript' + 'transformations/SConscript', ]) -Import('simple_kalman_python', 'transformations_python') -common_python = [params_python, simple_kalman_python, transformations_python] +Import('transformations_python') +common_python = [params_python, transformations_python] Export('common_python') diff --git a/common/api/__init__.py b/common/api/__init__.py index 0eb8aa7627..79875023a2 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -2,7 +2,7 @@ import jwt import os import requests from datetime import datetime, timedelta -from openpilot.common.basedir import PERSIST +from openpilot.system.hardware.hw import Paths from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') @@ -10,7 +10,7 @@ API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') class Api(): def __init__(self, dongle_id): self.dongle_id = dongle_id - with open(PERSIST+'/comma/id_rsa') as f: + with open(Paths.persist_root()+'/comma/id_rsa') as f: self.private_key = f.read() def get(self, *args, **kwargs): diff --git a/common/basedir.py b/common/basedir.py index b4486f9f08..6b4811e53c 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,11 +1,4 @@ import os -from pathlib import Path -from openpilot.system.hardware import PC BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) - -if PC: - PERSIST = os.path.join(str(Path.home()), ".comma", "persist") -else: - PERSIST = "/persist" diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py index a228b40256..01741c6f42 100644 --- a/common/ffi_wrapper.py +++ b/common/ffi_wrapper.py @@ -1,55 +1,8 @@ -import os -import sys -import fcntl -import hashlib import platform -from cffi import FFI + def suffix(): if platform.system() == "Darwin": return ".dylib" else: return ".so" - -def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None): - if libraries is None: - libraries = [] - - cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest() - try: - os.mkdir(tmpdir) - except OSError: - pass - - fd = os.open(tmpdir, 0) - fcntl.flock(fd, fcntl.LOCK_EX) - try: - sys.path.append(tmpdir) - try: - mod = __import__(cache) - except Exception: - print(f"cache miss {cache}") - compile_code(cache, c_code, c_header, tmpdir, cflags, libraries) - mod = __import__(cache) - finally: - os.close(fd) - - return mod.ffi, mod.lib - - -def compile_code(name, c_code, c_header, directory, cflags="", libraries=None): - if libraries is None: - libraries = [] - - ffibuilder = FFI() - ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries) - ffibuilder.cdef(c_header) - os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z" - os.environ['CFLAGS'] = cflags - ffibuilder.compile(verbose=True, debug=False, tmpdir=directory) - - -def wrap_compiled(name, directory): - sys.path.append(directory) - mod = __import__(name) - return mod.ffi, mod.lib diff --git a/common/file_helpers.py b/common/file_helpers.py index 227d614d72..dea298a529 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,60 +1,7 @@ import os -import shutil import tempfile -from atomicwrites import AtomicWriter - - -def mkdirs_exists_ok(path): - if path.startswith(('http://', 'https://')): - raise ValueError('URL path') - try: - os.makedirs(path) - except OSError: - if not os.path.isdir(path): - raise - - -def rm_not_exists_ok(path): - try: - os.remove(path) - except OSError: - if os.path.exists(path): - raise - - -def rm_tree_or_link(path): - if os.path.islink(path): - os.unlink(path) - elif os.path.isdir(path): - shutil.rmtree(path) - - -def get_tmpdir_on_same_filesystem(path): - normpath = os.path.normpath(path) - parts = normpath.split("/") - if len(parts) > 1 and parts[1] == "scratch": - return "/scratch/tmp" - elif len(parts) > 2 and parts[2] == "runner": - return f"/{parts[1]}/runner/tmp" - return "/tmp" - - -class NamedTemporaryDir(): - def __init__(self, temp_dir=None): - self._path = tempfile.mkdtemp(dir=temp_dir) - - @property - def name(self): - return self._path - - def close(self): - shutil.rmtree(self._path) - - def __enter__(self): - return self - - def __exit__(self, exc_type, exc_value, traceback): - self.close() +import contextlib +from typing import Optional class CallbackReader: @@ -76,24 +23,16 @@ class CallbackReader: return chunk -def _get_fileobject_func(writer, temp_dir): - def _get_fileobject(): - return writer.get_fileobject(dir=temp_dir) - return _get_fileobject +@contextlib.contextmanager +def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None, + overwrite: bool = False): + """Write to a file atomically using a temporary file in the same directory as the destination file.""" + dir_name = os.path.dirname(path) -def atomic_write_on_fs_tmp(path, **kwargs): - """Creates an atomic writer using a temporary file in a temporary directory - on the same filesystem as path. - """ - # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp - # directory. - writer = AtomicWriter(path, **kwargs) - return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path))) + if not overwrite and os.path.exists(path): + raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.") - -def atomic_write_in_dir(path, **kwargs): - """Creates an atomic writer using a temporary file in the same directory - as the destination file. - """ - writer = AtomicWriter(path, **kwargs) - return writer._open(_get_fileobject_func(writer, os.path.dirname(path))) + with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file: + yield tmp_file + tmp_file_name = tmp_file.name + os.replace(tmp_file_name, path) diff --git a/common/kalman/.gitignore b/common/kalman/.gitignore deleted file mode 100644 index d86912e7d0..0000000000 --- a/common/kalman/.gitignore +++ /dev/null @@ -1 +0,0 @@ -simple_kalman_impl.c diff --git a/common/kalman/SConscript b/common/kalman/SConscript deleted file mode 100644 index 7cba4a9a61..0000000000 --- a/common/kalman/SConscript +++ /dev/null @@ -1,5 +0,0 @@ -Import('envCython') - -simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx') - -Export('simple_kalman_python') diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py deleted file mode 100644 index 5e1b6ce1fb..0000000000 --- a/common/kalman/simple_kalman.py +++ /dev/null @@ -1,12 +0,0 @@ -from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D -assert KF1D -import numpy as np - -def get_kalman_gain(dt, A, C, Q, R, iterations=100): - P = np.zeros_like(Q) - for _ in range(iterations): - P = A.dot(P).dot(A.T) + dt * Q - S = C.dot(P).dot(C.T) + R - K = P.dot(C.T).dot(np.linalg.inv(S)) - P = (np.eye(len(P)) - K.dot(C)).dot(P) - return K \ No newline at end of file diff --git a/common/kalman/simple_kalman_impl.pxd b/common/kalman/simple_kalman_impl.pxd deleted file mode 100644 index cb39a45bca..0000000000 --- a/common/kalman/simple_kalman_impl.pxd +++ /dev/null @@ -1,18 +0,0 @@ -# cython: language_level = 3 - -cdef class KF1D: - cdef public: - double x0_0 - double x1_0 - double K0_0 - double K1_0 - double A0_0 - double A0_1 - double A1_0 - double A1_1 - double C0_0 - double C0_1 - double A_K_0 - double A_K_1 - double A_K_2 - double A_K_3 diff --git a/common/kalman/simple_kalman_impl.pyx b/common/kalman/simple_kalman_impl.pyx deleted file mode 100644 index 16aefba2e5..0000000000 --- a/common/kalman/simple_kalman_impl.pyx +++ /dev/null @@ -1,37 +0,0 @@ -# distutils: language = c++ -# cython: language_level=3 - -cdef class KF1D: - def __init__(self, x0, A, C, K): - self.x0_0 = x0[0][0] - self.x1_0 = x0[1][0] - self.A0_0 = A[0][0] - self.A0_1 = A[0][1] - self.A1_0 = A[1][0] - self.A1_1 = A[1][1] - self.C0_0 = C[0] - self.C0_1 = C[1] - self.K0_0 = K[0][0] - self.K1_0 = K[1][0] - - self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 - self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 - self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 - self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 - - def update(self, meas): - cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas - cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas - self.x0_0 = x0_0 - self.x1_0 = x1_0 - - return [self.x0_0, self.x1_0] - - @property - def x(self): - return [[self.x0_0], [self.x1_0]] - - @x.setter - def x(self, x): - self.x0_0 = x[0][0] - self.x1_0 = x[1][0] diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py deleted file mode 100644 index d11770faf6..0000000000 --- a/common/kalman/simple_kalman_old.py +++ /dev/null @@ -1,23 +0,0 @@ -import numpy as np - - -class KF1D: - # this EKF assumes constant covariance matrix, so calculations are much simpler - # the Kalman gain also needs to be precomputed using the control module - - def __init__(self, x0, A, C, K): - self.x = x0 - self.A = A - self.C = np.atleast_2d(C) - self.K = K - - self.A_K = self.A - np.dot(self.K, self.C) - - # K matrix needs to be pre-computed as follow: - # import control - # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) - # self.K = np.transpose(K) - - def update(self, meas): - self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) - return self.x diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py deleted file mode 100644 index 32cc79fc3d..0000000000 --- a/common/kalman/tests/test_simple_kalman.py +++ /dev/null @@ -1,87 +0,0 @@ -import unittest -import random -import timeit -import numpy as np - -from openpilot.common.kalman.simple_kalman import KF1D -from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old - - -class TestSimpleKalman(unittest.TestCase): - def setUp(self): - dt = 0.01 - x0_0 = 0.0 - x1_0 = 0.0 - A0_0 = 1.0 - A0_1 = dt - A1_0 = 0.0 - A1_1 = 1.0 - C0_0 = 1.0 - C0_1 = 0.0 - K0_0 = 0.12287673 - K1_0 = 0.29666309 - - self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), - A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), - C=np.array([C0_0, C0_1]), - K=np.array([[K0_0], [K1_0]])) - - self.kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - - def test_getter_setter(self): - self.kf.x = [[1.0], [1.0]] - self.assertEqual(self.kf.x, [[1.0], [1.0]]) - - def update_returns_state(self): - x = self.kf.update(100) - self.assertEqual(x, self.kf.x) - - def test_old_equal_new(self): - for _ in range(1000): - v_wheel = random.uniform(0, 200) - - x_old = self.kf_old.update(v_wheel) - x = self.kf.update(v_wheel) - - # Compare the output x, verify that the error is less than 1e-4 - np.testing.assert_almost_equal(x_old[0], x[0]) - np.testing.assert_almost_equal(x_old[1], x[1]) - - def test_new_is_faster(self): - setup = """ -import numpy as np - -from openpilot.common.kalman.simple_kalman import KF1D -from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old - -dt = 0.01 -x0_0 = 0.0 -x1_0 = 0.0 -A0_0 = 1.0 -A0_1 = dt -A1_0 = 0.0 -A1_1 = 1.0 -C0_0 = 1.0 -C0_1 = 0.0 -K0_0 = 0.12287673 -K1_0 = 0.29666309 - -kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]), - A=np.array([[A0_0, A0_1], [A1_0, A1_1]]), - C=np.array([C0_0, C0_1]), - K=np.array([[K0_0], [K1_0]])) - -kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - """ - kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000) - kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000) - self.assertTrue(kf_speed < kf_old_speed / 4) - -if __name__ == "__main__": - unittest.main() diff --git a/common/lazy_property.py b/common/lazy_property.py deleted file mode 100644 index 919dd9e87e..0000000000 --- a/common/lazy_property.py +++ /dev/null @@ -1,12 +0,0 @@ -class lazy_property(): - """Defines a property whose value will be computed only once and as needed. - - This can only be used on instance methods. - """ - def __init__(self, func): - self._func = func - - def __get__(self, obj_self, cls): - value = self._func(obj_self) - setattr(obj_self, self._func.__name__, value) - return value diff --git a/common/logging_extra.py b/common/logging_extra.py index 5e0584c7bc..f53d503108 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter): return record_dict - def format(self, record): # noqa: A003 + def format(self, record): if self.swaglogger is None: raise Exception("must set swaglogger before calling format()") return json_robust_dumps(self.format_dict(record)) @@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter): k += "$a" return k, v - def format(self, record): # noqa: A003 + def format(self, record): if isinstance(record, str): v = json.loads(record) else: diff --git a/common/modeldata.h b/common/modeldata.h deleted file mode 100644 index 6dc02cc792..0000000000 --- a/common/modeldata.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include "common/mat.h" -#include "system/hardware/hw.h" - -const int TRAJECTORY_SIZE = 33; -const int LAT_MPC_N = 16; -const int LON_MPC_N = 32; -const float MIN_DRAW_DISTANCE = 10.0; -const float MAX_DRAW_DISTANCE = 100.0; - -const float RYG_GREEN = 0.01165; -const float RYG_YELLOW = 0.06157; - -template -constexpr std::array build_idxs(float max_val) { - std::array result{}; - for (int i = 0; i < size; ++i) { - result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1))); - } - return result; -} - -constexpr auto T_IDXS = build_idxs(10.0); -constexpr auto T_IDXS_FLOAT = build_idxs(10.0); -constexpr auto X_IDXS = build_idxs(192.0); -constexpr auto X_IDXS_FLOAT = build_idxs(192.0); - -const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, - 0.0, 2648.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; - -// tici ecam focal probably wrong? magnification is not consistent across frame -// Need to retrain model before this can be changed -const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, - 0.0, 567.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; diff --git a/common/numpy_helpers.py b/common/numpy_helpers.py deleted file mode 100644 index 7b1efe8976..0000000000 --- a/common/numpy_helpers.py +++ /dev/null @@ -1,22 +0,0 @@ -import numpy as np - - -def deep_interp_np(x, xp, fp, axis=None): - if axis is not None: - fp = fp.swapaxes(0,axis) - x = np.atleast_1d(x) - xp = np.array(xp) - if len(xp) < 2: - return np.repeat(fp, len(x), axis=0) - if min(np.diff(xp)) < 0: - raise RuntimeError('Bad x array for interpolation') - j = np.searchsorted(xp, x) - 1 - j = np.clip(j, 0, len(xp)-2) - d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0) - vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T - if axis is not None: - vals_interp = vals_interp.swapaxes(0,axis) - if len(vals_interp) == 1: - return vals_interp[0] - else: - return vals_interp diff --git a/common/params.cc b/common/params.cc index 0f86435ee1..d387803229 100644 --- a/common/params.cc +++ b/common/params.cc @@ -4,9 +4,11 @@ #include #include +#include #include #include +#include "common/queue.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" @@ -92,6 +94,7 @@ std::unordered_map keys = { {"AssistNowToken", PERSISTENT}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, + {"AthenadRecentlyViewedRoutes", PERSISTENT}, {"CalibrationParams", PERSISTENT}, {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, @@ -114,7 +117,7 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"ExperimentalLongitudinalEnabled", PERSISTENT}, + {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, @@ -142,16 +145,13 @@ std::unordered_map keys = { {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, - {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, - {"LastSystemShutdown", CLEAR_ON_MANAGER_START}, {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, @@ -162,7 +162,7 @@ std::unordered_map keys = { {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavSettingTime24h", PERSISTENT}, - {"NavdRender", PERSISTENT}, + {"NetworkMetered", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, @@ -182,22 +182,19 @@ std::unordered_map keys = { {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, - {"Passive", PERSISTENT}, {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, - {"SubscriberInfo", PERSISTENT}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UbloxAvailable", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", PERSISTENT}, {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, @@ -205,6 +202,7 @@ std::unordered_map keys = { {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, + {"UpdaterLastFetchTime", PERSISTENT}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, {"WheeledBody", PERSISTENT}, @@ -310,8 +308,15 @@ std::unordered_map keys = { Params::Params(const std::string &path) { - prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); - params_path = ensure_params_path(prefix, path); + params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); + params_path = ensure_params_path(params_prefix, path); +} + +Params::~Params() { + if (future.valid()) { + future.wait(); + } + assert(queue.empty()); } std::vector Params::allKeys() const { @@ -424,3 +429,20 @@ void Params::clearAll(ParamKeyType key_type) { fsync_dir(getParamPath()); } + +void Params::putNonBlocking(const std::string &key, const std::string &val) { + queue.push(std::make_pair(key, val)); + // start thread on demand + if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) { + future = std::async(std::launch::async, &Params::asyncWriteThread, this); + } +} + +void Params::asyncWriteThread() { + // TODO: write the latest one if a key has multiple values in the queue. + std::pair p; + while (queue.try_pop(p, 0)) { + // Params::put is Thread-Safe + put(p.first, p.second); + } +} diff --git a/common/params.h b/common/params.h index fbe0bba6b0..d726a6185f 100644 --- a/common/params.h +++ b/common/params.h @@ -1,21 +1,28 @@ #pragma once +#include #include #include +#include +#include #include +#include "common/queue.h" + enum ParamKeyType { PERSISTENT = 0x02, CLEAR_ON_MANAGER_START = 0x04, CLEAR_ON_ONROAD_TRANSITION = 0x08, CLEAR_ON_OFFROAD_TRANSITION = 0x10, DONT_LOG = 0x20, + DEVELOPMENT_ONLY = 0x40, ALL = 0xFFFFFFFF }; class Params { public: explicit Params(const std::string &path = {}); + ~Params(); // Not copyable. Params(const Params&) = delete; Params& operator=(const Params&) = delete; @@ -24,7 +31,7 @@ public: bool checkKey(const std::string &key); ParamKeyType getKeyType(const std::string &key); inline std::string getParamPath(const std::string &key = {}) { - return params_path + prefix + (key.empty() ? "" : "/" + key); + return params_path + params_prefix + (key.empty() ? "" : "/" + key); } // Delete a value @@ -46,8 +53,18 @@ public: inline int putBool(const std::string &key, bool val) { return put(key.c_str(), val ? "1" : "0", 1); } + void putNonBlocking(const std::string &key, const std::string &val); + inline void putBoolNonBlocking(const std::string &key, bool val) { + putNonBlocking(key, val ? "1" : "0"); + } private: + void asyncWriteThread(); + std::string params_path; - std::string prefix; + std::string params_prefix; + + // for nonblocking write + std::future future; + SafeQueue> queue; }; diff --git a/common/params.py b/common/params.py index ea8ac7514a..66808083dc 100644 --- a/common/params.py +++ b/common/params.py @@ -1,10 +1,7 @@ -from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ - put_bool_nonblocking +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName assert Params assert ParamKeyType assert UnknownKeyName -assert put_nonblocking -assert put_bool_nonblocking if __name__ == "__main__": import sys diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index de52c490b3..47d2075df2 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -3,7 +3,6 @@ from libcpp cimport bool from libcpp.string cimport string from libcpp.vector cimport vector -import threading cdef extern from "common/params.h": cpdef enum ParamKeyType: @@ -11,6 +10,7 @@ cdef extern from "common/params.h": CLEAR_ON_MANAGER_START CLEAR_ON_ONROAD_TRANSITION CLEAR_ON_OFFROAD_TRANSITION + DEVELOPMENT_ONLY ALL cdef cppclass c_Params "Params": @@ -19,6 +19,8 @@ cdef extern from "common/params.h": bool getBool(string, bool) nogil int remove(string) nogil int put(string, string) nogil + void putNonBlocking(string, string) nogil + void putBoolNonBlocking(string, bool) nogil int putBool(string, bool) nogil bool checkKey(string) nogil string getParamPath(string) nogil @@ -79,7 +81,7 @@ cdef class Params: """ Warning: This function blocks until the param is written to disk! In very rare cases this can take over a second, and your code will hang. - Use the put_nonblocking helper function in time sensitive code, but + Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but in general try to avoid writing params as much as possible. """ cdef string k = self.check_key(key) @@ -92,6 +94,17 @@ cdef class Params: with nogil: self.p.putBool(k, val) + def put_nonblocking(self, key, dat): + cdef string k = self.check_key(key) + cdef string dat_bytes = ensure_bytes(dat) + with nogil: + self.p.putNonBlocking(k, dat_bytes) + + def put_bool_nonblocking(self, key, bool val): + cdef string k = self.check_key(key) + with nogil: + self.p.putBoolNonBlocking(k, val) + def remove(self, key): cdef string k = self.check_key(key) with nogil: @@ -103,9 +116,3 @@ cdef class Params: def all_keys(self): return self.p.allKeys() - -def put_nonblocking(key, val, d=""): - threading.Thread(target=lambda: Params(d).put(key, val)).start() - -def put_bool_nonblocking(key, bool val, d=""): - threading.Thread(target=lambda: Params(d).put_bool(key, val)).start() diff --git a/common/prefix.py b/common/prefix.py index c1744e8ff7..d027e3e5a1 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -6,12 +6,14 @@ from typing import Optional from openpilot.common.params import Params from openpilot.system.hardware.hw import Paths +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): + def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit + self.shared_download_cache = shared_download_cache def __enter__(self): self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None) @@ -22,6 +24,9 @@ class OpenpilotPrefix: pass os.makedirs(Paths.log_root(), exist_ok=True) + if self.shared_download_cache: + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + return self def __exit__(self, exc_type, exc_obj, exc_tb): @@ -42,5 +47,6 @@ class OpenpilotPrefix: os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) shutil.rmtree(Paths.log_root(), ignore_errors=True) - shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) + if not os.environ.get("COMMA_CACHE", False): + shutil.rmtree(Paths.download_cache_root(), ignore_errors=True) shutil.rmtree(Paths.comma_home(), ignore_errors=True) diff --git a/common/profiler.py b/common/profiler.py deleted file mode 100644 index 8b1a7a8cfa..0000000000 --- a/common/profiler.py +++ /dev/null @@ -1,45 +0,0 @@ -import time - -class Profiler(): - def __init__(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - self.tot = 0. - - def reset(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - - def checkpoint(self, name, ignore=False): - # ignore flag needed when benchmarking threads with ratekeeper - if not self.enabled: - return - tt = time.time() - if name not in self.cp: - self.cp[name] = 0. - if ignore: - self.cp_ignored.append(name) - self.cp[name] += tt - self.last_time - if not ignore: - self.tot += tt - self.last_time - self.last_time = tt - - def display(self): - if not self.enabled: - return - self.iter += 1 - print("******* Profiling %d *******" % self.iter) - for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]): - if n in self.cp_ignored: - print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - else: - print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/common/realtime.py b/common/realtime.py index 05e19e770f..a398146166 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -78,7 +78,7 @@ class Ratekeeper: time.sleep(self._remaining) return lagged - # this only monitor the cumulative lag, but does not enforce a rate + # Monitors the cumulative lag, but does not enforce a rate def monitor_time(self) -> bool: prev = self._last_monitor_time self._last_monitor_time = time.monotonic() diff --git a/common/retry.py b/common/retry.py new file mode 100644 index 0000000000..9bd4ac9522 --- /dev/null +++ b/common/retry.py @@ -0,0 +1,30 @@ +import time +import functools + +from openpilot.common.swaglog import cloudlog + + +def retry(attempts=3, delay=1.0, ignore_failure=False): + def decorator(func): + @functools.wraps(func) + def wrapper(*args, **kwargs): + for _ in range(attempts): + try: + return func(*args, **kwargs) + except Exception: + cloudlog.exception(f"{func.__name__} failed, trying again") + time.sleep(delay) + + if ignore_failure: + cloudlog.error(f"{func.__name__} failed after retry") + else: + raise Exception(f"{func.__name__} failed after retry") + return wrapper + return decorator + + +if __name__ == "__main__": + @retry(attempts=10) + def abc(): + raise ValueError("abc failed :(") + abc() diff --git a/common/simple_kalman.py b/common/simple_kalman.py new file mode 100644 index 0000000000..194b27204b --- /dev/null +++ b/common/simple_kalman.py @@ -0,0 +1,54 @@ +import numpy as np + + +def get_kalman_gain(dt, A, C, Q, R, iterations=100): + P = np.zeros_like(Q) + for _ in range(iterations): + P = A.dot(P).dot(A.T) + dt * Q + S = C.dot(P).dot(C.T) + R + K = P.dot(C.T).dot(np.linalg.inv(S)) + P = (np.eye(len(P)) - K.dot(C)).dot(P) + return K + + +class KF1D: + # this EKF assumes constant covariance matrix, so calculations are much simpler + # the Kalman gain also needs to be precomputed using the control module + + def __init__(self, x0, A, C, K): + self.x0_0 = x0[0][0] + self.x1_0 = x0[1][0] + self.A0_0 = A[0][0] + self.A0_1 = A[0][1] + self.A1_0 = A[1][0] + self.A1_1 = A[1][1] + self.C0_0 = C[0] + self.C0_1 = C[1] + self.K0_0 = K[0][0] + self.K1_0 = K[1][0] + + self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0 + self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1 + self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0 + self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1 + + # K matrix needs to be pre-computed as follow: + # import control + # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R) + # self.K = np.transpose(K) + + def update(self, meas): + #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas) + x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas + x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas + self.x0_0 = x0_0 + self.x1_0 = x1_0 + return [self.x0_0, self.x1_0] + + @property + def x(self): + return [[self.x0_0], [self.x1_0]] + + def set_x(self, x): + self.x0_0 = x[0][0] + self.x1_0 = x[1][0] diff --git a/common/statlog.cc b/common/statlog.cc deleted file mode 100644 index 587f3e8620..0000000000 --- a/common/statlog.cc +++ /dev/null @@ -1,47 +0,0 @@ -#ifndef _GNU_SOURCE -#define _GNU_SOURCE -#endif - -#include "common/statlog.h" -#include "common/util.h" - -#include -#include -#include -#include - -class StatlogState : public LogState { - public: - StatlogState() : LogState("ipc:///tmp/stats") {} -}; - -static StatlogState s = {}; - -static void log(const char* metric_type, const char* metric, const char* fmt, ...) { - std::lock_guard lk(s.lock); - if (!s.initialized) s.initialize(); - - char* value_buf = nullptr; - va_list args; - va_start(args, fmt); - int ret = vasprintf(&value_buf, fmt, args); - va_end(args); - - if (ret > 0 && value_buf) { - char* line_buf = nullptr; - ret = asprintf(&line_buf, "%s:%s|%s", metric, value_buf, metric_type); - if (ret > 0 && line_buf) { - zmq_send(s.sock, line_buf, ret, ZMQ_NOBLOCK); - free(line_buf); - } - free(value_buf); - } -} - -void statlog_log(const char* metric_type, const char* metric, int value) { - log(metric_type, metric, "%d", value); -} - -void statlog_log(const char* metric_type, const char* metric, float value) { - log(metric_type, metric, "%f", value); -} diff --git a/common/statlog.h b/common/statlog.h deleted file mode 100644 index 5d223bb666..0000000000 --- a/common/statlog.h +++ /dev/null @@ -1,10 +0,0 @@ -#pragma once - -#define STATLOG_GAUGE "g" -#define STATLOG_SAMPLE "sa" - -void statlog_log(const char* metric_type, const char* metric, int value); -void statlog_log(const char* metric_type, const char* metric, float value); - -#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value) -#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value) diff --git a/common/swaglog.cc b/common/swaglog.cc index bcd597a257..873836b725 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -5,30 +5,29 @@ #include "common/swaglog.h" #include -#include -#include #include #include #include #include +#include #include "third_party/json11/json11.hpp" - -#include "common/util.h" #include "common/version.h" #include "system/hardware/hw.h" -class SwaglogState : public LogState { - public: - SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {} +class SwaglogState { +public: + SwaglogState() { + zctx = zmq_ctx_new(); + sock = zmq_socket(zctx, ZMQ_PUSH); - json11::Json::object ctx_j; + // Timeout on shutdown for messages to be received by the logging process + int timeout = 100; + zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); + zmq_connect(sock, Path::swaglog_ipc().c_str()); - inline void initialize() { - ctx_j = json11::Json::object {}; print_level = CLOUDLOG_WARNING; - const char* print_lvl = getenv("LOGPRINT"); - if (print_lvl) { + if (const char* print_lvl = getenv("LOGPRINT")) { if (strcmp(print_lvl, "debug") == 0) { print_level = CLOUDLOG_DEBUG; } else if (strcmp(print_lvl, "info") == 0) { @@ -38,39 +37,44 @@ class SwaglogState : public LogState { } } - // openpilot bindings - char* dongle_id = getenv("DONGLE_ID"); - if (dongle_id) { + ctx_j = json11::Json::object{}; + if (char* dongle_id = getenv("DONGLE_ID")) { ctx_j["dongle_id"] = dongle_id; } - char* daemon_name = getenv("MANAGER_DAEMON"); - if (daemon_name) { + if (char* daemon_name = getenv("MANAGER_DAEMON")) { ctx_j["daemon"] = daemon_name; } ctx_j["version"] = COMMA_VERSION; ctx_j["dirty"] = !getenv("CLEAN"); - - // device type ctx_j["device"] = Hardware::get_name(); - LogState::initialize(); } + + ~SwaglogState() { + zmq_close(sock); + zmq_ctx_destroy(zctx); + } + + void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) { + std::lock_guard lk(lock); + if (levelnum >= print_level) { + printf("%s: %s\n", filename, msg); + } + zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); + } + + std::mutex lock; + void* zctx = nullptr; + void* sock = nullptr; + int print_level; + json11::Json::object ctx_j; }; -static SwaglogState s = {}; bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS"); uint32_t NO_FRAME_ID = std::numeric_limits::max(); -static void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) { - if (levelnum >= s.print_level) { - printf("%s: %s\n", filename, msg); - } - zmq_send(s.sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); -} - static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, char* msg_buf, const json11::Json::object &msg_j={}) { - std::lock_guard lk(s.lock); - if (!s.initialized) s.initialize(); + static SwaglogState s; json11::Json::object log_j = json11::Json::object { {"ctx", s.ctx_j}, @@ -89,7 +93,7 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons std::string log_s; log_s += (char)levelnum; ((json11::Json)log_j).dump(log_s); - log(levelnum, filename, lineno, func, msg_buf, log_s); + s.log(levelnum, filename, lineno, func, msg_buf, log_s); free(msg_buf); } diff --git a/system/swaglog.py b/common/swaglog.py similarity index 100% rename from system/swaglog.py rename to common/swaglog.py diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index e36df57a32..1817f77cd2 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -2,7 +2,6 @@ import os import unittest from uuid import uuid4 -from openpilot.common.file_helpers import atomic_write_on_fs_tmp from openpilot.common.file_helpers import atomic_write_in_dir @@ -11,14 +10,12 @@ class TestFileHelpers(unittest.TestCase): path = f"/tmp/tmp{uuid4()}" with atomic_write_func(path) as f: f.write("test") + assert not os.path.exists(path) with open(path) as f: self.assertEqual(f.read(), "test") os.remove(path) - def test_atomic_write_on_fs_tmp(self): - self.run_atomic_write_func(atomic_write_on_fs_tmp) - def test_atomic_write_in_dir(self): self.run_atomic_write_func(atomic_write_in_dir) diff --git a/common/tests/test_params.cc b/common/tests/test_params.cc new file mode 100644 index 0000000000..f8d6c79f55 --- /dev/null +++ b/common/tests/test_params.cc @@ -0,0 +1,27 @@ +#include "catch2/catch.hpp" +#define private public +#include "common/params.h" +#include "common/util.h" + +TEST_CASE("params_nonblocking_put") { + char tmp_path[] = "/tmp/asyncWriter_XXXXXX"; + const std::string param_path = mkdtemp(tmp_path); + auto param_names = {"CarParams", "IsMetric"}; + { + Params params(param_path); + for (const auto &name : param_names) { + params.putNonBlocking(name, "1"); + // param is empty + REQUIRE(params.get(name).empty()); + } + + // check if thread is running + REQUIRE(params.future.valid()); + REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout); + } + // check results + Params p(param_path); + for (const auto &name : param_names) { + REQUIRE(p.get(name) == "1"); + } +} diff --git a/common/tests/test_params.py b/common/tests/test_params.py index fb6f320ea4..490ee122be 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -4,7 +4,7 @@ import time import uuid import unittest -from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName class TestParams(unittest.TestCase): def setUp(self): @@ -86,7 +86,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - put_nonblocking("CarParams", "test") + Params().put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" @@ -95,7 +95,7 @@ class TestParams(unittest.TestCase): q = Params() def _delayed_writer(): time.sleep(0.1) - put_bool_nonblocking("CarParams", True) + Params().put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc deleted file mode 100644 index 32c7dfe58c..0000000000 --- a/common/tests/test_ratekeeper.cc +++ /dev/null @@ -1,23 +0,0 @@ -#include "catch2/catch.hpp" -#include "common/ratekeeper.h" -#include "common/timing.h" -#include "common/util.h" - -TEST_CASE("RateKeeper") { - float freq = GENERATE(10, 50, 100); - RateKeeper rk("Test RateKeeper", freq); - - int lags = 0; - int bad_keep_times = 0; - for (int i = 0; i < freq; ++i) { - double begin = seconds_since_boot(); - util::sleep_for(util::random_int(0, 1000.0 / freq - 1)); - bool lagged = rk.keepTime(); - lags += lagged; - bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3; - } - - // need a tolerance here due to scheduling - REQUIRE(lags < 5); - REQUIRE(bad_keep_times < 5); -} diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py new file mode 100644 index 0000000000..f641cd19e6 --- /dev/null +++ b/common/tests/test_simple_kalman.py @@ -0,0 +1,35 @@ +import unittest + +from openpilot.common.simple_kalman import KF1D + + +class TestSimpleKalman(unittest.TestCase): + def setUp(self): + dt = 0.01 + x0_0 = 0.0 + x1_0 = 0.0 + A0_0 = 1.0 + A0_1 = dt + A1_0 = 0.0 + A1_1 = 1.0 + C0_0 = 1.0 + C0_1 = 0.0 + K0_0 = 0.12287673 + K1_0 = 0.29666309 + + self.kf = KF1D(x0=[[x0_0], [x1_0]], + A=[[A0_0, A0_1], [A1_0, A1_1]], + C=[C0_0, C0_1], + K=[[K0_0], [K1_0]]) + + def test_getter_setter(self): + self.kf.set_x([[1.0], [1.0]]) + self.assertEqual(self.kf.x, [[1.0], [1.0]]) + + def update_returns_state(self): + x = self.kf.update(100) + self.assertEqual(x, self.kf.x) + + +if __name__ == "__main__": + unittest.main() diff --git a/common/time.py b/common/time.py index b9da106fd0..c8ef9cd383 100644 --- a/common/time.py +++ b/common/time.py @@ -3,4 +3,4 @@ import datetime MIN_DATE = datetime.datetime(year=2023, month=6, day=1) def system_time_valid(): - return datetime.datetime.now() > MIN_DATE \ No newline at end of file + return datetime.datetime.now() > MIN_DATE diff --git a/common/util.h b/common/util.h index 5c0ef7fec5..0cbad5bd31 100644 --- a/common/util.h +++ b/common/util.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -180,36 +179,3 @@ void update_max_atomic(std::atomic& max, T const& value) { T prev = max; while (prev < value && !max.compare_exchange_weak(prev, value)) {} } - -class LogState { - public: - bool initialized = false; - std::mutex lock; - void *zctx = nullptr; - void *sock = nullptr; - int print_level; - std::string endpoint; - - LogState(std::string _endpoint) { - endpoint = _endpoint; - } - - inline void initialize() { - zctx = zmq_ctx_new(); - sock = zmq_socket(zctx, ZMQ_PUSH); - - // Timeout on shutdown for messages to be received by the logging process - int timeout = 100; - zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); - - zmq_connect(sock, endpoint.c_str()); - initialized = true; - } - - ~LogState() { - if (initialized) { - zmq_close(sock); - zmq_ctx_destroy(zctx); - } - } -}; diff --git a/common/version.h b/common/version.h index e2d845c5e8..787bc897d7 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.5.3" +#define COMMA_VERSION "0.9.6" diff --git a/common/window.py b/common/window.py deleted file mode 100644 index 95886c0c92..0000000000 --- a/common/window.py +++ /dev/null @@ -1,61 +0,0 @@ -import sys -import pygame -import cv2 - -class Window: - def __init__(self, w, h, caption="window", double=False, halve=False): - self.w = w - self.h = h - pygame.display.init() - pygame.display.set_caption(caption) - self.double = double - self.halve = halve - if self.double: - self.rw, self.rh = w*2, h*2 - elif self.halve: - self.rw, self.rh = w//2, h//2 - else: - self.rw, self.rh = w, h - self.screen = pygame.display.set_mode((self.rw, self.rh)) - pygame.display.flip() - - # hack for xmonad, it shrinks the window by 6 pixels after the display.flip - if self.screen.get_width() != self.rw: - self.screen = pygame.display.set_mode((self.rw+(self.rw-self.screen.get_width()), self.rh+(self.rh-self.screen.get_height()))) - pygame.display.flip() - - def draw(self, out): - pygame.event.pump() - if self.double: - out2 = cv2.resize(out, (self.w*2, self.h*2)) - pygame.surfarray.blit_array(self.screen, out2.swapaxes(0, 1)) - elif self.halve: - out2 = cv2.resize(out, (self.w//2, self.h//2)) - pygame.surfarray.blit_array(self.screen, out2.swapaxes(0, 1)) - else: - pygame.surfarray.blit_array(self.screen, out.swapaxes(0, 1)) - pygame.display.flip() - - def getkey(self): - while 1: - event = pygame.event.wait() - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - if event.type == pygame.KEYDOWN: - return event.key - - def getclick(self): - for event in pygame.event.get(): - if event.type == pygame.MOUSEBUTTONDOWN: - mx, my = pygame.mouse.get_pos() - return mx, my - -if __name__ == "__main__": - import numpy as np - win = Window(200, 200, double=True) - img: np.ndarray = np.zeros((200, 200, 3), np.uint8) - while 1: - print("draw") - img += 1 - win.draw(img) diff --git a/common/xattr.py b/common/xattr.py deleted file mode 100644 index 26616fd638..0000000000 --- a/common/xattr.py +++ /dev/null @@ -1,46 +0,0 @@ -import os -from cffi import FFI -from typing import Any, List - -# Workaround for the EON/termux build of Python having os.*xattr removed. -ffi = FFI() -ffi.cdef(""" -int setxattr(const char *path, const char *name, const void *value, size_t size, int flags); -ssize_t getxattr(const char *path, const char *name, void *value, size_t size); -ssize_t listxattr(const char *path, char *list, size_t size); -int removexattr(const char *path, const char *name); -""") -libc = ffi.dlopen(None) - -def setxattr(path, name, value, flags=0) -> None: - path = path.encode() - name = name.encode() - if libc.setxattr(path, name, value, len(value), flags) == -1: - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})") - -def getxattr(path, name, size=128): - path = path.encode() - name = name.encode() - value = ffi.new(f"char[{size}]") - l = libc.getxattr(path, name, value, size) - if l == -1: - # errno 61 means attribute hasn't been set - if ffi.errno == 61: - return None - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})") - return ffi.buffer(value)[:l] - -def listxattr(path, size=128) -> List[Any]: - path = path.encode() - attrs = ffi.new(f"char[{size}]") - l = libc.listxattr(path, attrs, size) - if l == -1: - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})") - # attrs is b'\0' delimited values (so chop off trailing empty item) - return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]] - -def removexattr(path, name) -> None: - path = path.encode() - name = name.encode() - if libc.removexattr(path, name) == -1: - raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})") diff --git a/conftest.py b/conftest.py index 08ddb0d1ea..c4eb259a35 100644 --- a/conftest.py +++ b/conftest.py @@ -3,17 +3,35 @@ import pytest import random from openpilot.common.prefix import OpenpilotPrefix +from openpilot.selfdrive.manager import manager from openpilot.system.hardware import TICI +def pytest_sessionstart(session): + # TODO: fix tests and enable test order randomization + if session.config.pluginmanager.hasplugin('randomly'): + session.config.option.randomly_reorganize = False + + +@pytest.hookimpl(hookwrapper=True, trylast=True) +def pytest_runtest_call(item): + # ensure we run as a hook after capturemanager's + if item.get_closest_marker("nocapture") is not None: + capmanager = item.config.pluginmanager.getplugin("capturemanager") + with capmanager.global_and_fixture_disabled(): + yield + else: + yield + + @pytest.fixture(scope="function", autouse=True) -def openpilot_function_fixture(): +def openpilot_function_fixture(request): starting_env = dict(os.environ) random.seed(0) # setup a clean environment for each test - with OpenpilotPrefix(): + with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: prefix = os.environ["OPENPILOT_PREFIX"] yield @@ -24,6 +42,8 @@ def openpilot_function_fixture(): os.environ.clear() os.environ.update(starting_env) + # cleanup any started processes + manager.manager_cleanup() # If you use setUpClass, the environment variables won't be cleared properly, # so we need to hook both the function and class pytest fixtures @@ -37,8 +57,26 @@ def openpilot_class_fixture(): os.environ.update(starting_env) +@pytest.hookimpl(tryfirst=True) def pytest_collection_modifyitems(config, items): skipper = pytest.mark.skip(reason="Skipping tici test on PC") for item in items: if not TICI and "tici" in item.keywords: - item.add_marker(skipper) \ No newline at end of file + item.add_marker(skipper) + + if "xdist_group_class_property" in item.keywords: + class_property_name = item.get_closest_marker('xdist_group_class_property').args[0] + class_property_value = getattr(item.cls, class_property_name) + item.add_marker(pytest.mark.xdist_group(class_property_value)) + + +@pytest.hookimpl(trylast=True) +def pytest_configure(config): + config_line = "xdist_group_class_property: group tests by a property of the class that contains them" + config.addinivalue_line("markers", config_line) + + config_line = "nocapture: don't capture test output" + config.addinivalue_line("markers", config_line) + + config_line = "shared_download_cache: share download cache between tests" + config.addinivalue_line("markers", config_line) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md new file mode 100644 index 0000000000..5ff5dd939f --- /dev/null +++ b/docs/BOUNTIES.md @@ -0,0 +1,62 @@ +# [Bounties](https://github.com/orgs/commaai/projects/26/views/1) + +Get paid to improve openpilot! + +## Rules + +* code must be merged into openpilot master +* bounty eligibility is solely at our discretion +* once you open a PR, the bounty is locked to you until you stop working on it +* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim +* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders) + +New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord. + +## Issue bounties + +We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this: +* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot +* **$300** - a day of work for an experienced openpilot developer +* **$500** - a few days of work for an experienced openpilot developer +* **$1k+** - a week or two of work (could be less for the right person) + +## Car bounties + +The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering). + +#### Brand or platform port - $2000 +Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331) + +This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform). + +#### Model port - $250 +Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245) + +This is for porting a new car model that runs on a platform openpilot already supports. +In the average case, this is a few hours of work for an experienced software developer. + +This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC. + +#### Reverse Engineering a new Actuation Message - $300 + +This is for cars that are already supported, and it has three components: +* reverse a new steering, adaptive cruise, or AEB message +* merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc) +* merge the openpilot code to use it and post a demo route + +The control doesn't have to be perfect, but it should generally do what it's supposed to do. + +### Specific Cars + +#### Rivian R1T or R1S - $3000 + +Get a Rivian driving with openpilot. +Requires a merged port with lateral control and at least a POC of longitudinal control. + +#### Toyota SecOc - $5000 + +We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932). + +#### Chevy Bolt with SuperCruise - $2500 + +The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port. diff --git a/docs/CARS.md b/docs/CARS.md index 4c2eba8fdd..d541861245 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -28,13 +28,14 @@ A supported vehicle is one that just works when you install a comma device. All |Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma 3X
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -76,6 +77,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -101,26 +103,27 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Cruz 2022-23[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Cruz 2022-23[8](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Staria 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2022[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2023[8](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[8](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2023[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Carnival 2023-24[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2022-24[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China only) 2023[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (Southeast Asia only) 2022-23[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -138,10 +141,12 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[8](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[8](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -152,16 +157,17 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Sorento 2021-23[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Hybrid 2021-23[8](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sorento Plug-in Hybrid 2022-23[8](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage 2023[8](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage 2023[8](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Sportage Hybrid 2023[8](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -250,10 +256,12 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,14](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 7a074f12de..30f4e0dfd3 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -1,26 +1,50 @@ # How to contribute -Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). - -Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/). +Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai). ### Getting Started - * Setup your [development environment](../tools/) - * Join our [Discord](https://discord.comma.ai) - * Make sure you have a [GitHub account](https://github.com/signup/free) - * Fork [our repositories](https://github.com/commaai) on GitHub +* Setup your [development environment](../tools/) +* Read about the [development workflow](WORKFLOW.md) +* Join our [Discord](https://discord.comma.ai) +* Docs are at https://docs.comma.ai and https://blog.comma.ai + +## What contributions are we looking for? + +**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. + +### What gets merged? + +The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. +If a PR offers *some* value but will take lots of time to get merged, it will be closed. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. + +All of these are examples of good PRs: +* typo fix: https://github.com/commaai/openpilot/pull/30678 +* removing unused code: https://github.com/commaai/openpilot/pull/30573 +* simple car model port: https://github.com/commaai/openpilot/pull/30245 +* car brand port: https://github.com/commaai/openpilot/pull/23331 + +### What doesn't get merged? + +* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful +* **500+ line PRs**: clean it up, break it up into smaller PRs, or both +* **PRs without a clear goal**: every PR must have a singular and clear goal +* **UI design changes**: we do not have a good review process for this yet +* **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. ### First contribution -Try out some of these first pull requests ideas to dive into the codebase: -* Increase our [mypy](http://mypy-lang.org/) coverage -* Write some documentation -* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) +Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started. + +### What do I need to contribute? + +A lot of openpilot work requires only a PC, and some requires a comma device. +Most car-related contributions require access to that car, plus a comma device installed in the car. ## Pull Requests -Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. +Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve. A good pull request has all of the following: * a clearly stated purpose @@ -31,18 +55,11 @@ A good pull request has all of the following: * if you've improved your car's tuning, post before and after plots * passes the CI tests -### Car Ports +## Contributing without Code -We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models. - -If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/). - -## Testing - -### Automated Testing - -All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. - -### Code Style and Linting - -Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. +* Report bugs in GitHub issues. +* Report driving issues in the `#driving-feedback` Discord channel. +* Consider opting into driver camera uploads to improve the driver monitoring model. +* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. +* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release. +* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k). diff --git a/docs/Makefile b/docs/Makefile index dee660f770..09103e206e 100644 --- a/docs/Makefile +++ b/docs/Makefile @@ -41,13 +41,13 @@ clean: @echo "Building rst files..." sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \ - ../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \ + ../xx ../rednose_repo ../notebooks ../panda_jungle \ ../third_party \ ../panda/examples \ ../scripts \ ../selfdrive/modeld \ ../selfdrive/debug \ - $(shell find .. -type d -name "*test*") + $(shell find .. -type d -name "*test* -not -path "**.venv**" \") @echo "Building html files..." @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/README.md b/docs/README.md new file mode 100644 index 0000000000..838b00e7ae --- /dev/null +++ b/docs/README.md @@ -0,0 +1,3 @@ +# openpilot-docs + +These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository. \ No newline at end of file diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md new file mode 100644 index 0000000000..85ae8d86f4 --- /dev/null +++ b/docs/WORKFLOW.md @@ -0,0 +1,42 @@ +# openpilot development workflow + +Aside from the ML models, most tools used for openpilot development are in this repo. + +Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development. + +## Quick start + +```bash +# get the latest stuff +git pull +git submodule update --init --recursive + +# update dependencies +tools/ubuntu_setup.sh + +# build everything +scons -j$(nproc) + +# build just the ui with either of these +scons -j8 selfdrive/ui/ +cd selfdrive/ui/ && scons -u -j8 + +# test everything +pytest . + +# test just logging services +cd system/loggerd && pytest . + +# run the linter +pre-commit run --all +``` + +## Testing + +### Automated Testing + +All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. + +### Code Style and Linting + +Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. diff --git a/docs/_static/logo.png b/docs/_static/logo.png index 2699565085..0e7577dae1 100644 Binary files a/docs/_static/logo.png and b/docs/_static/logo.png differ diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg index 5d3c32d671..448b20b937 100644 --- a/docs/assets/icon-star-empty.svg +++ b/docs/assets/icon-star-empty.svg @@ -1,56 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:3142658fa2782d266028dcab491e02ab329a2cadcf9efb1846a5f9631d64cac1 +size 1947 diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg index 294db2b7f2..0e0bf52cd8 100644 --- a/docs/assets/icon-star-full.svg +++ b/docs/assets/icon-star-full.svg @@ -1,56 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:5fdcc85f3d8c9d0c2fb76b98ddd9f118c0e4a12c859a4281a04a0870d5de12c8 +size 1950 diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg index ab905fddcb..11398fa6f1 100644 --- a/docs/assets/icon-star-half.svg +++ b/docs/assets/icon-star-half.svg @@ -1,66 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf5e7ae57626f4cda35973873a4696252babbbe473913fe0aafdd8ba39d7fc3 +size 2508 diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg index 4e2c9fdfa9..f738dca10a 100644 --- a/docs/assets/icon-youtube.svg +++ b/docs/assets/icon-youtube.svg @@ -1,12 +1,3 @@ - - - - - - - - - - - - \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b +size 1278 diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 5619cc8a51..6e8808ec20 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -29,8 +29,6 @@ camerad ^^^^^^^ .. autodoxygenindex:: :project: system_camerad_cameras -.. autodoxygenindex:: - :project: system_camerad_imgproc locationd ^^^^^^^^^ @@ -43,12 +41,6 @@ ui .. autodoxygenindex:: :project: selfdrive_ui -soundd -"""""" -.. autodoxygenindex:: - :project: selfdrive_ui_soundd - - replay """""" .. autodoxygenindex:: diff --git a/docs/overview.rst b/docs/overview.rst index b9a5700528..8c552077f3 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -18,14 +18,6 @@ cereal cereal/README.md cereal/messaging/msgq.md -laika -========= - -.. toctree:: - :maxdepth: 4 - - laika_repo/README.md - models ========= diff --git a/laika b/laika deleted file mode 120000 index 1c7429f4ac..0000000000 --- a/laika +++ /dev/null @@ -1 +0,0 @@ -laika_repo/laika/ \ No newline at end of file diff --git a/laika_repo b/laika_repo deleted file mode 160000 index 8861844c9b..0000000000 --- a/laika_repo +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9 diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 712b9911af..8c9c0aa070 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -9,11 +9,6 @@ source "$BASEDIR/launch_env.sh" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" function agnos_init { - # wait longer for weston to come up - if [ -f "$BASEDIR/prebuilt" ]; then - sleep 3 - fi - # TODO: move this to agnos sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta @@ -35,9 +30,6 @@ function launch { # Remove orphaned git lock if it exists on boot [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock - # Pull time from panda - $DIR/selfdrive/boardd/set_time.py - # Check to see if there's a valid overlay-based update available. Conditions # are as follows: # @@ -77,14 +69,19 @@ function launch { export PYTHONPATH="$PWD" # hardware specific init - agnos_init + if [ -f /AGNOS ]; then + agnos_init + fi # write tmux scrollback to a file tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager cd selfdrive/manager - ./custom_dep.py && ./build.py && ./manager.py + if [ ! -f $DIR/prebuilt ]; then + ./custom_dep.py && ./build.py + fi + ./manager.py # if broken, keep on screen error while true; do sleep 1; done diff --git a/launch_env.sh b/launch_env.sh index d07fbe33de..c16f061912 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="8.2" -fi - -if [ -z "$PASSIVE" ]; then - export PASSIVE="1" + export AGNOS_VERSION="9.1" fi export STAGING_ROOT="/data/safe_staging" diff --git a/launch_openpilot.sh b/launch_openpilot.sh index 1525e1715f..2888814c22 100755 --- a/launch_openpilot.sh +++ b/launch_openpilot.sh @@ -1,5 +1,3 @@ #!/usr/bin/bash -export PASSIVE="0" exec ./launch_chffrplus.sh - diff --git a/poetry.lock b/poetry.lock index 2c91470f54..ecfdac4497 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,112 +1,99 @@ -# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. 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hash = "sha256:928cecb0ef9d5a7946eb6ff58417ad2fe9375762382f1bf5c55e61645f2c43ad"}, + {file = "yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf"}, ] [package.dependencies] @@ -5150,4 +7791,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "9538e574ca03437994b7b0a0b6cb41842256162a2f14abfd0da26587709f145a" +content-hash = "80980e271850e99a5b9005dda4b25a822a4d2b15ba152697c5fb692be4b3bb13" diff --git a/pyproject.toml b/pyproject.toml index 71b677fbb7..6930193242 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,7 +1,8 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10" -#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +cpp_files = "test_*" +cpp_harness = "selfdrive/test/cpp_harness.py" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ @@ -16,13 +17,17 @@ testpaths = [ "selfdrive/controls", "selfdrive/locationd", "selfdrive/monitoring", + "selfdrive/navd/tests", "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", + "selfdrive/test/process_replay/test_fuzzy.py", + "system/camerad", "system/hardware/tici", "system/loggerd", "system/proclogd", "system/tests", "system/ubloxd", + "system/webrtc", "tools/lib/tests", "tools/replay", "tools/cabana" @@ -38,12 +43,12 @@ exclude = [ "cereal/", "opendbc/", "panda/", - "laika/", - "laika_repo/", "rednose/", "rednose_repo/", "tinygrad/", "tinygrad_repo/", + "teleoprtc/", + "teleoprtc_repo/", "third_party/", ] @@ -72,49 +77,39 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] python = "~3.11" -atomicwrites = "*" aiohttp = "*" aiortc = "*" casadi = "==3.6.3" cffi = "*" -control = "*" crcmod = "*" -cryptography = "*" Cython = "*" future-fstrings = "*" # for acados -hatanaka = "==2.4" -hexdump = "*" -Jinja2 = "*" json-rpc = "*" libusb1 = "*" numpy = "*" onnx = ">=1.14.0" -onnxruntime = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'aarch64'" } -onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" } +onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" } +onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" } psutil = "*" pyaudio = "*" pycapnp = "*" pycryptodome = "*" -pycurl = "*" -pydub = "*" PyJWT = "*" -pyopencl = "*" pyserial = "*" -PyYAML = "*" pyzmq = "*" requests = "*" scons = "*" sentry-sdk = "==1.28.1" # needs to be updated with AGNOS -setproctitle = "*" smbus2 = "*" sounddevice = "*" spidev = { version = "*", platform = "linux" } sympy = "*" -timezonefinder = "*" -tqdm = "*" websocket_client = "*" -polyline = "*" -sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} + +# these should be removed +markdown-it-py = "*" +timezonefinder = "*" +setproctitle = "*" [tool.poetry.group.dev.dependencies] @@ -122,26 +117,29 @@ av = "*" azure-identity = "*" azure-storage-blob = "*" breathe = "*" +control = "*" coverage = "*" dictdiffer = "*" ft4222 = "*" hypothesis = "~6.47" inputs = "*" +Jinja2 = "*" lru-dict = "*" -markdown-it-py = "*" matplotlib = "*" -metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" natsort = "*" opencv-python-headless = "*" -pandas = "*" parameterized = "^0.8" pprofile = "*" +polyline = "*" pre-commit = "*" +pyautogui = "*" +pyopencl = "*" pygame = "*" -pympler = "*" +pywinctl = "*" pyprof2calltree = "*" pytest = "*" pytest-cov = "*" @@ -149,31 +147,20 @@ pytest-cpp = "*" pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" -pytest-timeouts = "*" -pytest-random-order = "*" +pytest-randomly = "*" ruff = "*" -scipy = "*" sphinx = "*" sphinx-rtd-theme = "*" sphinx-sitemap = "*" tabulate = "*" tenacity = "*" -types-atomicwrites = "*" -types-certifi = "*" -types-pycurl = "*" -types-PyYAML = "*" types-requests = "*" types-tabulate = "*" +tqdm = "*" # this is only pinned since 5.15.11 is broken pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux -[tool.poetry.group.carla] -optional = true - -[tool.poetry.group.carla.dependencies] -carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" } - [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" @@ -181,15 +168,16 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] +ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 target-version="py311" exclude = [ "panda", "opendbc", - "laika_repo", "rednose_repo", "tinygrad_repo", + "teleoprtc", + "teleoprtc_repo", "third_party", ] flake8-implicit-str-concat.allow-multiline=false @@ -199,3 +187,6 @@ flake8-implicit-str-concat.allow-multiline=false "system".msg = "Use openpilot.system" "third_party".msg = "Use openpilot.third_party" "tools".msg = "Use openpilot.tools" + +[tool.coverage.run] +concurrency = ["multiprocessing", "thread"] diff --git a/rednose_repo b/rednose_repo index 8658bed296..18b91458fd 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 8658bed29686b2ddae191fd18302986c85542431 +Subproject commit 18b91458fd396530d43e1a2fe9a3ac9055fa9109 diff --git a/release/build_devel.sh b/release/build_devel.sh index ca04c56f1e..8b6816e423 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -22,6 +22,7 @@ pre-commit uninstall || true echo "[-] bringing master-ci and devel in sync T=$SECONDS" cd $TARGET_DIR + git fetch --depth 1 origin master-ci git fetch --depth 1 origin devel diff --git a/release/build_release.sh b/release/build_release.sh index b713876cd6..fc15cf6cdf 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -102,11 +102,4 @@ if [ ! -z "$RELEASE_BRANCH" ]; then git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH fi -if [ ! -z "$DASHCAM_BRANCH" ]; then - # Create dashcam - git rm selfdrive/car/*/carcontroller.py - git commit -m "create dashcam release from release" - git push -f origin $RELEASE_BRANCH:$DASHCAM_BRANCH -fi - echo "[-] done T=$SECONDS" diff --git a/release/files_common b/release/files_common index 6dda11e851..9f969d646d 100644 --- a/release/files_common +++ b/release/files_common @@ -21,27 +21,8 @@ openpilot/** common/.gitignore common/__init__.py -common/conversions.py -common/gpio.py -common/realtime.py -common/timeout.py -common/ffi_wrapper.py -common/file_helpers.py -common/logging_extra.py -common/numpy_fast.py -common/params.py -common/params_pyx.pyx -common/profiler.py -common/basedir.py -common/dict_helpers.py -common/filter_simple.py -common/stat_live.py -common/spinner.py -common/text_window.py -common/time.py - -common/kalman/.gitignore -common/kalman/* +common/*.py +common/*.pyx common/transformations/__init__.py common/transformations/camera.py @@ -76,7 +57,6 @@ selfdrive/statsd.py system/logmessaged.py system/micd.py -system/swaglog.py system/version.py selfdrive/athena/__init__.py @@ -115,9 +95,7 @@ selfdrive/car/ecu_addrs.py selfdrive/car/isotp_parallel_query.py selfdrive/car/tests/__init__.py selfdrive/car/tests/test_car_interfaces.py -selfdrive/car/torque_data/params.yaml -selfdrive/car/torque_data/substitute.yaml -selfdrive/car/torque_data/override.yaml +selfdrive/car/torque_data/*.toml selfdrive/car/body/*.py selfdrive/car/chrysler/*.py @@ -137,6 +115,7 @@ selfdrive/debug/can_printer.py selfdrive/debug/check_freq.py selfdrive/debug/dump.py selfdrive/debug/filter_log_message.py +selfdrive/debug/format_fingerprints.py selfdrive/debug/get_fingerprint.py selfdrive/debug/uiview.py @@ -149,31 +128,8 @@ selfdrive/gpxd/gpxd.py common/SConscript common/version.h -common/prefix.h -common/swaglog.h -common/swaglog.cc -common/statlog.h -common/statlog.cc -common/util.cc -common/util.h -common/queue.h -common/clutil.cc -common/clutil.h -common/params.h -common/params.cc -common/ratekeeper.cc -common/ratekeeper.h -common/watchdog.cc -common/watchdog.h - -common/modeldata.h -common/mat.h -common/timing.h - -common/gpio.cc -common/gpio.h -common/i2c.cc -common/i2c.h +common/*.h +common/*.cc selfdrive/controls/__init__.py selfdrive/controls/controlsd.py @@ -189,7 +145,6 @@ selfdrive/controls/lib/latcontrol_angle.py selfdrive/controls/lib/latcontrol_torque.py selfdrive/controls/lib/latcontrol_pid.py selfdrive/controls/lib/latcontrol.py -selfdrive/controls/lib/lateral_planner.py selfdrive/controls/lib/longcontrol.py selfdrive/controls/lib/longitudinal_planner.py selfdrive/controls/lib/pid.py @@ -201,6 +156,7 @@ selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* system/__init__.py +system/*.py system/hardware/__init__.py system/hardware/base.h @@ -217,6 +173,7 @@ system/hardware/tici/agnos.json system/hardware/tici/amplifier.py system/hardware/tici/updater system/hardware/tici/iwlist.py +system/hardware/tici/esim.nmconnection system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py @@ -236,12 +193,10 @@ selfdrive/locationd/paramsd.py selfdrive/locationd/models/__init__.py selfdrive/locationd/models/.gitignore selfdrive/locationd/models/car_kf.py -selfdrive/locationd/models/gnss_kf.py selfdrive/locationd/models/live_kf.py selfdrive/locationd/models/live_kf.h selfdrive/locationd/models/live_kf.cc selfdrive/locationd/models/constants.py -selfdrive/locationd/models/gnss_helpers.py selfdrive/locationd/torqued.py selfdrive/locationd/calibrationd.py @@ -286,6 +241,12 @@ system/sensord/sensors/*.cc system/sensord/sensors/*.h system/sensord/pigeond.py +system/webrtc/__init__.py +system/webrtc/webrtcd.py +system/webrtc/schema.py +system/webrtc/device/audio.py +system/webrtc/device/video.py + selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py selfdrive/thermald/fan_controller.py @@ -301,13 +262,9 @@ selfdrive/ui/.gitignore selfdrive/ui/SConscript selfdrive/ui/*.cc selfdrive/ui/*.h -selfdrive/ui/ui selfdrive/ui/text selfdrive/ui/spinner -selfdrive/ui/soundd/*.cc -selfdrive/ui/soundd/*.h -selfdrive/ui/soundd/soundd -selfdrive/ui/soundd/.gitignore +selfdrive/ui/soundd.py selfdrive/ui/translations/*.ts selfdrive/ui/translations/languages.json selfdrive/ui/update_translations.py @@ -337,12 +294,8 @@ system/camerad/main.cc system/camerad/snapshot/* system/camerad/cameras/camera_common.h system/camerad/cameras/camera_common.cc -system/camerad/cameras/sensor2_i2c.h - -system/camerad/imgproc/conv.cl -system/camerad/imgproc/pool.cl -system/camerad/imgproc/utils.cc -system/camerad/imgproc/utils.h +system/camerad/sensors/*.h +system/camerad/sensors/*.cc selfdrive/manager/__init__.py selfdrive/manager/build.py @@ -448,9 +401,11 @@ third_party/qt5/larch64/bin/** scripts/update_now.sh scripts/stop_updater.sh +teleoprtc/** + +rednose_repo/site_scons/site_tools/rednose_filter.py rednose/.gitignore rednose/** -laika/** body/.gitignore body/board/SConscript diff --git a/release/files_tici b/release/files_tici index ab49de34f6..5d65ef458a 100644 --- a/release/files_tici +++ b/release/files_tici @@ -4,15 +4,13 @@ third_party/snpe/aarch64-ubuntu-gcc7.5/* third_party/mapbox-gl-native-qt/include/* third_party/acados/larch64/** -system/timezoned.py - system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -system/sensord/rawgps/* +system/qcomgpsd/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/release/verify.sh b/release/verify.sh index 56f21183f1..ec5266bd81 100755 --- a/release/verify.sh +++ b/release/verify.sh @@ -6,7 +6,7 @@ RED="\033[0;31m" GREEN="\033[0;32m" CLEAR="\033[0m" -BRANCHES="devel dashcam3 release3" +BRANCHES="devel release3" for b in $BRANCHES; do if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then printf "%-10s $GREEN ok $CLEAR\n" "$b" diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh index 65805b8485..74f765391a 100755 --- a/scripts/apply-pr.sh +++ b/scripts/apply-pr.sh @@ -8,4 +8,4 @@ fi BASE="https://github.com/commaai/openpilot/pull/" PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" -curl -L $BASE/$PR_NUM.patch | git apply +curl -L $BASE/$PR_NUM.patch | git apply -3 diff --git a/scripts/build_small.sh b/scripts/build_small.sh new file mode 100755 index 0000000000..90f55373e2 --- /dev/null +++ b/scripts/build_small.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -ex + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +# git clone --mirror +SRC=/tmp/openpilot.git/ +OUT=/tmp/smallpilot/ + +echo "starting size $(du -hs .git/)" + +rm -rf $OUT + +cd $SRC +git remote update + +# copy contents +#rsync -a --exclude='.git/' $DIR $OUT + +cp -r $SRC $OUT + +cd $OUT + +# remove all tags +git tag -l | xargs git tag -d + +# remove non-master branches +BRANCHES="release2 release3 devel master-ci nightly" +for branch in $BRANCHES; do + git branch -D $branch + git branch -D ${branch}-staging || true +done + +#git gc +git reflog expire --expire=now --all +git gc --prune=now +git gc --aggressive --prune=now +echo "new one is $(du -hs .)" diff --git a/scripts/checkout-pr.sh b/scripts/checkout-pr.sh new file mode 100755 index 0000000000..43f658beff --- /dev/null +++ b/scripts/checkout-pr.sh @@ -0,0 +1,16 @@ +#!/bin/bash +set -e + +if [ $# -eq 0 ]; then + echo "usage: $0 " + exit 1 +fi + +BASE="https://github.com/commaai/openpilot/pull/" +PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" +BRANCH=tmp-pr${PR_NUM} + +git branch -D -f $BRANCH || true +git fetch -u -f origin pull/$PR_NUM/head:$BRANCH +git switch $BRANCH +git reset --hard FETCH_HEAD diff --git a/scripts/code_stats.py b/scripts/code_stats.py index 59b5724a68..3189cd7cc1 100755 --- a/scripts/code_stats.py +++ b/scripts/code_stats.py @@ -13,7 +13,7 @@ for d in ["cereal", "common", "scripts", "selfdrive", "tools"]: if f.endswith(".py"): pyf.append(os.path.join(root, f)) -imps = set() +imps: set[str] = set() class Analyzer(ast.NodeVisitor): def visit_Import(self, node): diff --git a/scripts/retry.sh b/scripts/retry.sh new file mode 100755 index 0000000000..4861748e55 --- /dev/null +++ b/scripts/retry.sh @@ -0,0 +1,27 @@ +#!/bin/bash + +function fail { + echo $1 >&2 + exit 1 +} + +function retry { + local n=1 + local max=3 # 3 retries before failure + local delay=5 # delay between retries, 5 seconds + while true; do + echo "Running command '$@' with retry, attempt $n/$max" + "$@" && break || { + if [[ $n -lt $max ]]; then + ((n++)) + sleep $delay; + else + fail "The command has failed after $n attempts." + fi + } + done +} + +if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then + retry "$@" +fi diff --git a/selfdrive/assets/body/awake.gif b/selfdrive/assets/body/awake.gif index 7ec67055dd..cc22fd9b12 100644 Binary files a/selfdrive/assets/body/awake.gif and b/selfdrive/assets/body/awake.gif differ diff --git a/selfdrive/assets/body/sleep.gif b/selfdrive/assets/body/sleep.gif index 469cc80338..fcc0b4ed50 100644 Binary files a/selfdrive/assets/body/sleep.gif and b/selfdrive/assets/body/sleep.gif differ diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg index b1e6d3b867..33f68f02bc 100644 --- a/selfdrive/assets/icons/close.svg +++ b/selfdrive/assets/icons/close.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:84c6b23bd3245954b86f80278511186fca4ddfa70d87c8b25e8f9fb76f9af758 +size 379 diff --git a/selfdrive/assets/images/button_flag.png b/selfdrive/assets/images/button_flag.png index cac4db6d4c..745c8d576b 100644 Binary files a/selfdrive/assets/images/button_flag.png and b/selfdrive/assets/images/button_flag.png differ diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png index 9f52faf9e2..dd3f97f44b 100644 Binary files a/selfdrive/assets/images/button_home.png and b/selfdrive/assets/images/button_home.png differ diff --git a/selfdrive/assets/images/button_settings.png b/selfdrive/assets/images/button_settings.png index e04262b887..4bbfe581e6 100644 Binary files a/selfdrive/assets/images/button_settings.png and b/selfdrive/assets/images/button_settings.png differ diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg index 9320269bde..f3a8db44b7 100644 --- a/selfdrive/assets/images/triangle.svg +++ b/selfdrive/assets/images/triangle.svg @@ -1,56 +1,3 @@ - - - - - - image/svg+xml - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:aaf9a1967365f2c641bf7b54a409e32842cee0bfded7ebb01b1a95c4ac9f0154 +size 2163 diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png index 3f09a35a79..570ba4ee82 100644 Binary files a/selfdrive/assets/img_chffr_wheel.png and b/selfdrive/assets/img_chffr_wheel.png differ diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg index 27c37395b2..1852ba947a 100644 --- a/selfdrive/assets/img_circled_check.svg +++ b/selfdrive/assets/img_circled_check.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:c5687faf4cb22bece0405893671651eb13e8eda393987610f493ee5e05eac61d +size 439 diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/img_circled_slash.svg index b10a3938d5..6c77030d15 100644 --- a/selfdrive/assets/img_circled_slash.svg +++ b/selfdrive/assets/img_circled_slash.svg @@ -1,4 +1,3 @@ - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:fbec38447732a443c304042c3c3d362c94e11e794e7cc7dc86aa1c7bba16c6b6 +size 328 diff --git a/selfdrive/assets/img_continue_triangle.svg 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a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg index 95cb0e283e..b9392dfe7c 100644 --- a/selfdrive/assets/offroad/icon_wifi_uploading.svg +++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg @@ -1,6 +1,3 @@ - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:bedd579f56c65fffe2ad571f92843b6d103826fe173f8f5b58fc2200d2ad8850 +size 1663 diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav index ba583c41f3..f3b5f21a27 100644 Binary files a/selfdrive/assets/sounds/disengage.wav and b/selfdrive/assets/sounds/disengage.wav differ diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav index 41e9b2d588..fc24a23c2f 100644 Binary files a/selfdrive/assets/sounds/engage.wav and b/selfdrive/assets/sounds/engage.wav differ diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav index 1ae77051eb..e482c85a62 100644 Binary files a/selfdrive/assets/sounds/prompt.wav and b/selfdrive/assets/sounds/prompt.wav differ diff --git a/selfdrive/assets/sounds/prompt_distracted.wav b/selfdrive/assets/sounds/prompt_distracted.wav index c3d4475caa..750d580f04 100644 Binary files a/selfdrive/assets/sounds/prompt_distracted.wav and b/selfdrive/assets/sounds/prompt_distracted.wav differ diff --git a/selfdrive/assets/sounds/refuse.wav b/selfdrive/assets/sounds/refuse.wav index 0e80f7d127..1e0c47697d 100644 Binary files a/selfdrive/assets/sounds/refuse.wav and b/selfdrive/assets/sounds/refuse.wav differ diff --git a/selfdrive/assets/sounds/warning_immediate.wav b/selfdrive/assets/sounds/warning_immediate.wav index 9f6f672e28..fcbfed79ed 100644 Binary files a/selfdrive/assets/sounds/warning_immediate.wav and b/selfdrive/assets/sounds/warning_immediate.wav differ diff --git a/selfdrive/assets/sounds/warning_soft.wav b/selfdrive/assets/sounds/warning_soft.wav index 261c7e1376..7db30303d6 100644 Binary files a/selfdrive/assets/sounds/warning_soft.wav and b/selfdrive/assets/sounds/warning_soft.wav differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index c93b434677..0a5c9b7999 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -11,7 +11,6 @@ import queue import random import select import socket -import subprocess import sys import tempfile import threading @@ -31,21 +30,16 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.api import Api -from openpilot.common.basedir import PERSIST from openpilot.common.file_helpers import CallbackReader from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity -from openpilot.system.hardware import HARDWARE, PC, AGNOS +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.loggerd.xattr_cache import getxattr, setxattr -from openpilot.selfdrive.statsd import STATS_DIR -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version from openpilot.system.hardware.hw import Paths -# TODO: use socket constant when mypy recognizes this as a valid attribute -TCP_USER_TIMEOUT = 18 - ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) LOCAL_PORT_WHITELIST = {8022} @@ -85,7 +79,7 @@ class UploadItem: url: str headers: Dict[str, str] created_at: int - id: Optional[str] # noqa: A003 (to match the response from the remote server) + id: Optional[str] retry_count: int = 0 current: bool = False progress: float = 0 @@ -365,22 +359,6 @@ def listDataDirectory(prefix='') -> List[str]: return scan_dir(Paths.log_root(), prefix) -@dispatcher.add_method -def reboot() -> Dict[str, int]: - sock = messaging.sub_sock("deviceState", timeout=1000) - ret = messaging.recv_one(sock) - if ret is None or ret.deviceState.started: - raise Exception("Reboot unavailable") - - def do_reboot() -> None: - time.sleep(2) - HARDWARE.reboot() - - threading.Thread(target=do_reboot).start() - - return {"success": 1} - - @dispatcher.add_method def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse: # this is because mypy doesn't understand that the decorator doesn't change the return type @@ -454,24 +432,22 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]] cancelled_uploads.update(cancelled_ids) return {"success": 1} - @dispatcher.add_method -def primeActivated(activated: bool) -> Dict[str, int]: +def setRouteViewed(route: str) -> Dict[str, Union[int, str]]: + # maintain a list of the last 10 routes viewed in connect + params = Params() + + r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + routes = [] if r is None else r.split(",") + routes.append(route) + + # remove duplicates + routes = list(dict.fromkeys(routes)) + + params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:])) return {"success": 1} -@dispatcher.add_method -def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]: - if not AGNOS: - return {"success": 0, "error": "only supported on AGNOS"} - - try: - HARDWARE.set_bandwidth_limit(upload_speed_kbps, download_speed_kbps) - return {"success": 1} - except subprocess.CalledProcessError as e: - return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr} - - def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: try: if local_port not in LOCAL_PORT_WHITELIST: @@ -507,10 +483,10 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local @dispatcher.add_method def getPublicKey() -> Optional[str]: - if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'): + if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'): return None - with open(PERSIST + '/comma/id_rsa.pub') as f: + with open(Paths.persist_root() + '/comma/id_rsa.pub') as f: return f.read() @@ -646,6 +622,7 @@ def log_handler(end_event: threading.Event) -> None: def stat_handler(end_event: threading.Event) -> None: + STATS_DIR = Paths.stats_root() while not end_event.is_set(): last_scan = 0. curr_scan = time.monotonic() @@ -675,6 +652,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() + if isinstance(data, str): + data = data.encode("utf-8") local_sock.sendall(data) except WebSocketTimeoutException: pass @@ -766,10 +745,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: if onroad != onroad_prev: onroad_prev = onroad - sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) + if sock is not None: + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) if end_event.wait(5): break diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 877d8aca03..2a4a12e559 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -5,7 +5,7 @@ from multiprocessing import Process from openpilot.common.params import Params from openpilot.selfdrive.manager.process import launcher -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 0ab69371c2..7db94c28c8 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -9,10 +9,10 @@ from datetime import datetime, timedelta from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.spinner import Spinner -from openpilot.common.basedir import PERSIST from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC -from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" @@ -25,14 +25,13 @@ def is_registered_device() -> bool: def register(show_spinner=False) -> Optional[str]: params = Params() - params.put("SubscriberInfo", HARDWARE.get_subscriber_info()) IMEI = params.get("IMEI", encoding='utf8') HardwareSerial = params.get("HardwareSerial", encoding='utf8') dongle_id: Optional[str] = params.get("DongleId", encoding='utf8') needs_registration = None in (IMEI, HardwareSerial, dongle_id) - pubkey = Path(PERSIST+"/comma/id_rsa.pub") + pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub") if not pubkey.is_file(): dongle_id = UNREGISTERED_DONGLE_ID cloudlog.warning(f"missing public key: {pubkey}") @@ -42,7 +41,7 @@ def register(show_spinner=False) -> Optional[str]: spinner.update("registering device") # Create registration token, in the future, this key will make JWTs directly - with open(PERSIST+"/comma/id_rsa.pub") as f1, open(PERSIST+"/comma/id_rsa") as f2: + with open(Paths.persist_root()+"/comma/id_rsa.pub") as f1, open(Paths.persist_root()+"/comma/id_rsa") as f2: public_key = f1.read() private_key = f2.read() diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 34edeb2de5..87202665aa 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -1,12 +1,7 @@ import http.server -import random -import requests +import threading import socket -import time from functools import wraps -from multiprocessing import Process - -from openpilot.common.timeout import Timeout class MockResponse: @@ -49,35 +44,6 @@ class MockApi(): return "fake-token" -class MockParams(): - default_params = { - "DongleId": b"0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 - "GithubUsername": b"commaci", - "GsmMetered": True, - "AthenadUploadQueue": '[]', - } - params = default_params.copy() - - @staticmethod - def restore_defaults(): - MockParams.params = MockParams.default_params.copy() - - def get_bool(self, k): - return bool(MockParams.params.get(k)) - - def get(self, k, encoding=None): - ret = MockParams.params.get(k) - if ret is not None and encoding is not None: - ret = ret.decode(encoding) - return ret - - def put(self, k, v): - if k not in MockParams.params: - raise KeyError(f"key: {k} not in MockParams") - MockParams.params[k] = v - - class MockWebsocket(): def __init__(self, recv_queue, send_queue): self.recv_queue = recv_queue @@ -101,30 +67,23 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler): self.end_headers() -def with_http_server(func): +def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None): @wraps(func) def inner(*args, **kwargs): - with Timeout(2, 'HTTP Server did not start'): - p = None - host = '127.0.0.1' - while p is None or p.exitcode is not None: - port = random.randrange(40000, 50000) - p = Process(target=http.server.test, - kwargs={'port': port, 'HandlerClass': HTTPRequestHandler, 'bind': host}) - p.start() - time.sleep(0.1) + host = '127.0.0.1' + server = http.server.HTTPServer((host, 0), handler) + port = server.server_port + t = threading.Thread(target=server.serve_forever) + t.start() - with Timeout(2, 'HTTP Server seeding failed'): - while True: - try: - requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) - break - except requests.exceptions.ConnectionError: - time.sleep(0.1) + if setup is not None: + setup(host, port) try: return func(*args, f'http://{host}:{port}', **kwargs) finally: - p.terminate() + server.shutdown() + server.server_close() + t.join() return inner diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index e81753a6a0..9c7582a260 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -1,5 +1,7 @@ #!/usr/bin/env python3 +from functools import partial import json +import multiprocessing import os import requests import shutil @@ -12,29 +14,54 @@ from datetime import datetime, timedelta from parameterized import parameterized from typing import Optional -from multiprocessing import Process -from pympler.tracker import SummaryTracker from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException +from cereal import messaging + +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server -from cereal import messaging +from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server from openpilot.system.hardware.hw import Paths +from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler + + +def seed_athena_server(host, port): + with Timeout(2, 'HTTP Server seeding failed'): + while True: + try: + requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) + break + except requests.exceptions.ConnectionError: + time.sleep(0.1) + + +with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server) class TestAthenadMethods(unittest.TestCase): @classmethod def setUpClass(cls): cls.SOCKET_PORT = 45454 - athenad.Params = MockParams athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} def setUp(self): - MockParams.restore_defaults() + self.default_params = { + "DongleId": "0000000000000000", + "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubUsername": b"commaci", + "AthenadUploadQueue": '[]', + } + + self.params = Params() + for k, v in self.default_params.items(): + self.params.put(k, v) + self.params.put_bool("GsmMetered", True) + athenad.upload_queue = queue.Queue() athenad.cur_upload_items.clear() athenad.cancelled_uploads.clear() @@ -46,8 +73,6 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) - dispatcher["listUploadQueue"]() # ensure queue is empty at start - # *** test helpers *** @staticmethod @@ -75,24 +100,25 @@ class TestAthenadMethods(unittest.TestCase): with self.assertRaises(TimeoutError) as _: dispatcher["getMessage"]("controlsState") - def send_deviceState(): - messaging.context = messaging.Context() - pub_sock = messaging.pub_sock("deviceState") - start = time.time() + end_event = multiprocessing.Event() - while time.time() - start < 1: + pub_sock = messaging.pub_sock("deviceState") + + def send_deviceState(): + while not end_event.is_set(): msg = messaging.new_message('deviceState') pub_sock.send(msg.to_bytes()) time.sleep(0.01) - p = Process(target=send_deviceState) + p = multiprocessing.Process(target=send_deviceState) p.start() time.sleep(0.1) try: deviceState = dispatcher["getMessage"]("deviceState") assert deviceState['deviceState'] finally: - p.terminate() + end_event.set() + p.join() def test_listDataDirectory(self): route = '2021-03-29--13-32-47' @@ -140,16 +166,11 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) @parameterized.expand([(True,), (False,)]) - @with_http_server + @with_mock_athena def test_do_upload(self, compress, host): # random bytes to ensure rather large object post-compression fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) - # warm up object tracker - tracker = SummaryTracker() - for _ in range(5): - tracker.diff() - upload_fn = fn + ('.bz2' if compress else '') item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') with self.assertRaises(requests.exceptions.ConnectionError): @@ -159,12 +180,7 @@ class TestAthenadMethods(unittest.TestCase): resp = athenad._do_upload(item) self.assertEqual(resp.status_code, 201) - # assert memory cleaned up - for _type, num_objects, total_size in tracker.diff(): - with self.subTest(_type=_type): - self.assertLess(total_size / 1024, 10, f'Object {_type} ({num_objects=}) grew larger than 10 kB while uploading file') - - @with_http_server + @with_mock_athena def test_uploadFileToUrl(self, host): fn = self._create_file('qlog.bz2') @@ -175,7 +191,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) - @with_http_server + @with_mock_athena def test_uploadFileToUrl_duplicate(self, host): self._create_file('qlog.bz2') @@ -187,12 +203,12 @@ class TestAthenadMethods(unittest.TestCase): resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) self.assertEqual(resp, {'enqueued': 0, 'items': []}) - @with_http_server + @with_mock_athena def test_uploadFileToUrl_does_not_exist(self, host): not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) - @with_http_server + @with_mock_athena def test_upload_handler(self, host): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -211,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase): finally: end_event.set() - @with_http_server + @with_mock_athena @mock.patch('requests.put') def test_upload_handler_retry(self, host, mock_put): for status, retry in ((500, True), (412, False)): @@ -389,11 +405,11 @@ class TestAthenadMethods(unittest.TestCase): def test_getSshAuthorizedKeys(self): keys = dispatcher["getSshAuthorizedKeys"]() - self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8')) + self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8')) def test_getGithubUsername(self): keys = dispatcher["getGithubUsername"]() - self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8')) + self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8')) def test_getVersion(self): resp = dispatcher["getVersion"]() diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index 3ec7cb115c..5231b0475f 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -3,8 +3,8 @@ import subprocess import threading import time import unittest -from typing import Callable, cast, Optional -from unittest.mock import MagicMock +from typing import cast, Optional +from unittest import mock from openpilot.common.params import Params from openpilot.common.timeout import Timeout @@ -27,8 +27,6 @@ class TestAthenadPing(unittest.TestCase): athenad: threading.Thread exit_event: threading.Event - _create_connection: Callable - def _get_ping_time(self) -> Optional[str]: return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8")) @@ -38,38 +36,32 @@ class TestAthenadPing(unittest.TestCase): def _received_ping(self) -> bool: return self._get_ping_time() is not None - @classmethod - def setUpClass(cls) -> None: - cls.params = Params() - cls.dongle_id = cls.params.get("DongleId", encoding="utf-8") - cls._create_connection = athenad.create_connection - athenad.create_connection = MagicMock(wraps=cls._create_connection) - @classmethod def tearDownClass(cls) -> None: wifi_radio(True) - athenad.create_connection = cls._create_connection def setUp(self) -> None: + self.params = Params() + self.dongle_id = self.params.get("DongleId", encoding="utf-8") + wifi_radio(True) self._clear_ping_time() self.exit_event = threading.Event() self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,)) - athenad.create_connection.reset_mock() - def tearDown(self) -> None: if self.athenad.is_alive(): self.exit_event.set() self.athenad.join() - def assertTimeout(self, reconnect_time: float) -> None: + @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True) + def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None: self.athenad.start() time.sleep(1) - athenad.create_connection.assert_called_once() - athenad.create_connection.reset_mock() + mock_create_connection.assert_called_once() + mock_create_connection.reset_mock() # check normal behaviour with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"): @@ -77,7 +69,7 @@ class TestAthenadPing(unittest.TestCase): time.sleep(0.1) print("ping received") - athenad.create_connection.assert_not_called() + mock_create_connection.assert_not_called() # websocket should attempt reconnect after short time with self.subTest("LTE: attempt reconnect"): @@ -85,7 +77,7 @@ class TestAthenadPing(unittest.TestCase): print("waiting for reconnect attempt") start_time = time.monotonic() with Timeout(reconnect_time, "no reconnect attempt"): - while not athenad.create_connection.called: + while not mock_create_connection.called: time.sleep(0.1) print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s") diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py index 195fca2df9..e7ad63a370 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/selfdrive/athena/tests/test_registration.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 import json -import os -import tempfile import unittest from Crypto.PublicKey import RSA from pathlib import Path @@ -10,6 +8,7 @@ from unittest import mock from openpilot.common.params import Params from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from openpilot.selfdrive.athena.tests.helpers import MockResponse +from openpilot.system.hardware.hw import Paths class TestRegistration(unittest.TestCase): @@ -19,16 +18,11 @@ class TestRegistration(unittest.TestCase): self.params = Params() self.params.clear_all() - self.persist = tempfile.TemporaryDirectory() - os.mkdir(os.path.join(self.persist.name, "comma")) - self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa")) - self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub")) - self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name) - self.persist_patcher.start() + persist_dir = Path(Paths.persist_root()) / "comma" + persist_dir.mkdir(parents=True, exist_ok=True) - def tearDown(self): - self.persist_patcher.stop() - self.persist.cleanup() + self.priv_key = persist_dir / "id_rsa" + self.pub_key = persist_dir / "id_rsa.pub" def _generate_keys(self): self.pub_key.touch() diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0ec33c1a27..9e2a960055 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -1,11 +1,5 @@ #include "selfdrive/boardd/boardd.h" -#include -#include -#include -#include -#include - #include #include #include @@ -13,10 +7,6 @@ #include #include #include -#include -#include -#include -#include #include #include #include @@ -361,7 +351,6 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setIgnitionLine(health.ignition_line_pkt); ps.setIgnitionCan(health.ignition_can_pkt); ps.setControlsAllowed(health.controls_allowed_pkt); - ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt); ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); ps.setGmlanSendErrs(health.gmlan_send_errs_pkt); diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc index bc4e5f5867..e2c78abea2 100644 --- a/selfdrive/boardd/panda_comms.cc +++ b/selfdrive/boardd/panda_comms.cc @@ -2,33 +2,33 @@ #include #include +#include #include "common/swaglog.h" -static int init_usb_ctx(libusb_context **context) { - assert(context != nullptr); - - int err = libusb_init(context); +static libusb_context *init_usb_ctx() { + libusb_context *context = nullptr; + int err = libusb_init(&context); if (err != 0) { LOGE("libusb initialization error"); - return err; + return nullptr; } #if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); + libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); #else - libusb_set_debug(*context, 3); + libusb_set_debug(context, 3); #endif - - return err; + return context; } PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { // init libusb ssize_t num_devices; libusb_device **dev_list = NULL; - int err = init_usb_ctx(&ctx); - if (err != 0) { goto fail; } + int err = 0; + ctx = init_usb_ctx(); + if (!ctx) { goto fail; } // connect by serial num_devices = libusb_get_device_list(ctx, &dev_list); @@ -94,16 +94,14 @@ void PandaUsbHandle::cleanup() { } std::vector PandaUsbHandle::list() { + static std::unique_ptr context(init_usb_ctx(), libusb_exit); // init libusb ssize_t num_devices; - libusb_context *context = NULL; libusb_device **dev_list = NULL; std::vector serials; + if (!context) { return serials; } - int err = init_usb_ctx(&context); - if (err != 0) { return serials; } - - num_devices = libusb_get_device_list(context, &dev_list); + num_devices = libusb_get_device_list(context.get(), &dev_list); if (num_devices < 0) { LOGE("libusb can't get device list"); goto finish; @@ -130,9 +128,6 @@ finish: if (dev_list != NULL) { libusb_free_device_list(dev_list, 1); } - if (context) { - libusb_exit(context); - } return serials; } diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 14d272965d..672678778b 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 4036766faa..21cc0b5f37 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -116,4 +116,4 @@ class TestPandad(unittest.TestCase): if __name__ == "__main__": - unittest.main() \ No newline at end of file + unittest.main() diff --git a/selfdrive/car/README.MD b/selfdrive/car/README.MD deleted file mode 100644 index de4db0ee50..0000000000 --- a/selfdrive/car/README.MD +++ /dev/null @@ -1,11 +0,0 @@ -## Port structure -##### interface.py -Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) -##### carcontroller.py -Builds CAN messages to send to car -##### carstate.py -Reads CAN from car and builds openpilot CarState message -##### values.py -Fingerprints and absolute limits -##### radar_interface.py -Radar interface diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md new file mode 100644 index 0000000000..2c49cf2051 --- /dev/null +++ b/selfdrive/car/README.md @@ -0,0 +1,19 @@ +## Car port structure + +### interface.py +Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) + +### fingerprints.py +Fingerprints for matching to a specific car + +### carcontroller.py +Builds CAN messages to send to car + +##### carstate.py +Reads CAN from car and builds openpilot CarState message + +##### values.py +Limits for actuation, general constants for cars, and supported car documentation + +##### radar_interface.py +Interface for parsing radar points from the car diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py new file mode 100644 index 0000000000..6efaabc137 --- /dev/null +++ b/selfdrive/car/body/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.body.values import CAR + +Ecu = car.CarParams.Ecu + +# debug ecu fw version is the git hash of the firmware + + +FINGERPRINTS = { + CAR.BODY: [{ + 513: 8, 516: 8, 514: 3, 515: 4 + }], +} + +FW_VERSIONS = { + CAR.BODY: { + (Ecu.engine, 0x720, None): [ + b'0.0.01', + b'0.3.00a', + b'02/27/2022', + ], + (Ecu.debug, 0x721, None): [ + b'166bd860', + b'dc780f85', + ], + }, +} diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index ce811ad221..33119bf0fd 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -30,11 +30,6 @@ CAR_INFO: Dict[str, CarInfo] = { CAR.BODY: CarInfo("comma body", package="All"), } -FINGERPRINTS = { - CAR.BODY: [{ - 513: 8, 516: 8, 514: 3, 515: 4, - }], -} FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -46,20 +41,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.BODY: { - (Ecu.engine, 0x720, None): [ - b'0.0.01', - b'02/27/2022', - b'0.3.00a', - ], - # git hash of the firmware used - (Ecu.debug, 0x721, None): [ - b'166bd860', - b'dc780f85', - ], - }, -} DBC = { CAR.BODY: dbc_dict('comma_body', None), diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 5c1234258e..c1a30094c4 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -10,7 +10,7 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog import cereal.messaging as messaging from openpilot.selfdrive.car import gen_empty_fingerprint @@ -207,3 +207,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): CP.fuzzyFingerprint = not exact_match return CarInterface(CP, CarController, CarState), CP + +def write_car_param(fingerprint="mock"): + params = Params() + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + params.put("CarParams", CP.to_bytes()) + +def get_demo_car_params(): + fingerprint="mock" + CarInterface, _, _ = interfaces[fingerprint] + CP = CarInterface.get_non_essential_params(fingerprint) + return CP diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py new file mode 100644 index 0000000000..47be008735 --- /dev/null +++ b/selfdrive/car/chrysler/fingerprints.py @@ -0,0 +1,579 @@ +from cereal import car +from openpilot.selfdrive.car.chrysler.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.PACIFICA_2017_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68239262AH', + b'68239262AI', + b'68239262AJ', + b'68239263AH', + b'68239263AJ', + ], + (Ecu.srs, 0x744, None): [ + b'68238840AH', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AC', + b'68288309AD', + ], + (Ecu.engine, 0x7e0, None): [ + b'68277480AV ', + b'68277480AX ', + b'68277480AZ ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190175BF', + b'05190175BH', + b'05190226AK', + ], + }, + CAR.PACIFICA_2018: { + (Ecu.combinationMeter, 0x742, None): [ + b'68227902AF', + b'68227902AG', + b'68227902AH', + b'68360252AC', + ], + (Ecu.srs, 0x744, None): [ + b'68211617AF', + b'68211617AG', + b'68358974AC', + b'68405937AA', + ], + (Ecu.abs, 0x747, None): [ + b'68222747AG', + b'68330876AA', + b'68330876AB', + b'68352227AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'68226356AF', + b'68226356AH', + b'68226356AI', + ], + (Ecu.eps, 0x75a, None): [ + b'68288891AE', + b'68378884AA', + b'68525338AA', + b'68525338AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68267018AO ', + b'68267020AJ ', + b'68340762AD ', + b'68340764AD ', + b'68352652AE ', + b'68366851AH ', + b'68366853AE ', + b'68372861AF ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68277370AJ', + b'68277370AM', + b'68277372AD', + b'68277372AN', + b'68277374AA', + b'68277374AB', + b'68277374AD', + b'68277374AN', + b'68367471AC', + b'68380571AB', + ], + }, + CAR.PACIFICA_2020: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405327AC', + b'68436233AB', + b'68436233AC', + b'68436250AE', + b'68529067AA', + b'68594993AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405565AB', + b'68405565AC', + b'68444299AC', + b'68480708AC', + b'68526663AB', + ], + (Ecu.abs, 0x747, None): [ + b'68397394AA', + b'68433480AB', + b'68453575AF', + b'68577676AA', + b'68593395AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AC', + b'68540436AD', + b'68598670AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68416742AA', + b'68460393AA', + b'68460393AB', + b'68494461AB', + b'68524936AA', + b'68524936AB', + b'68525338AB', + b'68594340AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68413871AD ', + b'68413871AE ', + b'68413871AH ', + b'68413871AI ', + b'68413873AI ', + b'68443120AE ', + b'68443123AC ', + b'68443125AC ', + b'68526752AD ', + b'68526752AE ', + b'68526754AE ', + b'68536264AE ', + b'68700306AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68414271AC', + b'68414271AD', + b'68414275AC', + b'68443154AB', + b'68443155AC', + b'68443158AB', + b'68501050AD', + b'68527221AB', + b'68527223AB', + b'68586231AD', + ], + }, + CAR.PACIFICA_2018_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68358439AE', + b'68358439AG', + ], + (Ecu.srs, 0x744, None): [ + b'68358990AC', + b'68405939AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AA', + ], + (Ecu.eps, 0x75a, None): [ + b'68288309AD', + b'68525339AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'68366580AI ', + b'68366580AK ', + b'68366580AM ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05190226AI', + b'05190226AK', + b'05190226AM', + ], + }, + CAR.PACIFICA_2019_HYBRID: { + (Ecu.combinationMeter, 0x742, None): [ + b'68405292AC', + b'68434956AC', + b'68434956AD', + b'68434960AE', + b'68434960AF', + b'68529064AB', + b'68594990AB', + ], + (Ecu.srs, 0x744, None): [ + b'68405567AB', + b'68405567AC', + b'68453076AD', + b'68480710AC', + b'68526665AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672758AB', + b'68417813AF', + b'68540436AA', + b'68540436AB', + b'68540436AC', + b'68540436AD', + b'68598670AB', + b'68598670AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68416741AA', + b'68460392AA', + b'68525339AA', + b'68525339AB', + b'68594341AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'68416680AE ', + b'68416680AF ', + b'68416680AG ', + b'68444228AD ', + b'68444228AE ', + b'68444228AF ', + b'68499122AD ', + b'68499122AE ', + b'68499122AF ', + b'68526772AD ', + b'68526772AH ', + b'68599493AC ', + ], + (Ecu.hybrid, 0x7e2, None): [ + b'05185116AF', + b'05185116AJ', + b'05185116AK', + b'05190240AP', + b'05190240AQ', + b'05190240AR', + b'05190265AG', + b'05190265AH', + b'05190289AE', + b'68540977AH', + b'68540977AK', + b'68597647AE', + ], + }, + CAR.JEEP_GRAND_CHEROKEE: { + (Ecu.combinationMeter, 0x742, None): [ + b'68302211AC', + b'68302212AD', + b'68302246AC', + b'68331511AC', + b'68331574AC', + b'68331687AC', + b'68340272AD', + ], + (Ecu.srs, 0x744, None): [ + b'68316742AB', + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68306178AD', + b'68336276AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672627AB', + b'68332015AB', + ], + (Ecu.eps, 0x75a, None): [ + b'68321644AB', + b'68321644AC', + b'68321646AC', + b'68321648AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035920AE ', + b'68284455AI ', + b'68284456AI ', + b'68284477AF ', + b'68325564AH ', + b'68325565AH ', + b'68325565AI ', + b'68325618AD ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035517AH', + b'68311218AC', + b'68311223AF', + b'68311223AG', + b'68361911AE', + b'68361911AF', + b'68361911AH', + b'68361916AD', + ], + }, + CAR.JEEP_GRAND_CHEROKEE_2019: { + (Ecu.combinationMeter, 0x742, None): [ + b'68402703AB', + b'68402708AB', + b'68402971AD', + b'68454144AD', + b'68454152AB', + b'68454156AB', + b'68516650AB', + b'68516651AB', + b'68516669AB', + b'68516671AB', + b'68516683AB', + ], + (Ecu.srs, 0x744, None): [ + b'68355363AB', + b'68355364AB', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AC', + b'68408639AD', + b'68499978AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672788AA', + b'68456722AC', + ], + (Ecu.eps, 0x75a, None): [ + b'68417279AA', + b'68417280AA', + b'68453431AA', + b'68453433AA', + b'68453435AA', + b'68499171AA', + b'68499171AB', + b'68501183AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035674AB ', + b'68412635AG ', + b'68422860AB', + b'68449435AE ', + b'68496223AA ', + b'68504959AD ', + b'68504960AD ', + b'68504993AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + b'68419672AC', + b'68423905AB', + b'68449258AC', + b'68495807AA', + b'68495807AB', + b'68503641AC', + b'68503664AC', + ], + }, + CAR.RAM_1500: { + (Ecu.combinationMeter, 0x742, None): [ + b'68294051AG', + b'68294051AI', + b'68294052AG', + b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434849AC', + b'68434858AC', + b'68434859AC', + b'68434860AC', + b'68453483AC', + b'68453487AD', + b'68453491AC', + b'68453499AD', + b'68453503AC', + b'68453505AC', + b'68453505AD', + b'68453511AC', + b'68453513AC', + b'68453513AD', + b'68453514AD', + b'68505633AB', + b'68510277AG', + b'68510280AG', + b'68510282AG', + b'68510282AH', + b'68510283AG', + b'68527346AE', + b'68527361AD', + b'68527375AD', + b'68527382AE', + b'68527387AE', + b'68631942AA', + ], + (Ecu.srs, 0x744, None): [ + b'68428609AB', + b'68441329AB', + b'68473844AB', + b'68490898AA', + b'68500728AA', + b'68615033AA', + b'68615034AA', + ], + (Ecu.abs, 0x747, None): [ + b'68292406AH', + b'68432418AB', + b'68432418AD', + b'68436004AD', + b'68436004AE', + b'68438454AC', + b'68438454AD', + b'68438456AE', + b'68438456AF', + b'68535469AB', + b'68535470AC', + b'68548900AB', + b'68586307AB', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672892AB', + b'04672932AB', + b'04672932AC', + b'22DTRHD_AA', + b'68320950AH', + b'68320950AI', + b'68320950AJ', + b'68320950AL', + b'68320950AM', + b'68454268AB', + b'68475160AE', + b'68475160AF', + b'68475160AG', + ], + (Ecu.eps, 0x75a, None): [ + b'21590101AA', + b'21590101AB', + b'68273275AF', + b'68273275AG', + b'68273275AH', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AA', + b'68466110AB', + b'68469901AA', + b'68469907AA', + b'68522583AA', + b'68522583AB', + b'68522584AA', + b'68522585AB', + b'68552788AA', + b'68552789AA', + b'68552790AA', + b'68552791AB', + b'68585106AB', + b'68585109AB', + b'68585112AB', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035699AG ', + b'05036065AE ', + b'05036066AE ', + b'05149591AD ', + b'05149591AE ', + b'05149592AE ', + b'05149600AD ', + b'05149846AA ', + b'05149848AA ', + b'05190341AD', + b'68378695AJ ', + b'68378696AJ ', + b'68378701AI ', + b'68378748AL ', + b'68378758AM ', + b'68448163AJ', + b'68448163AK', + b'68448163AL', + b'68448165AG', + b'68448165AK', + b'68455119AC ', + b'68455145AC ', + b'68455145AE ', + b'68455146AC ', + b'68500630AD', + b'68500630AE', + b'68502719AC ', + b'68502722AC ', + b'68502734AF ', + b'68502740AF ', + b'68502741AF ', + b'68502742AC ', + b'68539650AD', + b'68539650AF', + b'68586101AA ', + b'68586105AB ', + b'68629926AC ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035706AD', + b'05036069AA', + b'05149536AC', + b'05149537AC', + b'68360078AL', + b'68360080AM', + b'68360081AM', + b'68360085AJ', + b'68360085AL', + b'68384328AD', + b'68384332AD', + b'68445531AC', + b'68445533AB', + b'68445537AB', + b'68484466AC', + b'68484467AC', + b'68484471AC', + b'68502994AD', + b'68520867AE', + b'68520867AF', + b'68540431AB', + b'68629936AC', + ], + }, + CAR.RAM_HD: { + (Ecu.combinationMeter, 0x742, None): [ + b'68361606AH', + b'68437735AC', + b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', + b'68528791AF', + b'68628474AB', + ], + (Ecu.srs, 0x744, None): [ + b'68399794AC', + b'68428503AA', + b'68428505AA', + b'68428507AA', + ], + (Ecu.abs, 0x747, None): [ + b'68334977AH', + b'68455481AC', + b'68504022AA', + b'68504022AB', + b'68504022AC', + b'68530686AB', + b'68530686AC', + b'68544596AC', + b'68641704AA', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'04672895AB', + b'04672934AB', + b'56029827AG', + b'56029827AH', + b'68462657AE', + b'68484694AD', + b'68484694AE', + b'68615489AB', + ], + (Ecu.eps, 0x761, None): [ + b'68421036AC', + b'68507906AB', + b'68534023AC', + ], + (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370491AA', + b'52370931CT', + b'52401032AE', + b'52421132AF', + b'52421332AF', + b'68527616AD ', + b'M2370131MB', + b'M2421132MB', + ], + }, +} diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 6a89334e5b..8ace31856d 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate not in RAM_CARS: # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. - new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019) + new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019) new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw) if new_eps_platform or new_eps_firmware: ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value @@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00006 # Jeep - elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): + elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019): ret.mass = 1778 ret.wheelbase = 2.71 ret.steerRatio = 16.7 diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 0e2c5bd24e..a1d29e9520 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from enum import IntFlag, StrEnum from dataclasses import dataclass, field from typing import Dict, List, Optional, Union @@ -25,8 +24,8 @@ class CAR(StrEnum): PACIFICA_2020 = "CHRYSLER PACIFICA 2020" # Jeep - JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk - JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk + JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk + JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk # Ram RAM_1500 = "RAM 1500 5TH GEN" @@ -65,84 +64,23 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { - CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), - CAR.PACIFICA_2018_HYBRID: None, # same platforms + CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), + CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), - ChryslerCarInfo("Chrysler Pacifica 2021", package="All"), + ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), ], - CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), - CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), + CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), + CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], } -# Unique CAN messages: -# Only the hybrids have 270: 8 -# Only the gas have 55: 8, 416: 7 -# For 564, All 2017 have length 4, whereas 2018-19 have length 8. -# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8. -# For 560, All 2019 have length 8, whereas all 2017-18 have length 4. - -# Jeep Grand Cherokee unique messages: -# 2017 Trailhawk: 618: 8 -# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8. - -FINGERPRINTS = { - CAR.PACIFICA_2017_HYBRID: [{ - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8 - }], - CAR.PACIFICA_2018: [{ - 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 - }, - { - 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 - }], - CAR.PACIFICA_2020: [{ - 55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8 - }], - CAR.PACIFICA_2018_HYBRID: [{ - 68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8 - }, - # based on 9ae7821dc4e92455|2019-07-01--16-42-55 - { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 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3c7ce223e3571b54|2019-05-11--20-16-14 - { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 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942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - # Based on c88f65eeaee4003a|2022-08-04--15-37-16 - { - 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], - CAR.JEEP_CHEROKEE_2019: [{ - # Jeep Grand Cherokee 2019, including most 2020 models - 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], -} CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf132) @@ -179,203 +117,10 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], extra_ecus=[ - (Ecu.hybrid, 0x7e2, None), # manages transmission on hybrids - (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms ], ) -FW_VERSIONS = { - CAR.JEEP_CHEROKEE_2019: { - (Ecu.combinationMeter, 0x742, None): [ - b'68402971AD', - ], - (Ecu.srs, 0x744, None): [ - b'68355363AB', - ], - (Ecu.abs, 0x747, None): [ - b'68408639AD', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'68456722AC', - ], - (Ecu.eps, 0x75A, None): [ - b'68453431AA', - ], - (Ecu.engine, 0x7e0, None): [ - b'05035674AB ', - ], - (Ecu.transmission, 0x7e1, None): [ - b'05035707AA', - ], - }, - - CAR.RAM_1500: { - (Ecu.combinationMeter, 0x742, None): [ - b'68294051AG', - b'68294051AI', - b'68294052AG', - b'68294063AG', - b'68294063AH', - b'68294063AI', - b'68434846AC', - b'68434858AC', - b'68434860AC', - b'68453503AC', - b'68453505AC', - b'68453511AC', - b'68453513AD', - b'68453514AD', - b'68510280AG', - b'68510283AG', - b'68527346AE', - b'68527375AD', - b'68527382AE', - ], - (Ecu.srs, 0x744, None): [ - b'68428609AB', - b'68441329AB', - b'68473844AB', - b'68490898AA', - b'68500728AA', - b'68615033AA', - b'68615034AA', - ], - (Ecu.abs, 0x747, None): [ - b'68292406AH', - b'68432418AB', - b'68432418AD', - b'68436004AD', - b'68436004AE', - b'68438454AC', - b'68438454AD', - b'68438456AE', - b'68438456AF', - b'68535469AB', - b'68535470AC', - b'68548900AB', - b'68586307AB', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'04672892AB', - b'04672932AB', - b'04672932AC', - b'22DTRHD_AA', - b'68320950AH', - b'68320950AI', - b'68320950AJ', - b'68320950AL', - b'68320950AM', - b'68454268AB', - b'68475160AE', - b'68475160AF', - b'68475160AG', - ], - (Ecu.eps, 0x75A, None): [ - b'21590101AA', - b'21590101AB', - b'68273275AF', - b'68273275AG', - b'68273275AH', - b'68312176AE', - b'68312176AG', - b'68440789AC', - b'68466110AB', - b'68469901AA', - b'68522583AB', - b'68522585AB', - b'68552788AA', - b'68552789AA', - b'68552790AA', - b'68585106AB', - b'68585109AB', - b'68585112AB', - ], - (Ecu.engine, 0x7e0, None): [ - b'05036065AE ', - b'05036066AE ', - b'05149592AE ', - b'05149591AD ', - b'05149846AA ', - b'05149848AA ', - b'68378701AI ', - b'68378748AL ', - b'68378758AM ', - b'68448163AJ', - b'68448165AK', - b'68500630AD', - b'68500630AE', - b'68539650AD', - ], - (Ecu.transmission, 0x7e1, None): [ - b'05149536AC', - b'68360078AL', - b'68360080AM', - b'68360081AM', - b'68360085AL', - b'68384328AD', - b'68384332AD', - b'68445533AB', - b'68484467AC', - b'68502994AD', - b'68520867AE', - b'68540431AB', - ], - }, - - CAR.RAM_HD: { - (Ecu.combinationMeter, 0x742, None): [ - b'68361606AH', - b'68437735AC', - b'68492693AD', - b'68525485AB', - b'68525487AB', - b'68525498AB', - b'68528791AF', - ], - (Ecu.srs, 0x744, None): [ - b'68399794AC', - b'68428503AA', - b'68428505AA', - b'68428507AA', - ], - (Ecu.abs, 0x747, None): [ - b'68334977AH', - b'68455481AC', - b'68504022AA', - b'68504022AB', - b'68504022AC', - b'68530686AB', - b'68530686AC', - b'68544596AC', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'04672895AB', - b'04672934AB', - b'56029827AG', - b'56029827AH', - b'68462657AE', - b'68484694AD', - b'68484694AE', - ], - (Ecu.eps, 0x761, None): [ - b'68421036AC', - b'68507906AB', - b'68534023AC', - ], - (Ecu.engine, 0x7e0, None): [ - b'52370131AF', - b'52370231AF', - b'52370231AG', - b'52370931CT', - b'52401032AE', - b'52421132AF', - b'52421332AF', - b'68527616AD ', - b'M2370131MB', - b'M2421132MB', - ], - }, -} DBC = { CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), @@ -383,8 +128,8 @@ DBC = { CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None), CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None), } diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index c11075342c..1f731f0344 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2e80dde010..f2ce743607 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -244,10 +244,13 @@ class CarInfo: # all the parts needed for the supported car car_parts: CarParts = field(default_factory=CarParts) + def __post_init__(self): + self.make, self.model, self.years = split_name(self.name) + self.year_list = get_year_list(self.years) + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint - self.make, self.model, self.years = split_name(self.name) # longitudinal column op_long = "Stock" @@ -309,7 +312,6 @@ class CarInfo: self.row[Column.STEERING_TORQUE] = Star.FULL self.all_footnotes = all_footnotes - self.year_list = get_year_list(self.years) self.detail_sentence = self.get_detail_sentence(CP) return self diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index cff1df79a5..13f7926def 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -8,7 +8,7 @@ from panda.python.uds import SERVICE_TYPE from openpilot.selfdrive.car import make_can_msg from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog def make_tester_present_msg(addr, bus, subaddr=None): diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 1d627e4b37..6a7c3c75be 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,13 +1,12 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr - FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True) _DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes -def is_valid_for_fingerprint(msg, car_fingerprint): +def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]): adr = msg.address # ignore addresses that are more than 11 bits return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index fe9ee404a4..88ec6a5072 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,5 +1,6 @@ from cereal import car from openpilot.common.numpy_fast import clip +from openpilot.common.conversions import Conversions as CV from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_std_steer_angle_limits from openpilot.selfdrive.car.ford import fordcan @@ -88,9 +89,8 @@ class CarController: gas = accel if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS - stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=40 * CV.MPH_TO_KPH)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 5c787b787a..9230d16ef9 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -18,15 +18,16 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] self.vehicle_sensors_valid = False - self.hybrid_platform = False + self.unsupported_platform = False def update(self, cp, cp_cam): ret = car.CarState.new_message() - # Hybrid variants experience a bug where a message from the PCM sends invalid checksums, - # we do not support these cars at this time. + # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums, + # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem. # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants - self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 + self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and + self.CP.carFingerprint not in CANFD_CAR) # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement # The vehicle usually recovers out of this state within a minute of normal driving diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py new file mode 100644 index 0000000000..0cd812bc6b --- /dev/null +++ b/selfdrive/car/ford/fingerprints.py @@ -0,0 +1,195 @@ +from cereal import car +from openpilot.selfdrive.car.ford.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.BRONCO_SPORT_MK1: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.ESCAPE_MK4: { + (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.EXPLORER_MK6: { + (Ecu.eps, 0x730, None): [ + b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.F_150_MK14: { + (Ecu.eps, 0x730, None): [ + b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.F_150_LIGHTNING_MK1: { + (Ecu.abs, 0x760, None): [ + b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MUSTANG_MACH_E_MK1: { + (Ecu.eps, 0x730, None): [ + b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.FOCUS_MK4: { + (Ecu.eps, 0x730, None): [ + b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAVERICK_MK1: { + (Ecu.eps, 0x730, None): [ + b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index e0086ecbb5..78a249e387 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -118,7 +118,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path return packer.make_can_msg("LateralMotionControl2", CAN.main, values) -def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool): +def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, v_ego_kph: float): """ Creates a CAN message for the Ford ACC Command. @@ -133,7 +133,9 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 + "AccPrpl_A_Pred": gas, # Acceleration request: [-5|5.23] m/s^2 "AccResumEnbl_B_Rq": 1 if long_active else 0, + "AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h # TODO: we may be able to improve braking response by utilizing pre-charging better "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 3045c317ff..8a8ce36bd0 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" - ret.dashcamOnly = candidate in {CAR.F_150_MK14} + ret.dashcamOnly = candidate in CANFD_CAR ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle @@ -56,6 +56,17 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.0 ret.mass = 2000 + elif candidate == CAR.F_150_LIGHTNING_MK1: + # required trim only on SuperCrew + ret.wheelbase = 3.70 + ret.steerRatio = 16.9 + ret.mass = 2948 + + elif candidate == CAR.MUSTANG_MACH_E_MK1: + ret.wheelbase = 2.984 + ret.steerRatio = 17.0 # guess + ret.mass = 2200 + elif candidate == CAR.FOCUS_MK4: ret.wheelbase = 2.7 ret.steerRatio = 15.0 @@ -94,7 +105,7 @@ class CarInterface(CarInterfaceBase): events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) if not self.CS.vehicle_sensors_valid: events.add(car.CarEvent.EventName.vehicleSensorsInvalid) - if self.CS.hybrid_platform: + if self.CS.unsupported_platform: events.add(car.CarEvent.EventName.startupNoControl) ret.events = events.to_msg() diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 716c9b6e58..209bbebae3 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -119,17 +119,23 @@ class RadarInterface(RadarInterfaceBase): self.track_id += 1 valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"]) - amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"] # dBsm [-64|63] - if valid and 0 < amplitude <= 15: + if valid: azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964] dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984] distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984] + dRel = cos(azimuth) * dist # m from front of car + yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive - # *** openpilot radar point *** - self.pts[i].dRel = cos(azimuth) * dist # m from front of car - self.pts[i].yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive - self.pts[i].vRel = distRate # m/s + # delphi doesn't notify of track switches, so do it manually + # TODO: refactor this to radard if more radars behave this way + if abs(self.pts[i].vRel - distRate) > 2 or abs(self.pts[i].dRel - dRel) > 5: + self.track_id += 1 + self.pts[i].trackId = self.track_id + + self.pts[i].dRel = dRel + self.pts[i].yRel = yRel + self.pts[i].vRel = distRate self.pts[i].measured = True diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index e645b4cbe6..a1f0b81a58 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -6,7 +6,8 @@ from typing import Dict, Iterable, Optional, Tuple import capnp from cereal import car -from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS +from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG +from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index d11ba4ccf0..2c4415be2b 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,12 +1,12 @@ from collections import defaultdict -from dataclasses import dataclass, field +from dataclasses import dataclass from enum import Enum, StrEnum from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import AngleRateLimit, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ - Device + Device from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -47,9 +47,11 @@ class CAR(StrEnum): F_150_MK14 = "FORD F-150 14TH GEN" FOCUS_MK4 = "FORD FOCUS 4TH GEN" MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" + F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN" + MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN" -CANFD_CAR = {CAR.F_150_MK14} +CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} class RADAR: @@ -61,6 +63,8 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base # F-150 radar is not yet supported DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None) +DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None) +DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None) class Footnote(Enum): @@ -74,11 +78,13 @@ class Footnote(Enum): @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3])) def init_make(self, CP: car.CarParams): - if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): - self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3]) + harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3 + if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14): + self.car_parts = CarParts([Device.threex_angled_mount, harness]) + else: + self.car_parts = CarParts([Device.threex, harness]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @@ -88,10 +94,12 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), ], CAR.EXPLORER_MK6: [ - FordCarInfo("Ford Explorer 2020-22"), + FordCarInfo("Ford Explorer 2020-23"), FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"), ], CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), + CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), + CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), CAR.MAVERICK_MK1: [ FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), @@ -121,153 +129,3 @@ FW_QUERY_CONFIG = FwQueryConfig( (Ecu.shiftByWire, 0x732, None), ], ) - -FW_VERSIONS = { - CAR.BRONCO_SPORT_MK1: { - (Ecu.eps, 0x730, None): [ - b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.ESCAPE_MK4: { - (Ecu.eps, 0x730, None): [ - b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.EXPLORER_MK6: { - (Ecu.eps, 0x730, None): [ - b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.F_150_MK14: { - (Ecu.eps, 0x730, None): [ - b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.FOCUS_MK4: { - (Ecu.eps, 0x730, None): [ - b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.MAVERICK_MK1: { - (Ecu.eps, 0x730, None): [ - b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7E0, None): [ - b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, -} diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 1caedcd321..410040b10e 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -9,7 +9,10 @@ import panda.python.uds as uds AddrType = Tuple[int, Optional[int]] EcuAddrBusType = Tuple[int, Optional[int], int] +EcuAddrSubAddr = Tuple[int, int, Optional[int]] +LiveFwVersions = Dict[AddrType, Set[bytes]] +OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]] def p16(val): return struct.pack("!H", val) @@ -79,7 +82,7 @@ class FwQueryConfig: extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, # returns set of candidates. Only will match if one candidate is returned - match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None + match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None def __post_init__(self): for i in range(len(self.requests)): diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 45c4967cb8..547904ee47 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -12,7 +12,7 @@ from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusTyp from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] @@ -105,11 +105,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= return set() -def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" + if extra_fw_versions is None: + extra_fw_versions = {} + invalid = set() candidates = {c: f for c, f in FW_VERSIONS.items() if is_brand(MODEL_TO_BRAND[c], match_brand)} @@ -117,12 +120,14 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s for candidate, fws in candidates.items(): config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): + expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, []) ecu_type = ecu[0] addr = ecu[1:] found_versions = live_fw_versions.get(addr, set()) if not len(found_versions): # Some models can sometimes miss an ecu, or show on two different addresses + # FIXME: this logic can be improved to be more specific, should require one of the two addresses if candidate in config.non_essential_ecus.get(ecu_type, []): continue @@ -159,7 +164,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function config = FW_QUERY_CONFIGS[brand] if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None: - matches |= config.match_fw_to_car_fuzzy(fw_versions_dict) + matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand]) if len(matches): return exact_match, matches diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f51cb75372..6c7e8007f2 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -154,21 +154,6 @@ class CarController: if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - # Show green icon when LKA torque is applied, and - # alarming orange icon when approaching torque limit. - # If not sent again, LKA icon disappears in about 5 seconds. - # Conveniently, sending camera message periodically also works as a keepalive. - lka_active = CS.lkas_status == 1 - lka_critical = lka_active and abs(actuators.steer) > 0.9 - lka_icon_status = (lka_active, lka_critical) - - # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and \ - (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): - steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) - can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) - self.lka_icon_status_last = lka_icon_status - new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py new file mode 100644 index 0000000000..9159ddefbf --- /dev/null +++ b/selfdrive/car/gm/fingerprints.py @@ -0,0 +1,56 @@ +# ruff: noqa: E501 +from openpilot.selfdrive.car.gm.values import CAR + +# Trailblazer also matches as a SILVERADO, TODO: split with fw verisions + + +FINGERPRINTS = { + CAR.HOLDEN_ASTRA: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7 + }], + CAR.VOLT: [{ + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 + }, + { + 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 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1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 + }], + CAR.BOLT_EUV: [{ + 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.SILVERADO: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], + CAR.EQUINOX: [{ + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 + }], +} diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py index fce5fea720..2aea5b231b 100755 --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -2,7 +2,8 @@ from parameterized import parameterized import unittest -from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET +from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS +from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e9ec8de9c5..dbbf15100f 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from collections import defaultdict from dataclasses import dataclass from enum import Enum, StrEnum @@ -140,89 +139,9 @@ class CanBus: OBSTACLE = 1 CAMERA = 2 CHASSIS = 2 - SW_GMLAN = 3 LOOPBACK = 128 DROPPED = 192 -FINGERPRINTS = { - CAR.HOLDEN_ASTRA: [ - # Astra BK MY17, ASCM unplugged - { - 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7, - }], - CAR.VOLT: [ - # Volt Premier w/ ACC 2017 - { - 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 - }, - # Volt Premier w/ ACC 2018 - { - 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8 - }, - # Volt Premier 2018 w/ flashed firmware, no radar - { - 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 - }], - CAR.BUICK_LACROSSE: [ - # LaCrosse Premium AWD 2017 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 - }], - CAR.BUICK_REGAL : [ - # Regal TourX Essence w/ ACC 2018 - { - 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8 - }], - CAR.CADILLAC_ATS: [ - # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 - }], - CAR.MALIBU: [ - # Malibu Premier w/ ACC 2017 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8, - }], - CAR.ACADIA: [ - # Acadia Denali w/ACC 2018 - { - 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7 - }, - # Acadia Denali w/ /ACC 2018 - { - 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 - }], - CAR.ESCALADE: [ - { - 170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 - }], - CAR.ESCALADE_ESV: [ - { - 309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8 - }], - CAR.ESCALADE_ESV_2019: [ - { - 715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7 - }], - CAR.BOLT_EUV: [ - { - 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - CAR.SILVERADO: [ - { - 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - CAR.EQUINOX: [ - { - 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 - }], - # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. - # TODO: split with FW versions - # CAR.TRAILBLAZER: [ - # { - # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 - # }], -} GM_RX_OFFSET = 0x400 diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py new file mode 100644 index 0000000000..25fb88aa39 --- /dev/null +++ b/selfdrive/car/honda/fingerprints.py @@ -0,0 +1,1403 @@ +from cereal import car +from openpilot.selfdrive.car.honda.values import CAR + +Ecu = car.CarParams.Ecu + +# Modified FW can be identified by the second dash being replaced by a comma +# For example: `b'39990-TVA,A150\x00\x00'` +# +# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models + + +FW_VERSIONS = { + CAR.ACCORD: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6A0-8720\x00\x00', + b'37805-6A0-9520\x00\x00', + b'37805-6A0-9620\x00\x00', + b'37805-6A0-9720\x00\x00', + b'37805-6A0-A540\x00\x00', + b'37805-6A0-A550\x00\x00', + b'37805-6A0-A640\x00\x00', + b'37805-6A0-A650\x00\x00', + b'37805-6A0-A740\x00\x00', + b'37805-6A0-A750\x00\x00', + b'37805-6A0-A840\x00\x00', + b'37805-6A0-A850\x00\x00', + b'37805-6A0-A930\x00\x00', + b'37805-6A0-AF30\x00\x00', + b'37805-6A0-AG30\x00\x00', + b'37805-6A0-C540\x00\x00', + b'37805-6A1-H650\x00\x00', + b'37805-6B2-A550\x00\x00', + b'37805-6B2-A560\x00\x00', + b'37805-6B2-A650\x00\x00', + b'37805-6B2-A660\x00\x00', + b'37805-6B2-A720\x00\x00', + b'37805-6B2-A810\x00\x00', + b'37805-6B2-A820\x00\x00', + b'37805-6B2-A920\x00\x00', + b'37805-6B2-C520\x00\x00', + b'37805-6B2-C540\x00\x00', + b'37805-6B2-M520\x00\x00', + b'37805-6B2-Y810\x00\x00', + b'37805-6M4-B730\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TVC-A910\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6A7-A220\x00\x00', + b'28101-6A7-A230\x00\x00', + b'28101-6A7-A320\x00\x00', + b'28101-6A7-A330\x00\x00', + b'28101-6A7-A410\x00\x00', + b'28101-6A7-A510\x00\x00', + b'28101-6A7-A610\x00\x00', + b'28101-6A7-A710\x00\x00', + b'28101-6A9-H140\x00\x00', + b'28101-6A9-H420\x00\x00', + b'28102-6B8-A560\x00\x00', + b'28102-6B8-A570\x00\x00', + b'28102-6B8-A700\x00\x00', + b'28102-6B8-A800\x00\x00', + b'28102-6B8-C560\x00\x00', + b'28102-6B8-C570\x00\x00', + b'28102-6B8-M520\x00\x00', + b'28102-6B8-R700\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TVA-A050\x00\x00', + b'46114-TVA-A060\x00\x00', + b'46114-TVA-A080\x00\x00', + b'46114-TVA-A120\x00\x00', + b'46114-TVA-A320\x00\x00', + b'46114-TVE-H550\x00\x00', + b'46114-TVE-H560\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TVA-B040\x00\x00', + b'57114-TVA-B050\x00\x00', + b'57114-TVA-B060\x00\x00', + b'57114-TVA-B530\x00\x00', + b'57114-TVA-C040\x00\x00', + b'57114-TVA-C050\x00\x00', + b'57114-TVA-C060\x00\x00', + b'57114-TVA-C530\x00\x00', + b'57114-TVA-E520\x00\x00', + b'57114-TVE-H250\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBX-H120\x00\x00', + b'39990-TVA,A150\x00\x00', + b'39990-TVA-A140\x00\x00', + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TVA-X030\x00\x00', + b'39990-TVA-X040\x00\x00', + b'39990-TVE-H130\x00\x00', + ], + (Ecu.unknown, 0x18da3af1, None): [ + b'39390-TVA-A020\x00\x00', + b'39390-TVA-A120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBX-H230\x00\x00', + b'77959-TVA-A460\x00\x00', + b'77959-TVA-F330\x00\x00', + b'77959-TVA-H230\x00\x00', + b'77959-TVA-L420\x00\x00', + b'77959-TVA-X330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBX-H310\x00\x00', + b'78109-TVA-A010\x00\x00', + b'78109-TVA-A020\x00\x00', + b'78109-TVA-A030\x00\x00', + b'78109-TVA-A110\x00\x00', + b'78109-TVA-A120\x00\x00', + b'78109-TVA-A130\x00\x00', + b'78109-TVA-A210\x00\x00', + b'78109-TVA-A220\x00\x00', + b'78109-TVA-A230\x00\x00', + b'78109-TVA-A310\x00\x00', + b'78109-TVA-C010\x00\x00', + b'78109-TVA-L010\x00\x00', + b'78109-TVA-L210\x00\x00', + b'78109-TVA-R310\x00\x00', + b'78109-TVC-A010\x00\x00', + b'78109-TVC-A020\x00\x00', + b'78109-TVC-A030\x00\x00', + b'78109-TVC-A110\x00\x00', + b'78109-TVC-A130\x00\x00', + b'78109-TVC-A210\x00\x00', + b'78109-TVC-A220\x00\x00', + b'78109-TVC-A230\x00\x00', + b'78109-TVC-C010\x00\x00', + b'78109-TVC-C110\x00\x00', + b'78109-TVC-L010\x00\x00', + b'78109-TVC-L210\x00\x00', + b'78109-TVC-M510\x00\x00', + b'78109-TVC-YF10\x00\x00', + b'78109-TVE-H610\x00\x00', + b'78109-TWA-A210\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBX-H140\x00\x00', + b'36802-TVA-A150\x00\x00', + b'36802-TVA-A160\x00\x00', + b'36802-TVA-A170\x00\x00', + b'36802-TVA-A330\x00\x00', + b'36802-TVC-A330\x00\x00', + b'36802-TVE-H070\x00\x00', + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBX-H130\x00\x00', + b'36161-TVA-A060\x00\x00', + b'36161-TVA-A330\x00\x00', + b'36161-TVC-A330\x00\x00', + b'36161-TVE-H050\x00\x00', + b'36161-TWA-A070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TVA-A010\x00\x00', + b'38897-TVA-A020\x00\x00', + b'38897-TVA-A230\x00\x00', + b'38897-TVA-A240\x00\x00', + ], + }, + CAR.ACCORDH: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TWA-A120\x00\x00', + b'38897-TWD-J020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TWA-A040\x00\x00', + b'57114-TWA-A050\x00\x00', + b'57114-TWA-A530\x00\x00', + b'57114-TWA-B520\x00\x00', + b'57114-TWB-H030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TWA-A440\x00\x00', + b'77959-TWA-L420\x00\x00', + b'77959-TWB-H220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TWA-A010\x00\x00', + b'78109-TWA-A020\x00\x00', + b'78109-TWA-A030\x00\x00', + b'78109-TWA-A110\x00\x00', + b'78109-TWA-A120\x00\x00', + b'78109-TWA-A130\x00\x00', + b'78109-TWA-A210\x00\x00', + b'78109-TWA-A220\x00\x00', + b'78109-TWA-A230\x00\x00', + b'78109-TWA-H210\x00\x00', + b'78109-TWA-L010\x00\x00', + b'78109-TWA-L210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.hud, 0x18da61f1, None): [ + b'78209-TVA-A010\x00\x00', + b'78209-TVA-A110\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TWA-A070\x00\x00', + b'36161-TWA-A330\x00\x00', + b'36161-TWB-H040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TWA-A070\x00\x00', + b'36802-TWA-A080\x00\x00', + b'36802-TWA-A210\x00\x00', + b'36802-TWA-A330\x00\x00', + b'36802-TWB-H060\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TVA-A150\x00\x00', + b'39990-TVA-A160\x00\x00', + b'39990-TVA-A340\x00\x00', + b'39990-TWB-H120\x00\x00', + ], + }, + CAR.CIVIC: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A640\x00\x00', + b'37805-5AA-A650\x00\x00', + b'37805-5AA-A670\x00\x00', + b'37805-5AA-A680\x00\x00', + b'37805-5AA-A810\x00\x00', + b'37805-5AA-C640\x00\x00', + b'37805-5AA-C680\x00\x00', + b'37805-5AA-C820\x00\x00', + b'37805-5AA-L650\x00\x00', + b'37805-5AA-L660\x00\x00', + b'37805-5AA-L680\x00\x00', + b'37805-5AA-L690\x00\x00', + b'37805-5AA-L810\x00\x00', + b'37805-5AG-Q710\x00\x00', + b'37805-5AJ-A610\x00\x00', + b'37805-5AJ-A620\x00\x00', + b'37805-5AJ-L610\x00\x00', + b'37805-5BA-A310\x00\x00', + b'37805-5BA-A510\x00\x00', + b'37805-5BA-A740\x00\x00', + b'37805-5BA-A760\x00\x00', + b'37805-5BA-A930\x00\x00', + b'37805-5BA-A960\x00\x00', + b'37805-5BA-C860\x00\x00', + b'37805-5BA-L410\x00\x00', + b'37805-5BA-L760\x00\x00', + b'37805-5BA-L930\x00\x00', + b'37805-5BA-L940\x00\x00', + b'37805-5BA-L960\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A040\x00\x00', + b'28101-5CG-A050\x00\x00', + b'28101-5CG-A070\x00\x00', + b'28101-5CG-A080\x00\x00', + b'28101-5CG-A320\x00\x00', + b'28101-5CG-A810\x00\x00', + b'28101-5CG-A820\x00\x00', + b'28101-5DJ-A040\x00\x00', + b'28101-5DJ-A060\x00\x00', + b'28101-5DJ-A510\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBA-A540\x00\x00', + b'57114-TBA-A550\x00\x00', + b'57114-TBA-A560\x00\x00', + b'57114-TBA-A570\x00\x00', + b'57114-TEA-Q220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA,A030\x00\x00', + b'39990-TBA-A030\x00\x00', + b'39990-TBG-A030\x00\x00', + b'39990-TEA-T020\x00\x00', + b'39990-TEG-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A030\x00\x00', + b'77959-TBA-A040\x00\x00', + b'77959-TBG-A030\x00\x00', + b'77959-TEA-Q820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A510\x00\x00', + b'78109-TBA-A520\x00\x00', + b'78109-TBA-A530\x00\x00', + b'78109-TBA-C520\x00\x00', + b'78109-TBC-A310\x00\x00', + b'78109-TBC-A320\x00\x00', + b'78109-TBC-A510\x00\x00', + b'78109-TBC-A520\x00\x00', + b'78109-TBC-A530\x00\x00', + b'78109-TBC-C510\x00\x00', + b'78109-TBC-C520\x00\x00', + b'78109-TBC-C530\x00\x00', + b'78109-TBH-A510\x00\x00', + b'78109-TBH-A530\x00\x00', + b'78109-TED-Q510\x00\x00', + b'78109-TEG-A310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TBA-A020\x00\x00', + b'36161-TBA-A030\x00\x00', + b'36161-TBA-A040\x00\x00', + b'36161-TBC-A020\x00\x00', + b'36161-TBC-A030\x00\x00', + b'36161-TED-Q320\x00\x00', + b'36161-TEG-A010\x00\x00', + b'36161-TEG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A010\x00\x00', + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CIVIC_BOSCH: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5AA-A940\x00\x00', + b'37805-5AA-A950\x00\x00', + b'37805-5AA-C950\x00\x00', + b'37805-5AA-L940\x00\x00', + b'37805-5AA-L950\x00\x00', + b'37805-5AG-Z910\x00\x00', + b'37805-5AJ-A750\x00\x00', + b'37805-5AJ-L750\x00\x00', + b'37805-5AK-T530\x00\x00', + b'37805-5AN-A750\x00\x00', + b'37805-5AN-A830\x00\x00', + b'37805-5AN-A840\x00\x00', + b'37805-5AN-A930\x00\x00', + b'37805-5AN-A940\x00\x00', + b'37805-5AN-A950\x00\x00', + b'37805-5AN-AG20\x00\x00', + b'37805-5AN-AH20\x00\x00', + b'37805-5AN-AJ30\x00\x00', + b'37805-5AN-AK10\x00\x00', + b'37805-5AN-AK20\x00\x00', + b'37805-5AN-AR10\x00\x00', + b'37805-5AN-AR20\x00\x00', + b'37805-5AN-CH20\x00\x00', + b'37805-5AN-E630\x00\x00', + b'37805-5AN-E720\x00\x00', + b'37805-5AN-E820\x00\x00', + b'37805-5AN-J820\x00\x00', + b'37805-5AN-L840\x00\x00', + b'37805-5AN-L930\x00\x00', + b'37805-5AN-L940\x00\x00', + b'37805-5AN-LF20\x00\x00', + b'37805-5AN-LH20\x00\x00', + b'37805-5AN-LJ20\x00\x00', + b'37805-5AN-LR20\x00\x00', + b'37805-5AN-LS20\x00\x00', + b'37805-5AW-G720\x00\x00', + b'37805-5AZ-E850\x00\x00', + b'37805-5AZ-G540\x00\x00', + b'37805-5AZ-G740\x00\x00', + b'37805-5AZ-G840\x00\x00', + b'37805-5BB-A530\x00\x00', + b'37805-5BB-A540\x00\x00', + b'37805-5BB-A630\x00\x00', + b'37805-5BB-A640\x00\x00', + b'37805-5BB-C540\x00\x00', + b'37805-5BB-C630\x00\x00', + b'37805-5BB-C640\x00\x00', + b'37805-5BB-L540\x00\x00', + b'37805-5BB-L630\x00\x00', + b'37805-5BB-L640\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5CG-A920\x00\x00', + b'28101-5CG-AB10\x00\x00', + b'28101-5CG-C110\x00\x00', + b'28101-5CG-C220\x00\x00', + b'28101-5CG-C320\x00\x00', + b'28101-5CG-G020\x00\x00', + b'28101-5CG-L020\x00\x00', + b'28101-5CK-A130\x00\x00', + b'28101-5CK-A140\x00\x00', + b'28101-5CK-A150\x00\x00', + b'28101-5CK-C130\x00\x00', + b'28101-5CK-C140\x00\x00', + b'28101-5CK-C150\x00\x00', + b'28101-5CK-G210\x00\x00', + b'28101-5CK-J710\x00\x00', + b'28101-5CK-Q610\x00\x00', + b'28101-5DJ-A610\x00\x00', + b'28101-5DJ-A710\x00\x00', + b'28101-5DV-E330\x00\x00', + b'28101-5DV-E610\x00\x00', + b'28101-5DV-E820\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TBG-A330\x00\x00', + b'57114-TBG-A340\x00\x00', + b'57114-TBG-A350\x00\x00', + b'57114-TGG-A340\x00\x00', + b'57114-TGG-C320\x00\x00', + b'57114-TGG-G320\x00\x00', + b'57114-TGG-L320\x00\x00', + b'57114-TGG-L330\x00\x00', + b'57114-TGK-T320\x00\x00', + b'57114-TGL-G330\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TBA-C020\x00\x00', + b'39990-TBA-C120\x00\x00', + b'39990-TEA-T820\x00\x00', + b'39990-TEZ-T020\x00\x00', + b'39990-TGG-A020\x00\x00', + b'39990-TGG-A120\x00\x00', + b'39990-TGG-J510\x00\x00', + b'39990-TGL-E130\x00\x00', + b'39990-TGN-E120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TBA-A060\x00\x00', + b'77959-TBG-A050\x00\x00', + b'77959-TEA-G020\x00\x00', + b'77959-TGG-A020\x00\x00', + b'77959-TGG-A030\x00\x00', + b'77959-TGG-E010\x00\x00', + b'77959-TGG-G010\x00\x00', + b'77959-TGG-G110\x00\x00', + b'77959-TGG-J320\x00\x00', + b'77959-TGG-Z820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TBA-A110\x00\x00', + b'78109-TBA-A910\x00\x00', + b'78109-TBA-C340\x00\x00', + b'78109-TBA-C910\x00\x00', + b'78109-TBC-A740\x00\x00', + b'78109-TBC-C540\x00\x00', + b'78109-TBG-A110\x00\x00', + b'78109-TBH-A710\x00\x00', + b'78109-TEG-A720\x00\x00', + b'78109-TFJ-G020\x00\x00', + b'78109-TGG-9020\x00\x00', + b'78109-TGG-A210\x00\x00', + b'78109-TGG-A220\x00\x00', + b'78109-TGG-A310\x00\x00', + b'78109-TGG-A320\x00\x00', + b'78109-TGG-A330\x00\x00', + b'78109-TGG-A610\x00\x00', + b'78109-TGG-A620\x00\x00', + b'78109-TGG-A810\x00\x00', + b'78109-TGG-A820\x00\x00', + b'78109-TGG-C220\x00\x00', + b'78109-TGG-E110\x00\x00', + b'78109-TGG-G030\x00\x00', + b'78109-TGG-G230\x00\x00', + b'78109-TGG-G410\x00\x00', + b'78109-TGK-Z410\x00\x00', + b'78109-TGL-G120\x00\x00', + b'78109-TGL-G130\x00\x00', + b'78109-TGL-G210\x00\x00', + b'78109-TGL-G230\x00\x00', + b'78109-TGL-GM10\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TBA-A150\x00\x00', + b'36802-TBA-A160\x00\x00', + b'36802-TFJ-G060\x00\x00', + b'36802-TGG-A050\x00\x00', + b'36802-TGG-A060\x00\x00', + b'36802-TGG-A130\x00\x00', + b'36802-TGG-G040\x00\x00', + b'36802-TGG-G130\x00\x00', + b'36802-TGK-Q120\x00\x00', + b'36802-TGL-G040\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TBA-A130\x00\x00', + b'36161-TBA-A140\x00\x00', + b'36161-TFJ-G070\x00\x00', + b'36161-TGG-A060\x00\x00', + b'36161-TGG-A080\x00\x00', + b'36161-TGG-A120\x00\x00', + b'36161-TGG-G050\x00\x00', + b'36161-TGG-G070\x00\x00', + b'36161-TGG-G130\x00\x00', + b'36161-TGG-G140\x00\x00', + b'36161-TGK-Q120\x00\x00', + b'36161-TGL-G050\x00\x00', + b'36161-TGL-G070\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + b'38897-TBA-A110\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'39494-TGL-G030\x00\x00', + ], + }, + CAR.CIVIC_BOSCH_DIESEL: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-59N-G630\x00\x00', + b'37805-59N-G830\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-59Y-G220\x00\x00', + b'28101-59Y-G620\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TGN-E320\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TFK-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TFK-G210\x00\x00', + b'77959-TGN-G220\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TFK-G020\x00\x00', + b'78109-TGN-G120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TFK-G130\x00\x00', + b'36802-TGN-G130\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TGN-E010\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TFK-G130\x00\x00', + b'36161-TGN-G130\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TBA-A020\x00\x00', + ], + }, + CAR.CRV: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1W-A230\x00\x00', + b'57114-T1W-A240\x00\x00', + b'57114-TFF-A940\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T0A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1W-A210\x00\x00', + b'78109-T1W-C210\x00\x00', + b'78109-T1X-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1W-A830\x00\x00', + b'36161-T1W-C830\x00\x00', + b'36161-T1X-A830\x00\x00', + ], + }, + CAR.CRV_5G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5PA-3060\x00\x00', + b'37805-5PA-3080\x00\x00', + b'37805-5PA-3180\x00\x00', + b'37805-5PA-4050\x00\x00', + b'37805-5PA-4150\x00\x00', + b'37805-5PA-6520\x00\x00', + b'37805-5PA-6530\x00\x00', + b'37805-5PA-6630\x00\x00', + b'37805-5PA-6640\x00\x00', + b'37805-5PA-7630\x00\x00', + b'37805-5PA-9530\x00\x00', + b'37805-5PA-9630\x00\x00', + b'37805-5PA-9640\x00\x00', + b'37805-5PA-9730\x00\x00', + b'37805-5PA-9830\x00\x00', + b'37805-5PA-9840\x00\x00', + b'37805-5PA-A650\x00\x00', + b'37805-5PA-A670\x00\x00', + b'37805-5PA-A680\x00\x00', + b'37805-5PA-A850\x00\x00', + b'37805-5PA-A870\x00\x00', + b'37805-5PA-A880\x00\x00', + b'37805-5PA-A890\x00\x00', + b'37805-5PA-AB10\x00\x00', + b'37805-5PA-AD10\x00\x00', + b'37805-5PA-AF20\x00\x00', + b'37805-5PA-AH20\x00\x00', + b'37805-5PA-C680\x00\x00', + b'37805-5PD-Q630\x00\x00', + b'37805-5PF-F730\x00\x00', + b'37805-5PF-M630\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5RG-A020\x00\x00', + b'28101-5RG-A030\x00\x00', + b'28101-5RG-A040\x00\x00', + b'28101-5RG-A120\x00\x00', + b'28101-5RG-A220\x00\x00', + b'28101-5RH-A020\x00\x00', + b'28101-5RH-A030\x00\x00', + b'28101-5RH-A040\x00\x00', + b'28101-5RH-A120\x00\x00', + b'28101-5RH-A220\x00\x00', + b'28101-5RL-Q010\x00\x00', + b'28101-5RM-F010\x00\x00', + b'28101-5RM-K010\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TLA-A040\x00\x00', + b'57114-TLA-A050\x00\x00', + b'57114-TLA-A060\x00\x00', + b'57114-TLB-A830\x00\x00', + b'57114-TMC-Z040\x00\x00', + b'57114-TMC-Z050\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TLA,A040\x00\x00', + b'39990-TLA-A040\x00\x00', + b'39990-TLA-A110\x00\x00', + b'39990-TLA-A220\x00\x00', + b'39990-TME-T030\x00\x00', + b'39990-TME-T120\x00\x00', + b'39990-TMT-T010\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TLA-A040\x00\x00', + b'46114-TLA-A050\x00\x00', + b'46114-TLA-A930\x00\x00', + b'46114-TMC-U020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TLA-A020\x00\x00', + b'78109-TLA-A110\x00\x00', + b'78109-TLA-A120\x00\x00', + b'78109-TLA-A210\x00\x00', + b'78109-TLA-A220\x00\x00', + b'78109-TLA-C020\x00\x00', + b'78109-TLA-C110\x00\x00', + b'78109-TLA-C210\x00\x00', + b'78109-TLA-C310\x00\x00', + b'78109-TLB-A020\x00\x00', + b'78109-TLB-A110\x00\x00', + b'78109-TLB-A120\x00\x00', + b'78109-TLB-A210\x00\x00', + b'78109-TLB-A220\x00\x00', + b'78109-TMC-Q210\x00\x00', + b'78109-TMM-F210\x00\x00', + b'78109-TMM-M110\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TLA-A010\x00\x00', + b'38897-TLA-A110\x00\x00', + b'38897-TNY-G010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TLA-A040\x00\x00', + b'36802-TLA-A050\x00\x00', + b'36802-TLA-A060\x00\x00', + b'36802-TMC-Q040\x00\x00', + b'36802-TMC-Q070\x00\x00', + b'36802-TNY-A030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TLA-A060\x00\x00', + b'36161-TLA-A070\x00\x00', + b'36161-TLA-A080\x00\x00', + b'36161-TMC-Q020\x00\x00', + b'36161-TMC-Q030\x00\x00', + b'36161-TMC-Q040\x00\x00', + b'36161-TNY-A020\x00\x00', + b'36161-TNY-A030\x00\x00', + b'36161-TNY-A040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-A240\x00\x00', + b'77959-TLA-A250\x00\x00', + b'77959-TLA-A320\x00\x00', + b'77959-TLA-A410\x00\x00', + b'77959-TLA-A420\x00\x00', + b'77959-TLA-Q040\x00\x00', + b'77959-TLA-Z040\x00\x00', + b'77959-TMM-F040\x00\x00', + ], + }, + CAR.CRV_EU: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-R5Z-G740\x00\x00', + b'37805-R5Z-G780\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T1V-G920\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T1V-G520\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-T1V-G010\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5LH-E120\x00\x00', + b'28103-5LH-E100\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T1B-3050\x00\x00', + b'78109-T1V-G020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T1G-G940\x00\x00', + ], + }, + CAR.CRV_HYBRID: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TMB-H030\x00\x00', + b'57114-TPA-G020\x00\x00', + b'57114-TPG-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TMA-H020\x00\x00', + b'39990-TPA-G030\x00\x00', + b'39990-TPG-A020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TMA-H110\x00\x00', + b'38897-TPG-A110\x00\x00', + b'38897-TPG-A210\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TMB-H510\x00\x00', + b'54008-TMB-H610\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TMB-H040\x00\x00', + b'36161-TPA-E050\x00\x00', + b'36161-TPG-A030\x00\x00', + b'36161-TPG-A040\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TMB-H220\x00\x00', + b'78109-TPA-G520\x00\x00', + b'78109-TPG-A110\x00\x00', + b'78109-TPG-A210\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TMB-H040\x00\x00', + b'36802-TPA-E040\x00\x00', + b'36802-TPG-A020\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TLA-C320\x00\x00', + b'77959-TLA-C410\x00\x00', + b'77959-TLA-C420\x00\x00', + b'77959-TLA-G220\x00\x00', + b'77959-TLA-H240\x00\x00', + ], + }, + CAR.FIT: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T5R-L020\x00\x00', + b'57114-T5R-L220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T5R-C020\x00\x00', + b'39990-T5R-C030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T5A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T5A-A210\x00\x00', + b'78109-T5A-A410\x00\x00', + b'78109-T5A-A420\x00\x00', + b'78109-T5A-A910\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T5R-A040\x00\x00', + b'36161-T5R-A240\x00\x00', + b'36161-T5R-A520\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T5R-A230\x00\x00', + ], + }, + CAR.FREED: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TDK-J010\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TDK-J050\x00\x00', + b'39990-TDK-N020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TDK-J120\x00\x00', + b'57114-TDK-J330\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TDK-J310\x00\x00', + b'78109-TDK-J320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TDK-J070\x00\x00', + b'36161-TDK-J080\x00\x00', + b'36161-TDK-J530\x00\x00', + ], + }, + CAR.ODYSSEY: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-THR-A010\x00\x00', + b'38897-THR-A020\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5MR-4080\x00\x00', + b'37805-5MR-A240\x00\x00', + b'37805-5MR-A250\x00\x00', + b'37805-5MR-A310\x00\x00', + b'37805-5MR-A740\x00\x00', + b'37805-5MR-A750\x00\x00', + b'37805-5MR-A840\x00\x00', + b'37805-5MR-C620\x00\x00', + b'37805-5MR-D530\x00\x00', + b'37805-5MR-K730\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THR-A020\x00\x00', + b'39990-THR-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-THR-A010\x00\x00', + b'77959-THR-A110\x00\x00', + b'77959-THR-X010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-THR-A020\x00\x00', + b'36161-THR-A030\x00\x00', + b'36161-THR-A110\x00\x00', + b'36161-THR-A720\x00\x00', + b'36161-THR-A730\x00\x00', + b'36161-THR-A810\x00\x00', + b'36161-THR-A910\x00\x00', + b'36161-THR-C010\x00\x00', + b'36161-THR-D110\x00\x00', + b'36161-THR-K020\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5NZ-A110\x00\x00', + b'28101-5NZ-A310\x00\x00', + b'28101-5NZ-C310\x00\x00', + b'28102-5MX-A001\x00\x00', + b'28102-5MX-A600\x00\x00', + b'28102-5MX-A610\x00\x00', + b'28102-5MX-A710\x00\x00', + b'28102-5MX-A900\x00\x00', + b'28102-5MX-A910\x00\x00', + b'28102-5MX-C001\x00\x00', + b'28102-5MX-D001\x00\x00', + b'28102-5MX-D710\x00\x00', + b'28102-5MX-K610\x00\x00', + b'28103-5NZ-A100\x00\x00', + b'28103-5NZ-A300\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-THR-A040\x00\x00', + b'57114-THR-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THR-A220\x00\x00', + b'78109-THR-A230\x00\x00', + b'78109-THR-A420\x00\x00', + b'78109-THR-A430\x00\x00', + b'78109-THR-A720\x00\x00', + b'78109-THR-A820\x00\x00', + b'78109-THR-A830\x00\x00', + b'78109-THR-AB20\x00\x00', + b'78109-THR-AB30\x00\x00', + b'78109-THR-AB40\x00\x00', + b'78109-THR-AC20\x00\x00', + b'78109-THR-AC30\x00\x00', + b'78109-THR-AC40\x00\x00', + b'78109-THR-AC50\x00\x00', + b'78109-THR-AD30\x00\x00', + b'78109-THR-AE20\x00\x00', + b'78109-THR-AE30\x00\x00', + b'78109-THR-AE40\x00\x00', + b'78109-THR-AK10\x00\x00', + b'78109-THR-AL10\x00\x00', + b'78109-THR-AN10\x00\x00', + b'78109-THR-C220\x00\x00', + b'78109-THR-C330\x00\x00', + b'78109-THR-CE20\x00\x00', + b'78109-THR-DA20\x00\x00', + b'78109-THR-DA30\x00\x00', + b'78109-THR-DA40\x00\x00', + b'78109-THR-K120\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-THR-A020\x00\x00', + ], + }, + CAR.ODYSSEY_CHN: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6D-H220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6A-F310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6A-P040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6A-P110\x00\x00', + ], + }, + CAR.PILOT: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TG7-A520\x00\x00', + b'54008-TG7-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-5EY-A050\x00\x00', + b'28101-5EY-A100\x00\x00', + b'28101-5EY-A430\x00\x00', + b'28101-5EY-A500\x00\x00', + b'28101-5EZ-A050\x00\x00', + b'28101-5EZ-A060\x00\x00', + b'28101-5EZ-A100\x00\x00', + b'28101-5EZ-A210\x00\x00', + b'28101-5EZ-A330\x00\x00', + b'28101-5EZ-A430\x00\x00', + b'28101-5EZ-A500\x00\x00', + b'28101-5EZ-A600\x00\x00', + b'28101-5EZ-A700\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-RLV-4060\x00\x00', + b'37805-RLV-4070\x00\x00', + b'37805-RLV-A830\x00\x00', + b'37805-RLV-A840\x00\x00', + b'37805-RLV-B210\x00\x00', + b'37805-RLV-B220\x00\x00', + b'37805-RLV-B420\x00\x00', + b'37805-RLV-B430\x00\x00', + b'37805-RLV-B620\x00\x00', + b'37805-RLV-B710\x00\x00', + b'37805-RLV-B720\x00\x00', + b'37805-RLV-C430\x00\x00', + b'37805-RLV-C510\x00\x00', + b'37805-RLV-C520\x00\x00', + b'37805-RLV-C530\x00\x00', + b'37805-RLV-C910\x00\x00', + b'37805-RLV-F120\x00\x00', + b'37805-RLV-L090\x00\x00', + b'37805-RLV-L160\x00\x00', + b'37805-RLV-L180\x00\x00', + b'37805-RLV-L350\x00\x00', + b'37805-RLV-L410\x00\x00', + b'37805-RLV-L430\x00\x00', + b'37805-RLV-L850\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TG7-A030\x00\x00', + b'38897-TG7-A040\x00\x00', + b'38897-TG7-A110\x00\x00', + b'38897-TG7-A210\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TG7-A030\x00\x00', + b'39990-TG7-A040\x00\x00', + b'39990-TG7-A060\x00\x00', + b'39990-TG7-A070\x00\x00', + b'39990-TGS-A230\x00\x00', + b'39990-TGS-A320\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TG7-A310\x00\x00', + b'36161-TG7-A520\x00\x00', + b'36161-TG7-A630\x00\x00', + b'36161-TG7-A720\x00\x00', + b'36161-TG7-A820\x00\x00', + b'36161-TG7-A930\x00\x00', + b'36161-TG7-C520\x00\x00', + b'36161-TG7-D520\x00\x00', + b'36161-TG7-D630\x00\x00', + b'36161-TG7-Y630\x00\x00', + b'36161-TG8-A410\x00\x00', + b'36161-TG8-A520\x00\x00', + b'36161-TG8-A630\x00\x00', + b'36161-TG8-A720\x00\x00', + b'36161-TG8-A830\x00\x00', + b'36161-TGS-A030\x00\x00', + b'36161-TGS-A130\x00\x00', + b'36161-TGS-A220\x00\x00', + b'36161-TGS-A320\x00\x00', + b'36161-TGT-A030\x00\x00', + b'36161-TGT-A130\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TG7-A020\x00\x00', + b'77959-TG7-A110\x00\x00', + b'77959-TG7-A210\x00\x00', + b'77959-TG7-Y210\x00\x00', + b'77959-TGS-A010\x00\x00', + b'77959-TGS-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TG7-A040\x00\x00', + b'78109-TG7-A050\x00\x00', + b'78109-TG7-A420\x00\x00', + b'78109-TG7-A520\x00\x00', + b'78109-TG7-A720\x00\x00', + b'78109-TG7-AJ10\x00\x00', + b'78109-TG7-AJ20\x00\x00', + b'78109-TG7-AK10\x00\x00', + b'78109-TG7-AK20\x00\x00', + b'78109-TG7-AM20\x00\x00', + b'78109-TG7-AP10\x00\x00', + b'78109-TG7-AP20\x00\x00', + b'78109-TG7-AS20\x00\x00', + b'78109-TG7-AT20\x00\x00', + b'78109-TG7-AU20\x00\x00', + b'78109-TG7-AX20\x00\x00', + b'78109-TG7-D020\x00\x00', + b'78109-TG7-DJ10\x00\x00', + b'78109-TG7-YK20\x00\x00', + b'78109-TG8-A420\x00\x00', + b'78109-TG8-A520\x00\x00', + b'78109-TG8-AJ10\x00\x00', + b'78109-TG8-AJ20\x00\x00', + b'78109-TG8-AK20\x00\x00', + b'78109-TG8-AS20\x00\x00', + b'78109-TGS-AB10\x00\x00', + b'78109-TGS-AC10\x00\x00', + b'78109-TGS-AD10\x00\x00', + b'78109-TGS-AJ20\x00\x00', + b'78109-TGS-AK20\x00\x00', + b'78109-TGS-AP20\x00\x00', + b'78109-TGS-AT20\x00\x00', + b'78109-TGS-AX20\x00\x00', + b'78109-TGT-AJ20\x00\x00', + b'78109-TGT-AK30\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TG7-A130\x00\x00', + b'57114-TG7-A140\x00\x00', + b'57114-TG7-A230\x00\x00', + b'57114-TG7-A240\x00\x00', + b'57114-TG7-A630\x00\x00', + b'57114-TG7-A730\x00\x00', + b'57114-TG8-A140\x00\x00', + b'57114-TG8-A240\x00\x00', + b'57114-TG8-A630\x00\x00', + b'57114-TG8-A730\x00\x00', + b'57114-TGS-A530\x00\x00', + b'57114-TGT-A530\x00\x00', + ], + }, + CAR.ACURA_RDX: { + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TX4-A220\x00\x00', + b'57114-TX5-A220\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TX4-A030\x00\x00', + b'36161-TX5-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX4-B010\x00\x00', + b'77959-TX4-C010\x00\x00', + b'77959-TX4-C020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TX4-A210\x00\x00', + b'78109-TX4-A310\x00\x00', + b'78109-TX5-A310\x00\x00', + ], + }, + CAR.ACURA_RDX_3G: { + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-5YF-A130\x00\x00', + b'37805-5YF-A230\x00\x00', + b'37805-5YF-A320\x00\x00', + b'37805-5YF-A330\x00\x00', + b'37805-5YF-A420\x00\x00', + b'37805-5YF-A430\x00\x00', + b'37805-5YF-A750\x00\x00', + b'37805-5YF-A760\x00\x00', + b'37805-5YF-A850\x00\x00', + b'37805-5YF-A870\x00\x00', + b'37805-5YF-AD20\x00\x00', + b'37805-5YF-C210\x00\x00', + b'37805-5YF-C220\x00\x00', + b'37805-5YF-C410\x00\x00', + b'37805-5YF-C420\x00\x00', + b'37805-5YF-C430\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TJB-A030\x00\x00', + b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TJB-A040\x00\x00', + b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28102-5YK-A610\x00\x00', + b'28102-5YK-A620\x00\x00', + b'28102-5YK-A630\x00\x00', + b'28102-5YK-A700\x00\x00', + b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', + b'28102-5YL-A620\x00\x00', + b'28102-5YL-A700\x00\x00', + b'28102-5YL-A711\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TJB-A140\x00\x00', + b'78109-TJB-A240\x00\x00', + b'78109-TJB-A420\x00\x00', + b'78109-TJB-AB10\x00\x00', + b'78109-TJB-AD10\x00\x00', + b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AQ20\x00\x00', + b'78109-TJB-AR10\x00\x00', + b'78109-TJB-AS10\x00\x00', + b'78109-TJB-AU10\x00\x00', + b'78109-TJB-AW10\x00\x00', + b'78109-TJC-A240\x00\x00', + b'78109-TJC-A420\x00\x00', + b'78109-TJC-AA10\x00\x00', + b'78109-TJC-AD10\x00\x00', + b'78109-TJC-AF10\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', + b'77959-TJB-A210\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-TJB-A040\x00\x00', + b'46114-TJB-A050\x00\x00', + b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TJB-A040\x00\x00', + b'38897-TJB-A110\x00\x00', + b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TJB-A030\x00\x00', + b'39990-TJB-A040\x00\x00', + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', + ], + }, + CAR.RIDGELINE: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6Z-A020\x00\x00', + b'39990-T6Z-A030\x00\x00', + b'39990-T6Z-A050\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6Z-A020\x00\x00', + b'36161-T6Z-A310\x00\x00', + b'36161-T6Z-A420\x00\x00', + b'36161-T6Z-A520\x00\x00', + b'36161-T6Z-A620\x00\x00', + b'36161-TJZ-A120\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6Z-A010\x00\x00', + b'38897-T6Z-A110\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6Z-A420\x00\x00', + b'78109-T6Z-A510\x00\x00', + b'78109-T6Z-A710\x00\x00', + b'78109-T6Z-A810\x00\x00', + b'78109-T6Z-A910\x00\x00', + b'78109-T6Z-AA10\x00\x00', + b'78109-T6Z-C620\x00\x00', + b'78109-T6Z-C910\x00\x00', + b'78109-TJZ-A510\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6Z-A020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T6Z-A120\x00\x00', + b'57114-T6Z-A130\x00\x00', + b'57114-T6Z-A520\x00\x00', + b'57114-TJZ-A520\x00\x00', + ], + }, + CAR.INSIGHT: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TXM-A040\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TXM-A070\x00\x00', + b'36802-TXM-A080\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TXM-A050\x00\x00', + b'36161-TXM-A060\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TXM-A230\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TXM-A030\x00\x00', + b'57114-TXM-A040\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TWA-A910\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TXM-A020\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TXM-A010\x00\x00', + b'78109-TXM-A020\x00\x00', + b'78109-TXM-A030\x00\x00', + b'78109-TXM-A110\x00\x00', + b'78109-TXM-C010\x00\x00', + ], + }, + CAR.HRV: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T7A-A010\x00\x00', + b'38897-T7A-A110\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-THX-A020\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T7A-A040\x00\x00', + b'36161-T7A-A140\x00\x00', + b'36161-T7A-A240\x00\x00', + b'36161-T7A-C440\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T7A-A230\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-THW-A110\x00\x00', + b'78109-THX-A110\x00\x00', + b'78109-THX-A120\x00\x00', + b'78109-THX-A210\x00\x00', + b'78109-THX-A220\x00\x00', + b'78109-THX-C220\x00\x00', + ], + }, + CAR.HRV_3G: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, + CAR.ACURA_ILX: { + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TX6-A010\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-TV9-A140\x00\x00', + b'36161-TX6-A030\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TX6-A230\x00\x00', + b'77959-TX6-C210\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T3R-A120\x00\x00', + b'78109-T3R-A410\x00\x00', + b'78109-TV9-A510\x00\x00', + ], + }, + CAR.HONDA_E: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TYF-N030\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TYF-E140\x00\x00', + ], + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TYF-E010\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TYF-G430\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-TYF-G610\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36802-TYF-E030\x00\x00', + ], + (Ecu.fwdCamera, 0x18dab5f1, None): [ + b'36161-TYF-E020\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TYF-E030\x00\x00', + ], + }, + CAR.CIVIC_2022: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T24-T120\x00\x00', + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A210\x00\x00', + b'38897-T20-A310\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + b'38897-T24-Z120\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T20-A980\x00\x00', + b'77959-T20-M820\x00\x00', + b'77959-T47-A940\x00\x00', + b'77959-T47-A950\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78108-T21-A220\x00\x00', + b'78108-T21-A230\x00\x00', + b'78108-T21-A620\x00\x00', + b'78108-T21-A740\x00\x00', + b'78108-T21-MB10\x00\x00', + b'78108-T22-A020\x00\x00', + b'78108-T23-A110\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T20-A060\x00\x00', + b'36161-T20-A070\x00\x00', + b'36161-T20-A080\x00\x00', + b'36161-T24-T070\x00\x00', + b'36161-T47-A070\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T24-TB30\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + b'28101-65H-A120\x00\x00', + b'28101-65J-N010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-64A-A540\x00\x00', + b'37805-64A-A620\x00\x00', + b'37805-64D-P510\x00\x00', + b'37805-64L-A540\x00\x00', + b'37805-64S-A540\x00\x00', + b'37805-64S-A720\x00\x00', + b'37805-64S-AA10\x00\x00', + ], + }, +} diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 7f37fe7077..ee9eec9765 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -320,6 +320,9 @@ class CarInterface(CarInterfaceBase): if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + if ret.enableGasInterceptor and candidate not in HONDA_BOSCH: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR + if candidate in HONDA_BOSCH_RADARLESS: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py index da64b8f70b..4e3f9182ea 100755 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -2,7 +2,7 @@ import re import unittest -from openpilot.selfdrive.car.honda.values import FW_VERSIONS +from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index cda4f0a0a2..be85e768e1 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -210,1407 +210,48 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.ACCORD: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6A0-8720\x00\x00', - b'37805-6A0-9520\x00\x00', - b'37805-6A0-9620\x00\x00', - b'37805-6A0-9720\x00\x00', - b'37805-6A0-A540\x00\x00', - b'37805-6A0-A550\x00\x00', - b'37805-6A0-A640\x00\x00', - b'37805-6A0-A650\x00\x00', - b'37805-6A0-A740\x00\x00', - b'37805-6A0-A750\x00\x00', - b'37805-6A0-A840\x00\x00', - b'37805-6A0-A850\x00\x00', - b'37805-6A0-A930\x00\x00', - b'37805-6A0-AF30\x00\x00', - b'37805-6A0-AG30\x00\x00', - b'37805-6B2-C520\x00\x00', - b'37805-6A0-C540\x00\x00', - b'37805-6A1-H650\x00\x00', - b'37805-6B2-A550\x00\x00', - b'37805-6B2-A560\x00\x00', - b'37805-6B2-A650\x00\x00', - b'37805-6B2-A660\x00\x00', - b'37805-6B2-A720\x00\x00', - b'37805-6B2-A810\x00\x00', - b'37805-6B2-A820\x00\x00', - b'37805-6B2-A920\x00\x00', - b'37805-6B2-M520\x00\x00', - b'37805-6B2-Y810\x00\x00', - b'37805-6M4-B730\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TVC-A910\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-6A7-A220\x00\x00', - b'28101-6A7-A230\x00\x00', - b'28101-6A7-A320\x00\x00', - b'28101-6A7-A330\x00\x00', - b'28101-6A7-A410\x00\x00', - b'28101-6A7-A510\x00\x00', - b'28101-6A7-A610\x00\x00', - b'28101-6A7-A710\x00\x00', - b'28101-6A9-H140\x00\x00', - b'28101-6A9-H420\x00\x00', - b'28102-6B8-A560\x00\x00', - b'28102-6B8-A570\x00\x00', - b'28102-6B8-A700\x00\x00', - b'28102-6B8-A800\x00\x00', - b'28102-6B8-C560\x00\x00', - b'28102-6B8-C570\x00\x00', - b'28102-6B8-M520\x00\x00', - b'28102-6B8-R700\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TVA-A060\x00\x00', - b'46114-TVA-A080\x00\x00', - b'46114-TVA-A120\x00\x00', - b'46114-TVA-A320\x00\x00', - b'46114-TVA-A050\x00\x00', - b'46114-TVE-H550\x00\x00', - b'46114-TVE-H560\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TVA-B040\x00\x00', - b'57114-TVA-B050\x00\x00', - b'57114-TVA-B060\x00\x00', - b'57114-TVA-B530\x00\x00', - b'57114-TVA-C040\x00\x00', - b'57114-TVA-C050\x00\x00', - b'57114-TVA-C060\x00\x00', - b'57114-TVA-C530\x00\x00', - b'57114-TVA-E520\x00\x00', - b'57114-TVE-H250\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBX-H120\x00\x00', - b'39990-TVA-A140\x00\x00', - b'39990-TVA-A150\x00\x00', - b'39990-TVA-A160\x00\x00', - b'39990-TVA-A340\x00\x00', - b'39990-TVA-X030\x00\x00', - b'39990-TVA-X040\x00\x00', - b'39990-TVA,A150\x00\x00', # modified firmware - b'39990-TVE-H130\x00\x00', - ], - (Ecu.unknown, 0x18da3af1, None): [ - b'39390-TVA-A020\x00\x00', - b'39390-TVA-A120\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBX-H230\x00\x00', - b'77959-TVA-A460\x00\x00', - b'77959-TVA-F330\x00\x00', - b'77959-TVA-H230\x00\x00', - b'77959-TVA-L420\x00\x00', - b'77959-TVA-X330\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBX-H310\x00\x00', - b'78109-TVA-A010\x00\x00', - b'78109-TVA-A020\x00\x00', - b'78109-TVA-A030\x00\x00', - b'78109-TVA-A110\x00\x00', - b'78109-TVA-A120\x00\x00', - b'78109-TVA-A130\x00\x00', - b'78109-TVA-A210\x00\x00', - b'78109-TVA-A220\x00\x00', - b'78109-TVA-A230\x00\x00', - b'78109-TVA-A310\x00\x00', - b'78109-TVA-C010\x00\x00', - b'78109-TVA-L010\x00\x00', - b'78109-TVA-L210\x00\x00', - b'78109-TVA-R310\x00\x00', - b'78109-TVC-A010\x00\x00', - b'78109-TVC-A020\x00\x00', - b'78109-TVC-A030\x00\x00', - b'78109-TVC-A110\x00\x00', - b'78109-TVC-A130\x00\x00', - b'78109-TVC-A210\x00\x00', - b'78109-TVC-A220\x00\x00', - b'78109-TVC-A230\x00\x00', - b'78109-TVC-C010\x00\x00', - b'78109-TVC-C110\x00\x00', - b'78109-TVC-L010\x00\x00', - b'78109-TVC-L210\x00\x00', - b'78109-TVC-M510\x00\x00', - b'78109-TVC-YF10\x00\x00', - b'78109-TVE-H610\x00\x00', - b'78109-TWA-A210\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A010\x00\x00', - b'78209-TVA-A110\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TBX-H140\x00\x00', - b'36802-TVA-A150\x00\x00', - b'36802-TVA-A160\x00\x00', - b'36802-TVA-A170\x00\x00', - b'36802-TVA-A330\x00\x00', - b'36802-TVC-A330\x00\x00', - b'36802-TVE-H070\x00\x00', - b'36802-TWA-A070\x00\x00', - b'36802-TWA-A080\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TBX-H130\x00\x00', - b'36161-TVA-A060\x00\x00', - b'36161-TVA-A330\x00\x00', - b'36161-TVC-A330\x00\x00', - b'36161-TVE-H050\x00\x00', - b'36161-TWA-A070\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TVA-A010\x00\x00', - b'38897-TVA-A020\x00\x00', - b'38897-TVA-A230\x00\x00', - b'38897-TVA-A240\x00\x00', - ], - }, - CAR.ACCORDH: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TWA-A120\x00\x00', - b'38897-TWD-J020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TWA-A040\x00\x00', - b'57114-TWA-A050\x00\x00', - b'57114-TWA-A530\x00\x00', - b'57114-TWA-B520\x00\x00', - b'57114-TWB-H030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TWA-A440\x00\x00', - b'77959-TWA-L420\x00\x00', - b'77959-TWB-H220\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TWA-A010\x00\x00', - b'78109-TWA-A020\x00\x00', - b'78109-TWA-A030\x00\x00', - b'78109-TWA-A110\x00\x00', - b'78109-TWA-A120\x00\x00', - b'78109-TWA-A130\x00\x00', - b'78109-TWA-A210\x00\x00', - b'78109-TWA-A220\x00\x00', - b'78109-TWA-A230\x00\x00', - b'78109-TWA-L010\x00\x00', - b'78109-TWA-L210\x00\x00', - b'78109-TWA-H210\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TVA-A010\x00\x00', - b'78209-TVA-A110\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TWA-A070\x00\x00', - b'36161-TWA-A330\x00\x00', - b'36161-TWB-H040\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TWA-A070\x00\x00', - b'36802-TWA-A080\x00\x00', - b'36802-TWA-A330\x00\x00', - b'36802-TWB-H060\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TVA-A160\x00\x00', - b'39990-TVA-A150\x00\x00', - b'39990-TVA-A340\x00\x00', - b'39990-TWB-H120\x00\x00', - ], - }, - CAR.ACCORD_NIDEC_4CYL: { - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-T2F-X840\x00\x00', - ], - (Ecu.fwdRadar, 0x18DAB0F1, None): [ - b'36161-T2F-A140\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78109-T2F-L110\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-T2F-A030\x00\x00', - ], - }, - CAR.CIVIC: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A640\x00\x00', - b'37805-5AA-A650\x00\x00', - b'37805-5AA-A670\x00\x00', - b'37805-5AA-A680\x00\x00', - b'37805-5AA-A810\x00\x00', - b'37805-5AA-C640\x00\x00', - b'37805-5AA-C680\x00\x00', - b'37805-5AA-C820\x00\x00', - b'37805-5AA-L650\x00\x00', - b'37805-5AA-L660\x00\x00', - b'37805-5AA-L680\x00\x00', - b'37805-5AA-L690\x00\x00', - b'37805-5AA-L810\000\000', - b'37805-5AG-Q710\x00\x00', - b'37805-5AJ-A610\x00\x00', - b'37805-5AJ-A620\x00\x00', - b'37805-5AJ-L610\x00\x00', - b'37805-5BA-A310\x00\x00', - b'37805-5BA-A510\x00\x00', - b'37805-5BA-A740\x00\x00', - b'37805-5BA-A760\x00\x00', - b'37805-5BA-A930\x00\x00', - b'37805-5BA-A960\x00\x00', - b'37805-5BA-C860\x00\x00', - b'37805-5BA-L410\x00\x00', - b'37805-5BA-L760\x00\x00', - b'37805-5BA-L930\x00\x00', - b'37805-5BA-L940\x00\x00', - b'37805-5BA-L960\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5CG-A040\x00\x00', - b'28101-5CG-A050\x00\x00', - b'28101-5CG-A070\x00\x00', - b'28101-5CG-A080\x00\x00', - b'28101-5CG-A320\x00\x00', - b'28101-5CG-A810\x00\x00', - b'28101-5CG-A820\x00\x00', - b'28101-5DJ-A040\x00\x00', - b'28101-5DJ-A060\x00\x00', - b'28101-5DJ-A510\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TBA-A540\x00\x00', - b'57114-TBA-A550\x00\x00', - b'57114-TBA-A560\x00\x00', - b'57114-TBA-A570\x00\x00', - b'57114-TEA-Q220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBA,A030\x00\x00', # modified firmware - b'39990-TBA-A030\x00\x00', - b'39990-TBG-A030\x00\x00', - b'39990-TEA-T020\x00\x00', - b'39990-TEG-A010\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBA-A030\x00\x00', - b'77959-TBA-A040\x00\x00', - b'77959-TBG-A030\x00\x00', - b'77959-TEA-Q820\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBA-A510\x00\x00', - b'78109-TBA-A520\x00\x00', - b'78109-TBA-A530\x00\x00', - b'78109-TBA-C520\x00\x00', - b'78109-TBC-A310\x00\x00', - b'78109-TBC-A320\x00\x00', - b'78109-TBC-A510\x00\x00', - b'78109-TBC-A520\x00\x00', - b'78109-TBC-A530\x00\x00', - b'78109-TBC-C510\x00\x00', - b'78109-TBC-C520\x00\x00', - b'78109-TBC-C530\x00\x00', - b'78109-TBH-A510\x00\x00', - b'78109-TBH-A530\x00\x00', - b'78109-TED-Q510\x00\x00', - b'78109-TEG-A310\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TBA-A020\x00\x00', - b'36161-TBA-A030\x00\x00', - b'36161-TBA-A040\x00\x00', - b'36161-TBC-A020\x00\x00', - b'36161-TBC-A030\x00\x00', - b'36161-TED-Q320\x00\x00', - b'36161-TEG-A010\x00\x00', - b'36161-TEG-A020\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A010\x00\x00', - b'38897-TBA-A020\x00\x00', - ], - }, - CAR.CIVIC_BOSCH: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A940\x00\x00', - b'37805-5AA-A950\x00\x00', - b'37805-5AA-C950\x00\x00', - b'37805-5AA-L940\x00\x00', - b'37805-5AA-L950\x00\x00', - b'37805-5AG-Z910\x00\x00', - b'37805-5AJ-A750\x00\x00', - b'37805-5AJ-L750\x00\x00', - b'37805-5AK-T530\x00\x00', - b'37805-5AN-A750\x00\x00', - b'37805-5AN-A830\x00\x00', - b'37805-5AN-A840\x00\x00', - b'37805-5AN-A930\x00\x00', - b'37805-5AN-A940\x00\x00', - b'37805-5AN-A950\x00\x00', - b'37805-5AN-AG20\x00\x00', - b'37805-5AN-AH20\x00\x00', - b'37805-5AN-AJ30\x00\x00', - b'37805-5AN-AK10\x00\x00', - b'37805-5AN-AK20\x00\x00', - b'37805-5AN-AR10\x00\x00', - b'37805-5AN-AR20\x00\x00', - b'37805-5AN-CH20\x00\x00', - b'37805-5AN-E630\x00\x00', - b'37805-5AN-E720\x00\x00', - b'37805-5AN-E820\x00\x00', - b'37805-5AN-J820\x00\x00', - b'37805-5AN-L840\x00\x00', - b'37805-5AN-L930\x00\x00', - b'37805-5AN-L940\x00\x00', - b'37805-5AN-LF20\x00\x00', - b'37805-5AN-LH20\x00\x00', - b'37805-5AN-LJ20\x00\x00', - b'37805-5AN-LR20\x00\x00', - b'37805-5AN-LS20\x00\x00', - b'37805-5AW-G720\x00\x00', - b'37805-5AZ-E850\x00\x00', - b'37805-5AZ-G540\x00\x00', - b'37805-5AZ-G740\x00\x00', - b'37805-5AZ-G840\x00\x00', - b'37805-5BB-A530\x00\x00', - b'37805-5BB-A540\x00\x00', - b'37805-5BB-A630\x00\x00', - b'37805-5BB-A640\x00\x00', - b'37805-5BB-C540\x00\x00', - b'37805-5BB-C630\x00\x00', - b'37805-5BB-C640\x00\x00', - b'37805-5BB-L540\x00\x00', - b'37805-5BB-L630\x00\x00', - b'37805-5BB-L640\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5CG-A920\x00\x00', - b'28101-5CG-AB10\x00\x00', - b'28101-5CG-C110\x00\x00', - b'28101-5CG-C220\x00\x00', - b'28101-5CG-C320\x00\x00', - b'28101-5CG-G020\x00\x00', - b'28101-5CG-L020\x00\x00', - b'28101-5CK-A130\x00\x00', - b'28101-5CK-A140\x00\x00', - b'28101-5CK-A150\x00\x00', - b'28101-5CK-C130\x00\x00', - b'28101-5CK-C140\x00\x00', - b'28101-5CK-C150\x00\x00', - b'28101-5CK-G210\x00\x00', - b'28101-5CK-J710\x00\x00', - b'28101-5CK-Q610\x00\x00', - b'28101-5DJ-A610\x00\x00', - b'28101-5DJ-A710\x00\x00', - b'28101-5DV-E330\x00\x00', - b'28101-5DV-E610\x00\x00', - b'28101-5DV-E820\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TBG-A330\x00\x00', - b'57114-TBG-A340\x00\x00', - b'57114-TBG-A350\x00\x00', - b'57114-TGG-A340\x00\x00', - b'57114-TGG-C320\x00\x00', - b'57114-TGG-G320\x00\x00', - b'57114-TGG-L320\x00\x00', - b'57114-TGG-L330\x00\x00', - b'57114-TGK-T320\x00\x00', - b'57114-TGL-G330\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TBA-C020\x00\x00', - b'39990-TBA-C120\x00\x00', - b'39990-TEA-T820\x00\x00', - b'39990-TEZ-T020\x00\x00', - b'39990-TGG-A020\x00\x00', - b'39990-TGG-A120\x00\x00', - b'39990-TGG-J510\x00\x00', - b'39990-TGL-E130\x00\x00', - b'39990-TGN-E120\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TBA-A060\x00\x00', - b'77959-TBG-A050\x00\x00', - b'77959-TEA-G020\x00\x00', - b'77959-TGG-A020\x00\x00', - b'77959-TGG-A030\x00\x00', - b'77959-TGG-E010\x00\x00', - b'77959-TGG-G010\x00\x00', - b'77959-TGG-G110\x00\x00', - b'77959-TGG-J320\x00\x00', - b'77959-TGG-Z820\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TBA-A110\x00\x00', - b'78109-TBA-A910\x00\x00', - b'78109-TBA-C340\x00\x00', - b'78109-TBA-C910\x00\x00', - b'78109-TBC-A740\x00\x00', - b'78109-TBC-C540\x00\x00', - b'78109-TBG-A110\x00\x00', - b'78109-TBH-A710\x00\x00', - b'78109-TEG-A720\x00\x00', - b'78109-TFJ-G020\x00\x00', - b'78109-TGG-9020\x00\x00', - b'78109-TGG-A210\x00\x00', - b'78109-TGG-A220\x00\x00', - b'78109-TGG-A310\x00\x00', - b'78109-TGG-A320\x00\x00', - b'78109-TGG-A330\x00\x00', - b'78109-TGG-A610\x00\x00', - b'78109-TGG-A620\x00\x00', - b'78109-TGG-A810\x00\x00', - b'78109-TGG-A820\x00\x00', - b'78109-TGG-C220\x00\x00', - b'78109-TGG-E110\x00\x00', - b'78109-TGG-G030\x00\x00', - b'78109-TGG-G230\x00\x00', - b'78109-TGG-G410\x00\x00', - b'78109-TGK-Z410\x00\x00', - b'78109-TGL-G120\x00\x00', - b'78109-TGL-G130\x00\x00', - b'78109-TGL-G210\x00\x00', - b'78109-TGL-G230\x00\x00', - b'78109-TGL-GM10\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TBA-A150\x00\x00', - b'36802-TBA-A160\x00\x00', - b'36802-TFJ-G060\x00\x00', - b'36802-TGG-A050\x00\x00', - b'36802-TGG-A060\x00\x00', - b'36802-TGG-A130\x00\x00', - b'36802-TGG-G040\x00\x00', - b'36802-TGG-G130\x00\x00', - b'36802-TGK-Q120\x00\x00', - b'36802-TGL-G040\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TBA-A130\x00\x00', - b'36161-TBA-A140\x00\x00', - b'36161-TFJ-G070\x00\x00', - b'36161-TGG-A060\x00\x00', - b'36161-TGG-A080\x00\x00', - b'36161-TGG-A120\x00\x00', - b'36161-TGG-G050\x00\x00', - b'36161-TGG-G130\x00\x00', - b'36161-TGG-G140\x00\x00', - b'36161-TGK-Q120\x00\x00', - b'36161-TGL-G050\x00\x00', - b'36161-TGL-G070\x00\x00', - b'36161-TGG-G070\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A110\x00\x00', - b'38897-TBA-A020\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'39494-TGL-G030\x00\x00', - ], - }, - CAR.CIVIC_BOSCH_DIESEL: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-59N-G630\x00\x00', - b'37805-59N-G830\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-59Y-G220\x00\x00', - b'28101-59Y-G620\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TGN-E320\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TFK-G020\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TFK-G210\x00\x00', - b'77959-TGN-G220\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TFK-G020\x00\x00', - b'78109-TGN-G120\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TFK-G130\x00\x00', - b'36802-TGN-G130\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TGN-E010\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TFK-G130\x00\x00', - b'36161-TGN-G130\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TBA-A020\x00\x00', - ], - }, - CAR.CRV: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T1W-A230\x00\x00', - b'57114-T1W-A240\x00\x00', - b'57114-TFF-A940\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T0A-A230\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T1W-A210\x00\x00', - b'78109-T1W-C210\x00\x00', - b'78109-T1X-A210\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T1W-A830\x00\x00', - b'36161-T1W-C830\x00\x00', - b'36161-T1X-A830\x00\x00', - ], - }, - CAR.CRV_5G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5PA-AH20\x00\x00', - b'37805-5PA-3060\x00\x00', - b'37805-5PA-3080\x00\x00', - b'37805-5PA-3180\x00\x00', - b'37805-5PA-4050\x00\x00', - b'37805-5PA-4150\x00\x00', - b'37805-5PA-6520\x00\x00', - b'37805-5PA-6530\x00\x00', - b'37805-5PA-6630\x00\x00', - b'37805-5PA-6640\x00\x00', - b'37805-5PA-7630\x00\x00', - b'37805-5PA-9630\x00\x00', - b'37805-5PA-9640\x00\x00', - b'37805-5PA-9730\x00\x00', - b'37805-5PA-9830\x00\x00', - b'37805-5PA-9840\x00\x00', - b'37805-5PA-A650\x00\x00', - b'37805-5PA-A670\x00\x00', - b'37805-5PA-A680\x00\x00', - b'37805-5PA-A850\x00\x00', - b'37805-5PA-A870\x00\x00', - b'37805-5PA-A880\x00\x00', - b'37805-5PA-A890\x00\x00', - b'37805-5PA-AB10\x00\x00', - b'37805-5PA-AD10\x00\x00', - b'37805-5PA-AF20\x00\x00', - b'37805-5PA-C680\x00\x00', - b'37805-5PD-Q630\x00\x00', - b'37805-5PF-F730\x00\x00', - b'37805-5PF-M630\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5RG-A020\x00\x00', - b'28101-5RG-A030\x00\x00', - b'28101-5RG-A040\x00\x00', - b'28101-5RG-A120\x00\x00', - b'28101-5RG-A220\x00\x00', - b'28101-5RH-A020\x00\x00', - b'28101-5RH-A030\x00\x00', - b'28101-5RH-A040\x00\x00', - b'28101-5RH-A120\x00\x00', - b'28101-5RH-A220\x00\x00', - b'28101-5RL-Q010\x00\x00', - b'28101-5RM-F010\x00\x00', - b'28101-5RM-K010\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TLA-A040\x00\x00', - b'57114-TLA-A050\x00\x00', - b'57114-TLA-A060\x00\x00', - b'57114-TLB-A830\x00\x00', - b'57114-TMC-Z040\x00\x00', - b'57114-TMC-Z050\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TLA-A040\x00\x00', - b'39990-TLA-A110\x00\x00', - b'39990-TLA-A220\x00\x00', - b'39990-TLA,A040\x00\x00', # modified firmware - b'39990-TME-T030\x00\x00', - b'39990-TME-T120\x00\x00', - b'39990-TMT-T010\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TLA-A040\x00\x00', - b'46114-TLA-A050\x00\x00', - b'46114-TLA-A930\x00\x00', - b'46114-TMC-U020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TLA-A110\x00\x00', - b'78109-TLA-A120\x00\x00', - b'78109-TLA-A210\x00\x00', - b'78109-TLA-A220\x00\x00', - b'78109-TLA-C020\x00\x00', - b'78109-TLA-C110\x00\x00', - b'78109-TLA-C210\x00\x00', - b'78109-TLA-C310\x00\x00', - b'78109-TLB-A020\x00\x00', - b'78109-TLB-A110\x00\x00', - b'78109-TLB-A120\x00\x00', - b'78109-TLB-A210\x00\x00', - b'78109-TLB-A220\x00\x00', - b'78109-TMC-Q210\x00\x00', - b'78109-TMM-F210\x00\x00', - b'78109-TMM-M110\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TLA-A010\x00\x00', - b'38897-TLA-A110\x00\x00', - b'38897-TNY-G010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TLA-A040\x00\x00', - b'36802-TLA-A050\x00\x00', - b'36802-TLA-A060\x00\x00', - b'36802-TMC-Q040\x00\x00', - b'36802-TMC-Q070\x00\x00', - b'36802-TNY-A030\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TLA-A060\x00\x00', - b'36161-TLA-A070\x00\x00', - b'36161-TLA-A080\x00\x00', - b'36161-TMC-Q020\x00\x00', - b'36161-TMC-Q030\x00\x00', - b'36161-TMC-Q040\x00\x00', - b'36161-TNY-A020\x00\x00', - b'36161-TNY-A030\x00\x00', - b'36161-TNY-A040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TLA-A240\x00\x00', - b'77959-TLA-A250\x00\x00', - b'77959-TLA-A320\x00\x00', - b'77959-TLA-A410\x00\x00', - b'77959-TLA-A420\x00\x00', - b'77959-TLA-Q040\x00\x00', - b'77959-TLA-Z040\x00\x00', - b'77959-TMM-F040\x00\x00', - ], - }, - CAR.CRV_EU: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-R5Z-G740\x00\x00', - b'37805-R5Z-G780\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'], - (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'], - (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5LH-E120\x00\x00', - b'28103-5LH-E100\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T1V-G020\x00\x00', - b'78109-T1B-3050\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'], - }, - CAR.CRV_HYBRID: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TPA-G020\x00\x00', - b'57114-TPG-A020\x00\x00', - b'57114-TMB-H030\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TPA-G030\x00\x00', - b'39990-TPG-A020\x00\x00', - b'39990-TMA-H020\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TMA-H110\x00\x00', - b'38897-TPG-A110\x00\x00', - b'38897-TPG-A210\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TMB-H510\x00\x00', - b'54008-TMB-H610\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TMB-H040\x00\x00', - b'36161-TPA-E050\x00\x00', - b'36161-TPG-A030\x00\x00', - b'36161-TPG-A040\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TMB-H220\x00\x00', - b'78109-TPA-G520\x00\x00', - b'78109-TPG-A110\x00\x00', - b'78109-TPG-A210\x00\x00', - ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TLA-X010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TPA-E040\x00\x00', - b'36802-TPG-A020\x00\x00', - b'36802-TMB-H040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TLA-C320\x00\x00', - b'77959-TLA-C410\x00\x00', - b'77959-TLA-C420\x00\x00', - b'77959-TLA-G220\x00\x00', - b'77959-TLA-H240\x00\x00', - ], - }, - CAR.FIT: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T5R-L020\x00\x00', - b'57114-T5R-L220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T5R-C020\x00\x00', - b'39990-T5R-C030\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T5A-J010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T5A-A210\x00\x00', - b'78109-T5A-A410\x00\x00', - b'78109-T5A-A420\x00\x00', - b'78109-T5A-A910\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T5R-A040\x00\x00', - b'36161-T5R-A240\x00\x00', - b'36161-T5R-A520\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T5R-A230\x00\x00', - ], - }, - CAR.FREED: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TDK-J010\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TDK-J050\x00\x00', - b'39990-TDK-N020\x00\x00', - ], - # TODO: vsa is "essential" for fpv2 but doesn't appear on some models - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TDK-J120\x00\x00', - b'57114-TDK-J330\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TDK-J310\x00\x00', - b'78109-TDK-J320\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TDK-J070\x00\x00', - b'36161-TDK-J080\x00\x00', - b'36161-TDK-J530\x00\x00', - ], - }, - CAR.ODYSSEY: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-THR-A010\x00\x00', - b'38897-THR-A020\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5MR-4080\x00\x00', - b'37805-5MR-A240\x00\x00', - b'37805-5MR-A250\x00\x00', - b'37805-5MR-A310\x00\x00', - b'37805-5MR-A740\x00\x00', - b'37805-5MR-A750\x00\x00', - b'37805-5MR-A840\x00\x00', - b'37805-5MR-C620\x00\x00', - b'37805-5MR-D530\x00\x00', - b'37805-5MR-K730\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-THR-A020\x00\x00', - b'39990-THR-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-THR-A010\x00\x00', - b'77959-THR-A110\x00\x00', - b'77959-THR-X010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-THR-A020\x00\x00', - b'36161-THR-A030\x00\x00', - b'36161-THR-A110\x00\x00', - b'36161-THR-A720\x00\x00', - b'36161-THR-A730\x00\x00', - b'36161-THR-A810\x00\x00', - b'36161-THR-A910\x00\x00', - b'36161-THR-C010\x00\x00', - b'36161-THR-D110\x00\x00', - b'36161-THR-K020\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5NZ-A110\x00\x00', - b'28101-5NZ-A310\x00\x00', - b'28101-5NZ-C310\x00\x00', - b'28102-5MX-A001\x00\x00', - b'28102-5MX-A600\x00\x00', - b'28102-5MX-A610\x00\x00', - b'28102-5MX-A710\x00\x00', - b'28102-5MX-A900\x00\x00', - b'28102-5MX-A910\x00\x00', - b'28102-5MX-C001\x00\x00', - b'28102-5MX-D001\x00\x00', - b'28102-5MX-D710\x00\x00', - b'28102-5MX-K610\x00\x00', - b'28103-5NZ-A100\x00\x00', - b'28103-5NZ-A300\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-THR-A040\x00\x00', - b'57114-THR-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-THR-A220\x00\x00', - b'78109-THR-A230\x00\x00', - b'78109-THR-A420\x00\x00', - b'78109-THR-A430\x00\x00', - b'78109-THR-A720\x00\x00', - b'78109-THR-A820\x00\x00', - b'78109-THR-A830\x00\x00', - b'78109-THR-AB20\x00\x00', - b'78109-THR-AB30\x00\x00', - b'78109-THR-AB40\x00\x00', - b'78109-THR-AC20\x00\x00', - b'78109-THR-AC30\x00\x00', - b'78109-THR-AC40\x00\x00', - b'78109-THR-AC50\x00\x00', - b'78109-THR-AD30\x00\x00', - b'78109-THR-AE20\x00\x00', - b'78109-THR-AE30\x00\x00', - b'78109-THR-AE40\x00\x00', - b'78109-THR-AK10\x00\x00', - b'78109-THR-AL10\x00\x00', - b'78109-THR-AN10\x00\x00', - b'78109-THR-C220\x00\x00', - b'78109-THR-C330\x00\x00', - b'78109-THR-CE20\x00\x00', - b'78109-THR-DA20\x00\x00', - b'78109-THR-DA30\x00\x00', - b'78109-THR-DA40\x00\x00', - b'78109-THR-K120\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-THR-A020\x00\x00', - ], - }, - CAR.ODYSSEY_CHN: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T6D-H220\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T6A-J010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T6A-F310\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T6A-P040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T6A-P110\x00\x00', - ], - }, - CAR.PILOT: { - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TG7-A520\x00\x00', - b'54008-TG7-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-5EY-A050\x00\x00', - b'28101-5EY-A100\x00\x00', - b'28101-5EZ-A050\x00\x00', - b'28101-5EZ-A060\x00\x00', - b'28101-5EZ-A100\x00\x00', - b'28101-5EZ-A210\x00\x00', - b'28101-5EZ-A600\x00\x00', - b'28101-5EZ-A430\x00\x00', - b'28101-5EZ-A700\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-RLV-4060\x00\x00', - b'37805-RLV-4070\x00\x00', - b'37805-RLV-A830\x00\x00', - b'37805-RLV-A840\x00\x00', - b'37805-RLV-C430\x00\x00', - b'37805-RLV-C510\x00\x00', - b'37805-RLV-C520\x00\x00', - b'37805-RLV-C530\x00\x00', - b'37805-RLV-C910\x00\x00', - b'37805-RLV-B220\x00\x00', - b'37805-RLV-B210\x00\x00', - b'37805-RLV-L160\x00\x00', - b'37805-RLV-B420\x00\x00', - b'37805-RLV-F120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TG7-A030\x00\x00', - b'38897-TG7-A040\x00\x00', - b'38897-TG7-A110\x00\x00', - b'38897-TG7-A210\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TG7-A030\x00\x00', - b'39990-TG7-A040\x00\x00', - b'39990-TG7-A060\x00\x00', - b'39990-TG7-A070\x00\x00', - b'39990-TGS-A230\x00\x00', - b'39990-TGS-A320\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TG7-A310\x00\x00', - b'36161-TG7-A520\x00\x00', - b'36161-TG7-A630\x00\x00', - b'36161-TG7-A720\x00\x00', - b'36161-TG7-A820\x00\x00', - b'36161-TG7-A930\x00\x00', - b'36161-TG7-C520\x00\x00', - b'36161-TG7-D520\x00\x00', - b'36161-TG7-D630\x00\x00', - b'36161-TG7-Y630\x00\x00', - b'36161-TG8-A520\x00\x00', - b'36161-TG8-A630\x00\x00', - b'36161-TG8-A720\x00\x00', - b'36161-TG8-A830\x00\x00', - b'36161-TGS-A130\x00\x00', - b'36161-TGT-A030\x00\x00', - b'36161-TGT-A130\x00\x00', - b'36161-TGS-A030\x00\x00', - b'36161-TGS-A220\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TG7-A020\x00\x00', - b'77959-TG7-A110\x00\x00', - b'77959-TG7-A210\x00\x00', - b'77959-TG7-Y210\x00\x00', - b'77959-TGS-A010\x00\x00', - b'77959-TGS-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TG7-A040\x00\x00', - b'78109-TG7-A050\x00\x00', - b'78109-TG7-A420\x00\x00', - b'78109-TG7-A520\x00\x00', - b'78109-TG7-A720\x00\x00', - b'78109-TG7-AJ10\x00\x00', - b'78109-TG7-AJ20\x00\x00', - b'78109-TG7-AK10\x00\x00', - b'78109-TG7-AK20\x00\x00', - b'78109-TG7-AM20\x00\x00', - b'78109-TG7-AP10\x00\x00', - b'78109-TG7-AP20\x00\x00', - b'78109-TG7-AS20\x00\x00', - b'78109-TG7-AT20\x00\x00', - b'78109-TG7-AU20\x00\x00', - b'78109-TG7-AX20\x00\x00', - b'78109-TG7-D020\x00\x00', - b'78109-TG7-DJ10\x00\x00', - b'78109-TG7-YK20\x00\x00', - b'78109-TG8-A420\x00\x00', - b'78109-TG8-A520\x00\x00', - b'78109-TG8-AJ10\x00\x00', - b'78109-TG8-AJ20\x00\x00', - b'78109-TG8-AK20\x00\x00', - b'78109-TGS-AK20\x00\x00', - b'78109-TGS-AP20\x00\x00', - b'78109-TGT-AJ20\x00\x00', - b'78109-TGT-AK30\x00\x00', - b'78109-TGS-AT20\x00\x00', - b'78109-TGS-AX20\x00\x00', - b'78109-TGS-AJ20\x00\x00', - b'78109-TGS-AC10\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TG7-A130\x00\x00', - b'57114-TG7-A140\x00\x00', - b'57114-TG7-A230\x00\x00', - b'57114-TG7-A240\x00\x00', - b'57114-TG7-A630\x00\x00', - b'57114-TG7-A730\x00\x00', - b'57114-TG8-A140\x00\x00', - b'57114-TG8-A240\x00\x00', - b'57114-TG8-A630\x00\x00', - b'57114-TG8-A730\x00\x00', - b'57114-TGS-A530\x00\x00', - b'57114-TGT-A530\x00\x00', - ], - }, - CAR.ACURA_RDX: { - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TX5-A220\x00\x00', - b'57114-TX4-A220\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TX5-A030\x00\x00', - b'36161-TX4-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TX4-C010\x00\x00', - b'77959-TX4-B010\x00\x00', - b'77959-TX4-C020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TX5-A310\x00\x00', - b'78109-TX4-A210\x00\x00', - b'78109-TX4-A310\x00\x00', - ], - }, - CAR.ACURA_RDX_3G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5YF-A130\x00\x00', - b'37805-5YF-A230\x00\x00', - b'37805-5YF-A320\x00\x00', - b'37805-5YF-A330\x00\x00', - b'37805-5YF-A420\x00\x00', - b'37805-5YF-A430\x00\x00', - b'37805-5YF-A750\x00\x00', - b'37805-5YF-A850\x00\x00', - b'37805-5YF-A870\x00\x00', - b'37805-5YF-AD20\x00\x00', - b'37805-5YF-C210\x00\x00', - b'37805-5YF-C220\x00\x00', - b'37805-5YF-C410\000\000', - b'37805-5YF-C420\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TJB-A030\x00\x00', - b'57114-TJB-A040\x00\x00', - b'57114-TJB-A120\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TJB-A040\x00\x00', - b'36802-TJB-A050\x00\x00', - b'36802-TJB-A540\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TJB-A040\x00\x00', - b'36161-TJB-A530\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TJB-A520\x00\x00', - b'54008-TJB-A530\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28102-5YK-A610\x00\x00', - b'28102-5YK-A620\x00\x00', - b'28102-5YK-A630\x00\x00', - b'28102-5YK-A700\x00\x00', - b'28102-5YK-A711\x00\x00', - b'28102-5YK-A800\x00\x00', - b'28102-5YL-A620\x00\x00', - b'28102-5YL-A700\x00\x00', - b'28102-5YL-A711\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TJB-A140\x00\x00', - b'78109-TJB-A240\x00\x00', - b'78109-TJB-A420\x00\x00', - b'78109-TJB-AB10\x00\x00', - b'78109-TJB-AD10\x00\x00', - b'78109-TJB-AF10\x00\x00', - b'78109-TJB-AQ20\x00\x00', - b'78109-TJB-AR10\x00\x00', - b'78109-TJB-AS10\000\000', - b'78109-TJB-AU10\x00\x00', - b'78109-TJB-AW10\x00\x00', - b'78109-TJC-A420\x00\x00', - b'78109-TJC-AA10\x00\x00', - b'78109-TJC-AD10\x00\x00', - b'78109-TJC-AF10\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TJB-A040\x00\x00', - b'77959-TJB-A120\x00\x00', - b'77959-TJB-A210\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ - b'46114-TJB-A040\x00\x00', - b'46114-TJB-A050\x00\x00', - b'46114-TJB-A060\x00\x00', - b'46114-TJB-A120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TJB-A040\x00\x00', - b'38897-TJB-A110\x00\x00', - b'38897-TJB-A120\x00\x00', - b'38897-TJB-A220\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TJB-A030\x00\x00', - b'39990-TJB-A040\x00\x00', - b'39990-TJB-A070\x00\x00', - b'39990-TJB-A130\x00\x00', - ], - }, - CAR.RIDGELINE: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-T6Z-A020\x00\x00', - b'39990-T6Z-A030\x00\x00', - b'39990-T6Z-A050\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T6Z-A020\x00\x00', - b'36161-T6Z-A310\x00\x00', - b'36161-T6Z-A420\x00\x00', - b'36161-T6Z-A520\x00\x00', - b'36161-T6Z-A620\x00\x00', - b'36161-TJZ-A120\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T6Z-A010\x00\x00', - b'38897-T6Z-A110\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T6Z-A420\x00\x00', - b'78109-T6Z-A510\x00\x00', - b'78109-T6Z-A710\x00\x00', - b'78109-T6Z-A810\x00\x00', - b'78109-T6Z-A910\x00\x00', - b'78109-T6Z-AA10\x00\x00', - b'78109-T6Z-C620\x00\x00', - b'78109-T6Z-C910\x00\x00', - b'78109-TJZ-A510\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T6Z-A020\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-T6Z-A120\x00\x00', - b'57114-T6Z-A130\x00\x00', - b'57114-T6Z-A520\x00\x00', - b'57114-TJZ-A520\x00\x00', - ], - }, - CAR.INSIGHT: { - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TXM-A040\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36802-TXM-A070\x00\x00', - b'36802-TXM-A080\x00\x00', - ], - (Ecu.fwdCamera, 0x18dab5f1, None): [ - b'36161-TXM-A050\x00\x00', - b'36161-TXM-A060\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TXM-A230\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TXM-A030\x00\x00', - b'57114-TXM-A040\x00\x00', - ], - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TWA-A910\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TXM-A020\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TXM-A010\x00\x00', - b'78109-TXM-A020\x00\x00', - b'78109-TXM-A110\x00\x00', - b'78109-TXM-C010\x00\x00', - b'78109-TXM-A030\x00\x00', - ], - }, - CAR.HRV: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-T7A-A010\x00\x00', - b'38897-T7A-A110\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-THX-A020\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T7A-A140\x00\x00', - b'36161-T7A-A240\x00\x00', - b'36161-T7A-C440\x00\x00', - b'36161-T7A-A040\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-T7A-A230\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-THX-A110\x00\x00', - b'78109-THX-A120\x00\x00', - b'78109-THX-A210\x00\x00', - b'78109-THX-A220\x00\x00', - b'78109-THX-C220\x00\x00', - b'78109-THW-A110\x00\x00', - ], - }, - CAR.HRV_3G: { - (Ecu.eps, 0x18DA30F1, None): [ - b'39990-3W0-A030\x00\x00', - ], - (Ecu.gateway, 0x18DAEFF1, None): [ - b'38897-3W1-A010\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-3V0-A820\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78108-3V1-A220\x00\x00', - ], - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-3W0-A040\x00\x00', - ], - (Ecu.transmission, 0x18DA1EF1, None): [ - b'28101-6EH-A010\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ - b'37805-6CT-A710\x00\x00', - ], - (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ - b'46114-3W0-A020\x00\x00', - ], - }, - CAR.ACURA_ILX: { - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TX6-A010\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-TV9-A140\x00\x00', - b'36161-TX6-A030\x00\x00', - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TX6-A230\x00\x00', - b'77959-TX6-C210\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-T3R-A120\x00\x00', - b'78109-T3R-A410\x00\x00', - b'78109-TV9-A510\x00\x00', - ], - }, - CAR.HONDA_E:{ - (Ecu.eps, 0x18DA30F1, None):[ - b'39990-TYF-N030\x00\x00' - ], - (Ecu.gateway, 0x18DAEFF1, None):[ - b'38897-TYF-E140\x00\x00' - ], - (Ecu.shiftByWire, 0x18DA0BF1, None):[ - b'54008-TYF-E010\x00\x00' - ], - (Ecu.srs, 0x18DA53F1, None):[ - b'77959-TYF-G430\x00\x00' - ], - (Ecu.combinationMeter, 0x18DA60F1, None):[ - b'78108-TYF-G610\x00\x00' - ], - (Ecu.fwdRadar, 0x18DAB0F1, None):[ - b'36802-TYF-E030\x00\x00' - ], - (Ecu.fwdCamera, 0x18DAB5F1, None):[ - b'36161-TYF-E020\x00\x00' - ], - (Ecu.vsa, 0x18DA28F1, None):[ - b'57114-TYF-E030\x00\x00' - ], - }, - CAR.CIVIC_2022: { - (Ecu.eps, 0x18DA30F1, None): [ - b'39990-T39-A130\x00\x00', - b'39990-T43-J020\x00\x00', - b'39990-T24-T120\x00\x00', - ], - (Ecu.gateway, 0x18DAEFF1, None): [ - b'38897-T20-A020\x00\x00', - b'38897-T20-A510\x00\x00', - b'38897-T21-A010\x00\x00', - b'38897-T20-A210\x00\x00', - b'38897-T20-A310\x00\x00', - b'38897-T24-Z120\x00\x00', - ], - (Ecu.srs, 0x18DA53F1, None): [ - b'77959-T20-A970\x00\x00', - b'77959-T47-A940\x00\x00', - b'77959-T47-A950\x00\x00', - b'77959-T20-M820\x00\x00', - b'77959-T20-A980\x00\x00', - ], - (Ecu.combinationMeter, 0x18DA60F1, None): [ - b'78108-T21-A220\x00\x00', - b'78108-T21-A620\x00\x00', - b'78108-T23-A110\x00\x00', - b'78108-T21-A230\x00\x00', - b'78108-T22-A020\x00\x00', - b'78108-T21-MB10\x00\x00', - b'78108-T21-A740\x00\x00', - ], - (Ecu.fwdRadar, 0x18dab0f1, None): [ - b'36161-T20-A070\x00\x00', - b'36161-T20-A080\x00\x00', - b'36161-T20-A060\x00\x00', - b'36161-T47-A070\x00\x00', - b'36161-T24-T070\x00\x00', - ], - (Ecu.vsa, 0x18DA28F1, None): [ - b'57114-T20-AB40\x00\x00', - b'57114-T43-JB30\x00\x00', - b'57114-T24-TB30\x00\x00', - ], - (Ecu.transmission, 0x18da1ef1, None): [ - b'28101-65D-A020\x00\x00', - b'28101-65D-A120\x00\x00', - b'28101-65H-A020\x00\x00', - b'28101-65H-A120\x00\x00', - b'28101-65J-N010\x00\x00', - ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-64L-A540\x00\x00', - b'37805-64S-A540\x00\x00', - b'37805-64S-A720\x00\x00', - b'37805-64A-A540\x00\x00', - b'37805-64A-A620\x00\x00', - b'37805-64D-P510\x00\x00', - b'37805-64S-AA10\x00\x00', - ], - }, - CAR.CLARITY: { - (Ecu.shiftByWire, 0x18da0bf1, None): [ - b'54008-TRW-A910\x00\x00', - ], - (Ecu.vsa, 0x18da28f1, None): [ - b'57114-TRW-A010\x00\x00', - b'57114-TRW-A020\x00\x00', - ], - (Ecu.eps, 0x18da30f1, None): [ - b'39990-TRW-A020\x00\x00', - b'39990-TRW,A020\x00\x00', # modified firmware - b'39990,TRW,A020\x00\x00', # extra modified firmware - ], - (Ecu.srs, 0x18da53f1, None): [ - b'77959-TRW-A210\x00\x00', - b'77959-TRW-A220\x00\x00', - ], - (Ecu.gateway, 0x18daeff1, None): [ - b'38897-TRW-A010\x00\x00', - ], - (Ecu.combinationMeter, 0x18da60f1, None): [ - b'78109-TRW-A020\x00\x00', - b'78109-TRW-A030\x00\x00', - ], - }, -} +# SP SYNC MOVE THIS TO firmware.py new +# FW_VERSIONS = { +# CAR.CLARITY: { +# (Ecu.shiftByWire, 0x18da0bf1, None): [ +# b'54008-TRW-A910\x00\x00', +# ], +# (Ecu.vsa, 0x18da28f1, None): [ +# b'57114-TRW-A010\x00\x00', +# b'57114-TRW-A020\x00\x00', +# ], +# (Ecu.eps, 0x18da30f1, None): [ +# b'39990-TRW-A020\x00\x00', +# b'39990-TRW,A020\x00\x00', # modified firmware +# b'39990,TRW,A020\x00\x00', # extra modified firmware +# ], +# (Ecu.srs, 0x18da53f1, None): [ +# b'77959-TRW-A210\x00\x00', +# b'77959-TRW-A220\x00\x00', +# ], +# (Ecu.gateway, 0x18daeff1, None): [ +# b'38897-TRW-A010\x00\x00', +# ], +# (Ecu.combinationMeter, 0x18da60f1, None): [ +# b'78109-TRW-A020\x00\x00', +# b'78109-TRW-A030\x00\x00', +# ], +# }, +# CAR.ACCORD_NIDEC_4CYL: { +# (Ecu.vsa, 0x18DA28F1, None): [ +# b'57114-T2F-X840\x00\x00', +# ], +# (Ecu.fwdRadar, 0x18DAB0F1, None): [ +# b'36161-T2F-A140\x00\x00', +# ], +# (Ecu.combinationMeter, 0x18DA60F1, None): [ +# b'78109-T2F-L110\x00\x00', +# ], +# (Ecu.srs, 0x18DA53F1, None): [ +# b'77959-T2F-A030\x00\x00', +# ], +# }, +# } DBC = { CAR.ACCORD_NIDEC_4CYL: dbc_dict('honda_accord_touring_2016_can_generated', 'acura_ilx_2016_nidec'), diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index d8b321a3ad..b509b232ae 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -154,8 +154,9 @@ class CarState(CarStateBase): aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 - ret.stockFcw = aeb_warning and not aeb_braking + ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking ret.stockAeb = aeb_warning and aeb_braking elif self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: aeb_src = "ESCC" diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py new file mode 100644 index 0000000000..56b4217403 --- /dev/null +++ b/selfdrive/car/hyundai/fingerprints.py @@ -0,0 +1,1713 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.hyundai.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.HYUNDAI_GENESIS: [{ + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }, + { + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 + }], + CAR.SANTA_FE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 + }, + { + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 + }, + { + 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 + }], + CAR.SONATA: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.SONATA_LF: [{ + 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.KIA_SORENTO: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 + }], + CAR.KIA_STINGER: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G80: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 + }, + { + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 + }], + CAR.GENESIS_G90: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ_EV_2020: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.IONIQ: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 + }], + CAR.KONA_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 + }], + CAR.KONA_EV_2022: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 + }], + CAR.KIA_NIRO_EV: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 + }], + CAR.KIA_OPTIMA_H: [{ + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }, + { + 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 + }], + CAR.PALISADE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 + }], +} + +FW_VERSIONS = { + CAR.AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.AZERA_HEV_6TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', + b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', + b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7', + b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.HYUNDAI_GENESIS: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS 1.1 -150210', + b'\xf1\x00DH LKAS 1.4 -140110', + b'\xf1\x00DH LKAS 1.5 -140425', + ], + }, + CAR.IONIQ: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_PHEV_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', + ], + }, + CAR.IONIQ_PHEV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x82zT\xd2', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.IONIQ_EV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', + b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2700 201027', + ], + }, + CAR.IONIQ_EV_LTD: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', + b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', + b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', + b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', + ], + }, + CAR.IONIQ_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', + ], + }, + CAR.SONATA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', + b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', + b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', + b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', + b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', + b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', + b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', + ], + (Ecu.engine, 0x7e0, None): [ + b'HM6M1_0a0_F00', + b'HM6M1_0a0_G20', + b'HM6M2_0a0_BD0', + b'\xf1\x81HM6M1_0a0_F00', + b'\xf1\x81HM6M1_0a0_G20', + b'\xf1\x82DNBVN5GMCCXXXDCA', + b'\xf1\x82DNBVN5GMCCXXXG2F', + b'\xf1\x82DNBWN5TMDCXXXG2E', + b'\xf1\x82DNCVN5GMCCXXXF0A', + b'\xf1\x82DNCVN5GMCCXXXG2B', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', + b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', + b'\xf1\x87391162M003', + b'\xf1\x87391162M010', + b'\xf1\x87391162M013', + b'\xf1\x87391162M023', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', + b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', + b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', + b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', + b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', + b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', + b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', + b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', + b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', + b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', + b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSA\xb9\x13\xf9p', + b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA4626804GJ3wwww\x88\x87\x88xx\x88\x87\x88wwgw\x88\x88\x98\x88\x95_\xf9\xffuDo\xff|\xe7\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA4803224GJ3wwwwwvwg\x88\x88\x98\x88wwww\x87\x88\x88xu\x9f\xfc\xff\x87f\x8f\xff\xea\xea\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA6212564GJ3\x87wwwUTuGg\x88\x86xx\x88\x87\x88\x87\x88\x98xu?\xf9\xff\x97f\x7f\xff\xb8\n\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALFBA3525114GJ2wvwgvfvggw\x86wffvffw\x86g\x85_\xf9\xff\xa8wo\xffv\xcd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA3624024GJ2\x88\x88\x88\x88wv\x87hx\x88\x97\x88x\x88\x97\x88ww\x87w\x86o\xfa\xffvU\x7f\xff\xd1\xec\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA3960824GJ2wwwwff\x86hffvfffffvfwfg_\xf9\xff\xa9\x88\x8f\xffb\x99\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4011074GJ2fgvwwv\x87hw\x88\x87xww\x87wwfgvu_\xfa\xffefo\xff\x87\xc0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4121304GJ2x\x87xwff\x86hwwwwww\x87wwwww\x84_\xfc\xff\x98\x88\x9f\xffi\xa6\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4625294GJ2eVefeUeVx\x88\x97\x88wwwwwwww\xa7o\xfb\xffvw\x9f\xff\xee.\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA4728774GJ2vfvg\x87vwgww\x87ww\x88\x97xww\x87w\x86_\xfb\xffeD?\xffk0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5129064GJ2vfvgwv\x87hx\x88\x87\x88ww\x87www\x87wd_\xfa\xffvfo\xff\x1d\x00\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5987784GJ2UVugDDtGx\x88\x87\x88w\x88\x87xwwwwd/\xfb\xff\x97fO\xff\xb0h\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', + b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', + b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + ], + }, + CAR.SONATA_LF: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', + b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', + b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', + b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', + ], + }, + CAR.TUCSON: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', + b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', + b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', + b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', + ], + }, + CAR.SANTA_FE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', + b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600', + b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600', + b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600', + b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600', + b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', + b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', + b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650', + b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', + b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', + b'\xf1\x00TM MFC AT USA LHD 1.00 1.00 99211-S2000 180409', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x00bcsh8p54 U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1', + b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91', + b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00', + b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g', + b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00', + b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n', + b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', + b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', + b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00', + b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', + b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', + b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', + b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', + b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', + b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', + b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', + b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', + b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0', + b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', + b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC 103!\x030 58910-S1MA0', + b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', + b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', + b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M1_0a0_G20', + b'\xf1\x81HM6M1_0a0_H00', + b'\xf1\x81HM6M2_0a0_G00', + b'\xf1\x82TACVN5GMI3XXXH0A', + b'\xf1\x82TACVN5GSI3XXXH0A', + b'\xf1\x82TMBZN5TMD3XXXG2E', + b'\xf1\x82TMCFD5MMCXXXXG0A', + b'\xf1\x87 \xf1\x81 ', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', + b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101', + b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', + b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', + b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.SANTA_FE_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', + b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', + b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTC1', + b'\xf1\x87391312MTE0', + b'\xf1\x87391312MTL0', + ], + }, + CAR.SANTA_FE_PHEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', + b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', + b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MTF0', + b'\xf1\x87391312MTF1', + ], + }, + CAR.CUSTIN_1ST_GEN: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391212MEC0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', + ], + }, + CAR.KIA_STINGER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', + b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', + b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', + b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', + b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', + b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', + b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', + b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', + b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', + b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', + b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', + ], + }, + CAR.KIA_STINGER_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.01 99110-J5100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81HM6M1_0a0_H00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5320 4C2VL503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 99211-J5000 201209', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3', + b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + ], + }, + CAR.PALISADE: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', + b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', + b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', + b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', + b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', + b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', + b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', + b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', + b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', + b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde', + b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', + b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", + b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', + b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', + b'\xf1\x87LDKVBN540766KF37\x87wgv\x87w\x87xx\x99\x97\x89v\x88\x97h\x88\x88\x88\x88x\x7f\xf6\xffvUo\xff\xd3\x01\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', + 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b'\xf1\x87LDMVBN888651KF37\xa9\x99\x89\x98vfff\x88\x99\x98\x89w\x99\xa7y\x88\x88\x98\x88D\x8f\xf9\xff\xcb\x99\x8f\xff\xa5\x1e\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN889419KF37\xa9\x99y\x97\x87w\x87xx\x88\x97\x88w\x88\x97x\x88\x99\x98\x89e\x9f\xf9\xffeUo\xff\x901\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + ], + }, + CAR.VELOSTER: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', + b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TJS-JDK06F200H0A', + b'\x01TJS-JNU06F200H0A', + b'391282BJF5 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JS LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33', + b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\x0e\xba\x1e\xa2', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', + ], + }, + CAR.GENESIS_G70: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\x7f\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + ], + }, + CAR.GENESIS_G70_2020: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', + b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', + b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', + b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', + b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G80: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', + b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.GENESIS_G90: { + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x810000000000\x00', + ], + }, + CAR.KONA: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'"\x01TOS-0NU06F301J02', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', + ], + }, + CAR.KIA_CEED: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TCD-JECU4F202H0K', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1\x00\x00\x00\x00', + b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350', + ], + }, + CAR.KIA_FORTE: { + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', + b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', + b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TBDM1NU06F200H01', + b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', + b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", + ], + }, + CAR.KIA_K5_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', + b'\xf1\x8799110L2000\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', + b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102', + b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', + b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', + b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', + b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200', + b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200', + b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', + b'\xf1\x8758910-L3200\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200', + b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', + b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M2_0a0_DQ0', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B', + b'\xf1\x87391212MKT0', + b'\xf1\x87391212MKT3', + b'\xf1\x87391212MKV0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', + b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', + b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', + ], + }, + CAR.KIA_K5_HEV_2020: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', + b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391162JLA0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', + ], + }, + CAR.KONA_EV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', + b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', + b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', + b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', + b'\xf1\x00OSev SCC F-CUP 1.00 1.01 99110-K4000 ', + b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', + ], + }, + CAR.KONA_EV_2022: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', + b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', + ], + }, + CAR.KONA_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', + ], + }, + CAR.KIA_NIRO_EV: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', + b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', + b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', + b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', + b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', + ], + }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, + CAR.KIA_NIRO_PHEV: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', + b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', + b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + ], + }, + CAR.KIA_NIRO_PHEV_2022: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_NIRO_HEV_2021: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', + ], + }, + CAR.KIA_SELTOS: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450', + b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x01TSP2KNL06F100J0K', + b'\x01TSP2KNL06F200J0K', + b'\xf1\x81616D2051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81616D5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200 ', + b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', + b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', + b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\x00T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', + b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C2051\x00\x00CSP4N20NS3\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_G4: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.abs, 0x7d1, None): [ + b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', + ], + }, + CAR.KIA_OPTIMA_H: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', + ], + }, + CAR.KIA_OPTIMA_H_G4_FL: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', + b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a', + b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00', + b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840', + b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ', + b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', + ], + }, + CAR.ELANTRA_GT_I30: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', + ], + }, + CAR.ELANTRA_2021: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', + b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', + b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa', + b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\x7f\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M2_0a0_FF0', + b'\xf1\x82CNCVD0AMFCXCSFFB', + b'\xf1\x82CNCWD0AMFCXCSFFA', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', + ], + }, + CAR.ELANTRA_HEV_2021: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', + b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', + b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KONA_HEV: { + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.SONATA_HYBRID: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', + b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', + b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', + b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', + b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', + b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', + b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391062J002', + b'\xf1\x87391162J012', + b'\xf1\x87391162J013', + b'\xf1\x87391162J014', + ], + }, + CAR.KIA_SORENTO: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.KIA_SORENTO_PHEV_4TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.10 99210-P2000 210406', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ], + }, + CAR.KIA_EV6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', + ], + }, + CAR.IONIQ_5: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + ], + }, + CAR.IONIQ_6: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', + b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', + ], + }, + CAR.TUCSON_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + ], + }, + CAR.TUCSON_HYBRID_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + ], + }, + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', + ], + }, + CAR.SANTA_CRUZ_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', + ], + }, + CAR.KIA_SPORTAGE_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', + ], + }, + CAR.GENESIS_GV70_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', + ], + }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', + ], + }, + CAR.KIA_SORENTO_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', + ], + }, + CAR.KIA_NIRO_HEV_2ND_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + }, + CAR.GENESIS_GV80: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', + ], + }, + CAR.KIA_CARNIVAL_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00KA4 MFC AT KOR LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.05 99210-R0000 201221', + b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', + b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', + b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', + b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', + ], + }, + CAR.KIA_SORENTO_HEV_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', + b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', + ], + }, + CAR.KIA_K8_HEV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', + ], + }, + CAR.STARIA_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00US4_ RDR ----- 1.00 1.00 99110-CG000 ', + ], + }, +} diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 65ecf8642b..23c0a5bf98 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu Ecu = car.CarParams.Ecu +SafetyModel = car.CarParams.SafetyModel ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) @@ -18,6 +19,17 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel} +def set_safety_config_hyundai(candidate, CAN, can_fd=False): + platform = SafetyModel.hyundaiCanfd if can_fd else \ + SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \ + SafetyModel.hyundai + cfgs = [get_safety_config(platform), ] + if CAN.ECAN >= 4: + cfgs.insert(0, get_safety_config(SafetyModel.noOutput)) + + return cfgs + + class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): @@ -37,7 +49,6 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU if hda2: - ret.flags |= HyundaiFlags.CANFD_HDA2.value if 0x110 in fingerprint[CAN.CAM]: ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value else: @@ -154,13 +165,17 @@ class CarInterface(CarInterfaceBase): ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0 ret.wheelbase = 3.055 ret.steerRatio = 17.0 # from learner + elif candidate == CAR.STARIA_4TH_GEN: + ret.mass = 2205. + ret.wheelbase = 3.273 + ret.steerRatio = 11.94 # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf # Kia elif candidate == CAR.KIA_SORENTO: ret.mass = 1985. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022): ret.mass = 3543. * CV.LB_TO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.6 # average of all the cars @@ -264,8 +279,7 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in - (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)) + ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)) ret.customStockLongAvailable = False else: ret.longitudinalTuning.kpV = [0.5] @@ -294,33 +308,23 @@ class CarInterface(CarInterfaceBase): ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value # *** panda safety config *** - if candidate in CANFD_CAR: - cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] - if CAN.ECAN >= 4: - cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) - ret.safetyConfigs = cfgs + ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR)) - if ret.flags & HyundaiFlags.CANFD_HDA2: - ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 - if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: - ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING + if hda2: + ret.flags |= HyundaiFlags.CANFD_HDA2.value + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + + if candidate in CANFD_CAR: + if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS - if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: - ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC - else: - if candidate in LEGACY_SAFETY_MODE_CAR: - # these cars require a special panda safety mode due to missing counters and checksums in the messages - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] - else: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] - if candidate in CAMERA_SCC_CAR: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC - if ret.openpilotLongitudinalControl: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG if candidate in HYBRID_CAR: diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py index 6fe4582f54..f641535678 100755 --- a/selfdrive/car/hyundai/tests/print_platform_codes.py +++ b/selfdrive/car/hyundai/tests/print_platform_codes.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 from cereal import car -from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index dbf2b38615..cd0ec4484b 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -5,9 +5,10 @@ import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ - HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ + HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, \ UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \ get_platform_codes +from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} @@ -193,7 +194,7 @@ class TestHyundaiFingerprint(unittest.TestCase): "subAddress": 0 if sub_addr is None else sub_addr}) CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS) if len(matches) == 1: self.assertEqual(list(matches)[0], platform) else: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c78b7fa6af..99b80db9c7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 import re from dataclasses import dataclass from enum import Enum, IntFlag, StrEnum @@ -101,6 +100,7 @@ class CAR(StrEnum): SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" SONATA = "HYUNDAI SONATA 2020" SONATA_LF = "HYUNDAI SONATA 2019" + STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN" TUCSON = "HYUNDAI TUCSON 2019" PALISADE = "HYUNDAI PALISADE 2020" VELOSTER = "HYUNDAI VELOSTER 2019" @@ -122,6 +122,7 @@ class CAR(StrEnum): KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" + KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" @@ -171,7 +172,10 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.AZERA_HEV_6TH_GEN: [ + HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], CAR.ELANTRA: [ # TODO: 2017-18 could be Hyundai G HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), @@ -198,18 +202,19 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", - car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages # TODO: this is the 2024 US MY, not yet released CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", + car_parts=CarParts.common([CarHarness.hyundai_d])), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.TUCSON: [ HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), @@ -256,8 +261,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], + CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", @@ -279,7 +286,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), @@ -287,7 +294,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], CAR.KIA_CARNIVAL_4TH_GEN: [ - HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], @@ -322,81 +329,6 @@ class Buttons: GAP_DIST = 3 CANCEL = 4 # on newer models, this is a pause/resume button -FINGERPRINTS = { - CAR.HYUNDAI_GENESIS: [{ - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }], - CAR.SANTA_FE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 - }, - { - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8 - }, - { - 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 - }], - CAR.SONATA: [ - {67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8}, - ], - CAR.SONATA_LF: [ - {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, - ], - CAR.KIA_SORENTO: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 - }], - CAR.KIA_STINGER: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 - }], - CAR.GENESIS_G80: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 - }], - CAR.GENESIS_G90: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 - }], - CAR.IONIQ_EV_2020: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], - CAR.IONIQ: [{ - 68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], - CAR.KONA_EV: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 - }], - CAR.KONA_EV_2022: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 - }], - CAR.KIA_NIRO_EV: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 - }], - CAR.KIA_OPTIMA_H: [{ - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 - }, - { - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 - }], - CAR.PALISADE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 - }], -} - def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]: # Returns unique, platform-specific identification codes for a set of versions @@ -417,7 +349,7 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by return codes -def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: # Non-electric CAN FD platforms often do not have platform code specifiers needed # to distinguish between hybrid and ICE. All EVs so far are either exclusively # electric or specify electric in the platform code. @@ -425,7 +357,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)} candidates: Set[str] = set() - for candidate, fws in FW_VERSIONS.items(): + for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within date range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} @@ -554,1661 +486,113 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) -FW_VERSIONS = { - CAR.AZERA_6TH_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.AZERA_HEV_6TH_GEN: { - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.HYUNDAI_GENESIS: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DH LKAS 1.1 -150210', - b'\xf1\x00DH LKAS 1.4 -140110', - b'\xf1\x00DH LKAS 1.5 -140425', - ], - }, - CAR.IONIQ: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2301 4AEHC107', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEH MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_PHEV_2019: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.07 56310/G2501 4AEHC107', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2400 180222', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_PHEV: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', - b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', - b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', - b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2', - b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', - b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', - ], - }, - CAR.IONIQ_EV_2020: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', - b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', - b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', - ], - }, - CAR.IONIQ_EV_LTD: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', - b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.02 56310G7300\x00 4AEEC102', - b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7501 4AEEC104', - b'\xf1\x00AE MDPS C 1.00 1.03 56310/G7300 4AEEC103', - b'\xf1\x00AE MDPS C 1.00 1.03 56310G7300\x00 4AEEC103', - b'\xf1\x00AE MDPS C 1.00 1.04 56310/G7301 4AEEC104', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G7200 160418', - b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', - b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2400 180222', - ], - }, - CAR.IONIQ_HEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', - b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee', - ], - }, - CAR.SONATA: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', - b'\xf1\x00DN8_ SCC FHCUP 1.00 1.02 99110-L1000 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', - b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', - b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', - b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', - b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', - b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', - b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81HM6M1_0a0_F00', - b'\xf1\x82DNBVN5GMCCXXXDCA', - b'\xf1\x82DNBVN5GMCCXXXG2F', - b'\xf1\x82DNBWN5TMDCXXXG2E', - b'\xf1\x82DNCVN5GMCCXXXF0A', - b'\xf1\x82DNCVN5GMCCXXXG2B', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10', - b'\xf1\x87391162M003', - b'\xf1\x87391162M013', - b'\xf1\x87391162M023', - b'\xf1\x87391162M010', - b'HM6M1_0a0_F00', - b'HM6M1_0a0_G20', - b'HM6M2_0a0_BD0', - b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', - b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', - b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', - b'\xf1\x81HM6M1_0a0_G20', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', - b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', - b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', - b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103', - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', - b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', - b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', - b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', - b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', - b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.04 99211-L1000 191016', - b'\xf1\x00DN8 MFC AT RUS LHD 1.00 1.03 99211-L1000 190705', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.00 99211-L0000 190716', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L0000 191016', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325', - b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1', - b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', - b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%', - b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', - b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[', - b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba', - b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', - b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSCF\xe4!Y', - b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', - b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', - b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00', - 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b'\xf1\x00T02601BL T02900A1 VDN8T25XXX900NSA\xb9\x13\xf9p', - ], - }, - CAR.SONATA_LF: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00LF ESC \f 11 \x17\x01\x13 58920-C2610', - b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', - b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', - 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b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', - b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', - ], - }, - CAR.TUCSON: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', - b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002', - b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TL MFC AT KOR LHD 1.00 1.02 95895-D3800 180719', - b'\xf1\x00TL MFC AT USA LHD 1.00 1.06 95895-D3800 190107', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', - b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00', - ], - }, - CAR.SANTA_FE: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', - b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', - b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500', - b'\xf1\x00TM ESC \r 103\x18\x11\x08 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b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00', - b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed', - b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3', - 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b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00', - b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe', - b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00', - b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00', - b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0', - b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', - ], - }, - CAR.SANTA_FE_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0', - b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', - b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', - b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 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b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126', - b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720', - b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa', - b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', - b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', - b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', - b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', - b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', - b'\xf1\x00T02601BL T02900A1 VTMPT25XXW900NS1c\x918\xc5', - ], - }, - CAR.SANTA_FE_HEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', - b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', - b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', - b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f', - b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTC1', - b'\xf1\x87391312MTE0', - b'\xf1\x87391312MTL0', - ], - }, - CAR.SANTA_FE_PHEV_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', - b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', - b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224', - b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe', - b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MTF0', - b'\xf1\x87391312MTF1', - ], - }, - CAR.CUSTIN_1ST_GEN: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391212MEC0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M', - ], - }, - CAR.KIA_STINGER: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', - b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', - b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', - b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5220 4C2VL104', - b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104', - b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106', - b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107', - b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', - b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', - b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc', - b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0', - b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', - b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', - b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', - b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', - b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', - ], - }, - CAR.KIA_STINGER_2022: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', - b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81HM6M1_0a0_H00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', - b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', - b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', - b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', - ], - }, - CAR.PALISADE: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', - b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', - b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', - b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', - b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', - b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', - b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', - b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', - b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', - b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', - b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', - b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', - b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', - b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', - b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', - b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 200422', - b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', - b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 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96400-G9100 ', - b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', - ], - }, - CAR.GENESIS_G70_2020: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', - b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', - b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', - b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', - b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', - b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', - b'\xf1\x00IK__ SCC FHCUP 1.00 1.02 96400-G9000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', - b'\xf1\x00IK MFC AT KOR LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G70_2021_NON_SCC: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00IK__ SCC --CUP 1.00 1.02 96400-G9100 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00IK MFC MT USA LHD 1.00 1.01 95740-G9000 170920', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.GENESIS_G80: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', - b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', - ], - (Ecu.transmission, 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b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00', - ], - }, - CAR.KIA_CEED: { - (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP 1.00 1.02 99110-J7000 ', ], - (Ecu.eps, 0x7D4, None): [b'\xf1\000CD MDPS C 1.00 1.06 56310-XX000 4CDEC106', ], - (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ], - (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', - b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', - ], - (Ecu.abs, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], - }, - CAR.KIA_FORTE: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', - b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', - b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', - b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', - b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', - b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x01TBDM1NU06F200H01', - b'391182B945\x00', - b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', - b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", - ], - }, - CAR.KIA_K5_2021: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', - b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', - b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', - b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 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CAR.KIA_FORTE_2019_NON_SCC: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.04 56310/M6000 4BDDC104', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616B5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VFRAF00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CXJQAM4966515JB0x\xa9\x98\x9b\x99fff\x98feg\x88\x88w\x88Ff\x8f\xff{\xff\xff\xff\xa8\xf6\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', - ], - }, - CAR.KIA_FORTE_2021_NON_SCC: { - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00BD MDPS C 1.00 1.08 56310M6000\x00 4BDDC108', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616B6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x816VFRAL00010.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CXLQAM0906975JB0\x89\x88\xa6\x8aVfug\xba\x87\x94yffuxgfo\xff\x8b\xff\xff\xff\x91\x82\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', - ], - }, - CAR.KIA_K5_HEV_2020: { - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102', - b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', - b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', - ], - (Ecu.engine, 0x7E0, None): [ - b'\xf1\x87391162JLA0', - ], - (Ecu.transmission, 0x7E1, None): [ - b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz', - b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', - ], - }, - CAR.KONA_EV: { - (Ecu.abs, 0x7D1, None): [ - b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', - b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', - b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', - b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', - b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200', - b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40', - b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', - b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', - b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4100 ', - b'\xf1\x00OSev SCC F-CUP 1.00 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b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', - b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP 1.00 1.00 99110-Q4600 ', - b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP 1.00 1.00 99110-Q4600 ', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', - b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', - b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4000 191211', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', - b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', - b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', - ], - }, - CAR.KIA_NIRO_EV_2ND_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', - b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', - ], - }, - CAR.KIA_NIRO_PHEV: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", - b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', - b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', - b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', - ], - (Ecu.eps, 0x7D4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', - b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', - b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', - ], - }, - CAR.KIA_NIRO_HEV_2021: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00', - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DEH MFC AT USA LHD 1.00 1.07 99211-G5000 201221', - b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 99211-G5500 210428', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', - ], - }, - CAR.KIA_SELTOS: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ',], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450', - b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616D2051\000\000\000\000\000\000\000\000', - b'\xf1\x81616D5051\000\000\000\000\000\000\000\000', - b'\001TSP2KNL06F100J0K', - b'\001TSP2KNL06F200J0K', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ', - b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114', - b'\xf1\000SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9', - b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', - ], - }, - CAR.KIA_SELTOS_2023_NON_SCC: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510', - b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81616K0051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x81616G2051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240 4SPSC104', - b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.03 99210-Q5500 230208', - b'\xf1\x00SP2 MFC AT AUS RHD 1.00 1.02 99210-Q5500 220624', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00', - b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00', - ], - }, - CAR.KIA_OPTIMA_G4: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', - ], - }, - CAR.KIA_OPTIMA_G4_FL: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', - b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', - b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', - b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', - b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', - ], - }, - CAR.KIA_OPTIMA_H: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', - ], - }, - CAR.KIA_OPTIMA_H_G4_FL: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.ELANTRA: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00ADP LKAS AT USA LHD 1.00 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96400-F2100 ', - ], - }, - CAR.ELANTRA_GT_I30: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', - b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', - b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', - b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', - b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', - b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', - ], - }, - CAR.ELANTRA_2021: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', - b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', - b'\xf1\x00CN7_ SCC FNCUP 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None): [ - b'\xf1\x82CNCWD0AMFCXCSFFA', - b'\xf1\x81HM6M2_0a0_FF0', - b'\xf1\x82CNCVD0AMFCXCSFFB', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', - ], - }, - CAR.ELANTRA_2022_NON_SCC: { - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x8756310AA030\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA030\x00 4CNDC106', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x8758910-AB500\xf1\x00CN ESC \t 100 \x06\x01 58910-AB500', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87CXNQEM4091445JB3g\x98\x98\x89\x99\x87gv\x89wuwgwv\x89hD_\xffx\xff\xff\xff\x86\xeb\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0ANF3XCSG8A', - ], - }, - CAR.ELANTRA_HEV_2021: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', - b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', - b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', - b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', - b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', - b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', - b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', - b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', - b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', - b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', - b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', - ] - }, - CAR.KONA_HEV: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00OShe SCC FNCUP 1.00 1.01 99110-CM000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00OS MDPS C 1.00 1.00 56310CM030\x00 4OHDC100', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', - ] - }, - CAR.SONATA_HYBRID: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', - b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', - b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', - b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', - b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', - b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', - b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 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0x7c4, None): [ - b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01' - ], - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330' - ], - (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ' - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG' - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00' - ], - }, - CAR.KIA_SORENTO_PHEV_4TH_GEN: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', - ] - }, - CAR.KIA_EV6: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', - b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', - b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', - b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', - b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', - b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', - b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', - b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', - b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', - ], - }, - CAR.IONIQ_5: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', - b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', - b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', - b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', - b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', - b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', - ], - }, - CAR.IONIQ_6: { - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', - ], - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', - b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', - ], - }, - CAR.TUCSON_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', - ], - }, - CAR.TUCSON_HYBRID_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', - b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', - b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', - ], - }, - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', - ], - }, - CAR.SANTA_CRUZ_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', - b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', - b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ', - ], - }, - CAR.KIA_SPORTAGE_5TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', - b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', - b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', - b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', - b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', - ], - }, - CAR.GENESIS_GV70_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125', - b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR300 220125', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ', - b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR300 ', - ], - }, - CAR.GENESIS_GV60_EV_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', - b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', - b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', - ], - }, - CAR.KIA_SORENTO_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', - b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', - b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', - b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', - ], - }, - CAR.KIA_NIRO_HEV_2ND_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', - b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', - ], - }, - CAR.GENESIS_GV80: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00JX1 MFC AT USA LHD 1.00 1.02 99211-T6110 220513', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JX1_ SCC FHCUP 1.00 1.01 99110-T6100 ', - ], - }, - CAR.KIA_CARNIVAL_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221', - b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525', - b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ', - b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', - b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ', - ], - }, - CAR.KIA_SORENTO_HEV_4TH_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', - b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', - b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', - b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ', - ], - }, - CAR.KIA_K8_HEV_1ST_GEN: { - (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', - ], - (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', - ], - }, -} +#sunnyppilot check fw versions new firmware file +# FW_VERSIONS = { +# CAR.GENESIS_G70_2021_NON_SCC: { +# (Ecu.eps, 0x7d4, None): [ +# b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', +# ], +# (Ecu.fwdRadar, 0x7d0, None): [ +# b'\xf1\x00IK__ SCC --CUP 1.00 1.02 96400-G9100 ', +# ], +# (Ecu.fwdCamera, 0x7c4, None): [ +# b'\xf1\x00IK MFC MT USA LHD 1.00 1.01 95740-G9000 170920', +# ], +# (Ecu.engine, 0x7e0, None): [ +# b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', +# ], +# }, +# CAR.KONA_NON_SCC: { +# (Ecu.abs, 0x7d1, None): [ +# b'\xf1\x816V5RAJ00040.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.engine, 0x7e0, None): [ +# b'\xf1\x8161699051\x00\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.eps, 0x7d4, None): [ +# b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', +# ], +# (Ecu.fwdCamera, 0x7c4, None): [ +# b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30', +# ], +# (Ecu.transmission, 0x7e1, None): [ +# b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00', +# ], +# }, +# CAR.KIA_FORTE_2019_NON_SCC: { +# (Ecu.eps, 0x7D4, None): [ +# b'\xf1\x00BD MDPS C 1.00 1.04 56310/M6000 4BDDC104', +# ], +# (Ecu.fwdCamera, 0x7C4, None): [ +# b'\xf1\x00BD LKAS AT USA LHD 1.00 1.02 95740-M6000 J31', +# ], +# (Ecu.engine, 0x7e0, None): [ +# b'\xf1\x81616B5051\x00\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.abs, 0x7d1, None): [ +# b'\xf1\x816VFRAF00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.transmission, 0x7e1, None): [ +# b'\xf1\x87CXJQAM4966515JB0x\xa9\x98\x9b\x99fff\x98feg\x88\x88w\x88Ff\x8f\xff{\xff\xff\xff\xa8\xf6\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', +# ], +# }, +# CAR.KIA_FORTE_2021_NON_SCC: { +# (Ecu.eps, 0x7D4, None): [ +# b'\xf1\x00BD MDPS C 1.00 1.08 56310M6000\x00 4BDDC108', +# ], +# (Ecu.fwdCamera, 0x7C4, None): [ +# b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', +# ], +# (Ecu.engine, 0x7e0, None): [ +# b'\xf1\x81616B6051\x00\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.abs, 0x7d1, None): [ +# b'\xf1\x816VFRAL00010.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.transmission, 0x7e1, None): [ +# b'\xf1\x87CXLQAM0906975JB0\x89\x88\xa6\x8aVfug\xba\x87\x94yffuxgfo\xff\x8b\xff\xff\xff\x91\x82\xf1\x816V2C1051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C1051\x00\x00CBD0N20NS8q\xc1&\xd2', +# ], +# }, +# CAR.KIA_SELTOS_2023_NON_SCC: { +# (Ecu.abs, 0x7d1, None): [ +# b'\xf1\x00SP ESC \t 101"\t\x01 58910-Q5510', +# b'\xf1\x00SP ESC \r 100"\x04\x01 58910-Q5510', +# ], +# (Ecu.engine, 0x7e0, None): [ +# b'\xf1\x81616K0051\x00\x00\x00\x00\x00\x00\x00\x00', +# b'\xf1\x81616G2051\x00\x00\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.eps, 0x7d4, None): [ +# b'\xf1\x00SP2 MDPS C 1.00 1.04 56310Q5240 4SPSC104', +# b'\xf1\x00SP2 MDPS C 1.00 1.01 56300Q5920 ', +# ], +# (Ecu.fwdCamera, 0x7c4, None): [ +# b'\xf1\x00SP2 MFC AT USA LHD 1.00 1.03 99210-Q5500 230208', +# b'\xf1\x00SP2 MFC AT AUS RHD 1.00 1.02 99210-Q5500 220624', +# ], +# (Ecu.transmission, 0x7e1, None): [ +# b'\xf1\x006V2B0_C2\x00\x006V2D5051\x00\x00CSP2N20NL0\x00\x00\x00\x00', +# b'\xf1\x006V2B0_C2\x00\x006V2D4051\x00\x00CSP2N20KL1\x00\x00\x00\x00', +# ], +# }, +# CAR.ELANTRA_2022_NON_SCC: { +# (Ecu.eps, 0x7d4, None): [ +# b'\xf1\x8756310AA030\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA030\x00 4CNDC106', +# ], +# (Ecu.fwdCamera, 0x7c4, None): [ +# b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', +# ], +# (Ecu.abs, 0x7d1, None): [ +# b'\xf1\x8758910-AB500\xf1\x00CN ESC \t 100 \x06\x01 58910-AB500', +# ], +# (Ecu.transmission, 0x7e1, None): [ +# b'\xf1\x87CXNQEM4091445JB3g\x98\x98\x89\x99\x87gv\x89wuwgwv\x89hD_\xffx\xff\xff\xff\x86\xeb\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00', +# ], +# (Ecu.engine, 0x7e0, None): [ +# b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0ANF3XCSG8A', +# ], +# }, +# } CHECKSUM = { "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, @@ -2226,7 +610,8 @@ CAN_GEARS = { CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN} + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN, + CAR.STARIA_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, @@ -2244,7 +629,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN, - CAR.AZERA_HEV_6TH_GEN} + CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} @@ -2338,4 +723,6 @@ DBC = { CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), + CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 7f70a1c8e4..e1b11581a3 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -1,14 +1,15 @@ -import yaml import os import time import numpy as np +import tomllib from abc import abstractmethod, ABC +from enum import StrEnum from typing import Any, Dict, Optional, Tuple, List, Callable from cereal import car from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV -from openpilot.common.kalman.simple_kalman import KF1D, get_kalman_gain +from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG @@ -26,21 +27,21 @@ ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 FRICTION_THRESHOLD = 0.3 -TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') -TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') -TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') +TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') +TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') +TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') def get_torque_params(candidate): - with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.CSafeLoader) + with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: + sub = tomllib.load(f) if candidate in sub: candidate = sub[candidate] - with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.CSafeLoader) - with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.CSafeLoader) + with open(TORQUE_PARAMS_PATH, 'rb') as f: + params = tomllib.load(f) + with open(TORQUE_OVERRIDE_PATH, 'rb') as f: + override = tomllib.load(f) # Ensure no overlap if sum([candidate in x for x in [sub, params, override]]) > 1: @@ -124,7 +125,6 @@ class CarInterfaceBase(ABC): @staticmethod def get_steer_feedforward_default(desired_angle, v_ego): # Proportional to realigning tire momentum: lateral acceleration. - # TODO: something with lateralPlan.curvatureRates return desired_angle * (v_ego**2) def get_steer_feedforward_function(self): @@ -349,7 +349,7 @@ class CarStateBase(ABC): def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = [[v_ego_raw], [0.0]] + self.v_ego_kf.set_x([[v_ego_raw], [0.0]]) v_ego_x = self.v_ego_kf.update(v_ego_raw) return float(v_ego_x[0]), float(v_ego_x[1]) @@ -436,9 +436,14 @@ class CarStateBase(ABC): return None +INTERFACE_ATTR_FILE = { + "FINGERPRINTS": "fingerprints", + "FW_VERSIONS": "fingerprints", +} + # interface-specific helpers -def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]: +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str | StrEnum, Any]: # read all the folders in selfdrive/car and return a dict where: # - keys are all the car models or brand names # - values are attr values from all car folders @@ -446,7 +451,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): try: brand_name = car_folder.split('/')[-1] - brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr]) + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr]) if hasattr(brand_values, attr) or not ignore_none: attr_data = getattr(brand_values, attr, None) else: diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index adbc598ea6..696935fd35 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -3,7 +3,7 @@ from collections import defaultdict from functools import partial import cereal.messaging as messaging -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py new file mode 100644 index 0000000000..aa91f0fb31 --- /dev/null +++ b/selfdrive/car/mazda/fingerprints.py @@ -0,0 +1,258 @@ +from cereal import car +from openpilot.selfdrive.car.mazda.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.CX5_2022: { + (Ecu.eps, 0x730, None): [ + b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX5: { + (Ecu.eps, 0x730, None): [ + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX9: { + (Ecu.eps, 0x730, None): [ + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA3: { + (Ecu.eps, 0x730, None): [ + b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.MAZDA6: { + (Ecu.eps, 0x730, None): [ + b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GFBC-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GDDM-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, + CAR.CX9_2021: { + (Ecu.eps, 0x730, None): [ + b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x764, None): [ + b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x706, None): [ + b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 849cf229a3..c95ae162f9 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -81,262 +81,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -FW_VERSIONS = { - CAR.CX5_2022: { - (Ecu.eps, 0x730, None): [ - b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - CAR.CX5: { - (Ecu.eps, 0x730, None): [ - b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.CX9 : { - (Ecu.eps, 0x730, None): [ - b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.MAZDA3: { - (Ecu.eps, 0x730, None): [ - b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - - ], - (Ecu.engine, 0x7e0, None): [ - b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.MAZDA6: { - (Ecu.eps, 0x730, None): [ - b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', - ], - (Ecu.engine, 0x7e0, None): [ - b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', - b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.abs, 0x760, None): [ - b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', - b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - }, - - CAR.CX9_2021 : { - (Ecu.eps, 0x730, None): [ - b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x764, None): [ - b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x760, None): [ - b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x706, None): [ - b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.transmission, 0x7e1, None): [ - b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], - } -} - DBC = { CAR.CX5: dbc_dict('mazda_2017', None), diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py new file mode 100644 index 0000000000..69e88be898 --- /dev/null +++ b/selfdrive/car/nissan/fingerprints.py @@ -0,0 +1,104 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.nissan.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.XTRAIL: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 + }, + { + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 + }], + CAR.LEAF: [{ + 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 + }, + { + 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 + }], + CAR.LEAF_IC: [{ + 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 + }], + CAR.ROGUE: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.ALTIMA: [{ + 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], +} + +FW_VERSIONS = { + CAR.ALTIMA: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86CA1D', + ], + (Ecu.eps, 0x742, None): [ + b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'237109HE2B', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U29HE0A', + ], + }, + CAR.LEAF: { + (Ecu.abs, 0x740, None): [ + b'476606WK9B', + ], + (Ecu.eps, 0x742, None): [ + b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.fwdCamera, 0x707, None): [ + b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26WK0C', + ], + }, + CAR.LEAF_IC: { + (Ecu.fwdCamera, 0x707, None): [ + b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', + b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + ], + (Ecu.abs, 0x740, None): [ + b'476605SD2E', + b'476605SH1D', + b'476605SK2A', + ], + (Ecu.eps, 0x742, None): [ + b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U25SF0C', + b'284U25SH3A', + b'284U25SK2D', + ], + }, + CAR.XTRAIL: { + (Ecu.fwdCamera, 0x707, None): [ + b'284N86FR2A', + ], + (Ecu.abs, 0x740, None): [ + b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', + b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', + ], + (Ecu.eps, 0x742, None): [ + b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.combinationMeter, 0x743, None): [ + b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.engine, 0x7e0, None): [ + b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26FR0E', + ], + }, +} diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 474cb15e7f..c013b2056f 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from dataclasses import dataclass, field from enum import StrEnum from typing import Dict, List, Optional, Union @@ -46,41 +45,6 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), } -FINGERPRINTS = { - CAR.XTRAIL: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 - }, - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 - }, - ], - CAR.LEAF: [ - { - 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 - }, - # 2020 Leaf SV Plus - { - 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 - }, - ], - CAR.LEAF_IC: [ - { - 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 - }, - ], - CAR.ROGUE: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - ], - CAR.ALTIMA: [ - { - 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }, - ] -} - # Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) @@ -95,104 +59,37 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' NISSAN_RX_OFFSET = 0x20 FW_QUERY_CONFIG = FwQueryConfig( - requests=[ + requests=[request for bus, logging in ((0, True), (1, False)) for request in [ Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), # Rogue's engine solely responds to this Request( [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + bus=bus, + logging=logging, ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], rx_offset=NISSAN_RX_OFFSET, + bus=bus, + logging=logging, ), - ], + ]], ) -FW_VERSIONS = { - CAR.ALTIMA: { - (Ecu.fwdCamera, 0x707, None): [ - b'284N86CA1D', - ], - (Ecu.eps, 0x742, None): [ - b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80', - ], - (Ecu.engine, 0x7e0, None): [ - b'237109HE2B', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U29HE0A', - ], - }, - CAR.LEAF: { - (Ecu.abs, 0x740, None): [ - b'476606WK9B', - ], - (Ecu.eps, 0x742, None): [ - b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.fwdCamera, 0x707, None): [ - b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U26WK0C', - ], - }, - CAR.LEAF_IC: { - (Ecu.fwdCamera, 0x707, None): [ - b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', - b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', - b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', - ], - (Ecu.abs, 0x740, None): [ - b'476605SH1D', - b'476605SK2A', - b'476605SD2E', - ], - (Ecu.eps, 0x742, None): [ - b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', - b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', - b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U25SH3A', - b'284U25SK2D', - b'284U25SF0C', - ], - }, - CAR.XTRAIL: { - (Ecu.fwdCamera, 0x707, None): [ - b'284N86FR2A', - ], - (Ecu.abs, 0x740, None): [ - b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', - b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', - ], - (Ecu.eps, 0x742, None): [ - b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.combinationMeter, 0x743, None): [ - b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.engine, 0x7e0, None): [ - b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80', - ], - (Ecu.gateway, 0x18dad0f1, None): [ - b'284U26FR0E', - ], - }, -} - DBC = { CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index c277f012ab..cc8ce4f722 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -95,8 +95,8 @@ class CarController: else: if self.frame % 10 == 0: - can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, - CC.longActive, hud_control.leadVisible)) + can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, + self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible)) can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, @@ -110,7 +110,8 @@ class CarController: can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) - can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake)) + can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake)) can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd, self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py new file mode 100644 index 0000000000..aaee2e1c71 --- /dev/null +++ b/selfdrive/car/subaru/fingerprints.py @@ -0,0 +1,544 @@ +from cereal import car +from openpilot.selfdrive.car.subaru.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.ASCENT: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 \x19\x02\x00', + b'\xa5 !\x02\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x05\xc0\xd0\x00', + b'\x85\xc0\xd0\x00', + b'\x95\xc0\xd0\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00d\xb9\x00\x00\x00\x00', + b'\x00\x00d\xb9\x1f@ \x10', + b'\x00\x00e@\x00\x00\x00\x00', + b'\x00\x00e@\x1f@ $', + b"\x00\x00e~\x1f@ '", + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbb,\xa0t\x07', + b'\xd1,\xa0q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x00\xfe\xf7\x00\x00', + b'\x01\xfe\xf7\x00\x00', + b'\x01\xfe\xf9\x00\x00', + b'\x01\xfe\xfa\x00\x00', + ], + }, + CAR.ASCENT_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 #\x03\x00', + ], + (Ecu.eps, 0x746, None): [ + b'%\xc0\xd0\x11', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x05!\x08\x1dK\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xe5,\xa0P\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\x04\xfe\xf3\x00\x00', + ], + }, + CAR.LEGACY: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x02\x01', + b'\xa1 \x02\x02', + b'\xa1 \x03\x03', + b'\xa1 \x04\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x9b\xc0\x11\x00', + b'\x9b\xc0\x11\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xde"a0\x07', + b'\xde,\xa0@\x07', + b'\xe2"aq\x07', + b'\xe2,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6\x05@\x00', + b'\xa5\xfe\xc7@\x00', + b'\xa7\xf6\x04@\x00', + b'\xa7\xfe\xc4@\x00', + ], + }, + CAR.IMPREZA: { + (Ecu.abs, 0x7b0, None): [ + b'z\x84\x19\x90\x00', + b'z\x94\x08\x90\x00', + b'z\x94\x08\x90\x01', + b'z\x94\x0c\x90\x00', + b'z\x94\x0c\x90\x01', + b'z\x94.\x90\x00', + b'z\x94?\x90\x00', + b'z\x9c\x19\x80\x01', + b'\xa2 \x185\x00', + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 \x19`\x00', + ], + (Ecu.eps, 0x746, None): [ + b'z\xc0\x00\x00', + b'z\xc0\x04\x00', + b'z\xc0\x08\x00', + b'z\xc0\n\x00', + b'z\xc0\x0c\x00', + b'\x8a\xc0\x00\x00', + b'\x8a\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xf4\x00\x00\x00\x00', + b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00d)\x00\x00\x00\x00', + b'\x00\x00d)\x1f@ \x07', + b'\x00\x00dd\x00\x00\x00\x00', + b'\x00\x00dd\x1f@ \x0e', + b'\x00\x00d\xb5\x1f@ \x0e', + b'\x00\x00d\xdc\x00\x00\x00\x00', + b'\x00\x00d\xdc\x1f@ \x0e', + b'\x00\x00e\x02\x1f@ \x14', + b'\x00\x00e\x1c\x00\x00\x00\x00', + b'\x00\x00e\x1c\x1f@ \x14', + b'\x00\x00e+\x00\x00\x00\x00', + b'\x00\x00e+\x1f@ \x14', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xaa\x00Bu\x07', + b'\xaa\x01bt\x07', + b'\xaa!`u\x07', + b'\xaa!au\x07', + b'\xaa!av\x07', + b'\xaa!aw\x07', + b'\xaa!dq\x07', + b'\xaa!ds\x07', + b'\xaa!dt\x07', + b'\xaaafs\x07', + b'\xbe!as\x07', + b'\xbe!at\x07', + b'\xbeacr\x07', + b'\xc5!`r\x07', + b'\xc5!`s\x07', + b'\xc5!ap\x07', + b'\xc5!ar\x07', + b'\xc5!as\x07', + b'\xc5!dr\x07', + b'\xc5!ds\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe3\xd0\x081\x00', + b'\xe3\xd5\x161\x00', + b'\xe3\xe5F1\x00', + b'\xe3\xf5\x06\x00\x00', + b'\xe3\xf5\x07\x00\x00', + b'\xe3\xf5C\x00\x00', + b'\xe3\xf5F\x00\x00', + b'\xe3\xf5G\x00\x00', + b'\xe4\xe5\x061\x00', + b'\xe4\xf5\x02\x00\x00', + b'\xe4\xf5\x07\x00\x00', + b'\xe5\xf5\x04\x00\x00', + b'\xe5\xf5$\x00\x00', + b'\xe5\xf5B\x00\x00', + ], + }, + CAR.IMPREZA_2020: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x193\x00', + b'\xa2 \x194\x00', + b'\xa2 `\x00', + b'\xa2 !3\x00', + b'\xa2 !`\x00', + b'\xa2 !i\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc0\x04\x00', + b'\n\xc0\x04\x01', + b'\x9a\xc0\x00\x00', + b'\x9a\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eb\x1f@ "', + b'\x00\x00eq\x00\x00\x00\x00', + b'\x00\x00eq\x1f@ "', + b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\x8f\x1f@ )', + b'\x00\x00e\x92\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xca!`0\x07', + b'\xca!`p\x07', + b'\xca!ap\x07', + b'\xca!f@\x07', + b'\xca!fp\x07', + b'\xcc!`p\x07', + b'\xcc!fp\x07', + b'\xcc"f0\x07', + b'\xe6!`@\x07', + b'\xe6!fp\x07', + b'\xe6"f0\x07', + b'\xe6"fp\x07', + b'\xf3"f@\x07', + b'\xf3"fp\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xe6\xf5\x04\x00\x00', + b'\xe6\xf5$\x00\x00', + b'\xe6\xf5D0\x00', + b'\xe7\xf5\x04\x00\x00', + b'\xe7\xf5D0\x00', + b'\xe7\xf6B0\x00', + b'\xe9\xf5"\x00\x00', + b'\xe9\xf5B0\x00', + b'\xe9\xf6B0\x00', + b'\xe9\xf6F0\x00', + ], + }, + CAR.CROSSTREK_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x19e\x01', + b'\xa2 !e\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\n\xc2\x01\x00', + b'\x9a\xc2\x01\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00el\x1f@ #', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd7!`@\x07', + b'\xd7!`p\x07', + b'\xf4!`0\x07', + ], + }, + CAR.FORESTER: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x18\x14\x00', + b'\xa3 \x18&\x00', + b'\xa3 \x19\x14\x00', + b'\xa3 \x19&\x00', + b'\xa3 \x14\x00', + b'\xa3 \x14\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc0\x00\x00', + b'\x8d\xc0\x04\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e!\x00\x00\x00\x00', + b'\x00\x00e!\x1f@ \x11', + b'\x00\x00e^\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e`\x1f@ ', + b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e\x97\x1f@ 0', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb6"`A\x07', + b'\xb6\xa2`A\x07', + b'\xcb"`@\x07', + b'\xcb"`p\x07', + b'\xcf"`0\x07', + b'\xcf"`p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', + b'\x1a\xf6B0\x00', + b'\x1a\xf6B`\x00', + b'\x1a\xf6F`\x00', + b'\x1a\xf6b0\x00', + b'\x1a\xf6b`\x00', + ], + }, + CAR.FORESTER_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x19T\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc2\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eY\x1f@ !', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd2\xa1`r\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1b\xa7@a\x00', + ], + }, + CAR.FORESTER_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'm\x97\x14@', + b'}\x97\x14@', + ], + (Ecu.eps, 0x746, None): [ + b'm\xc0\x10\x00', + b'}\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\xe9\x00\x00\x00\x00', + b'\x00\x00c\xe9\x1f@ \x03', + b'\x00\x00d5\x1f@ \t', + b'\x00\x00d\xd3\x1f@ \t', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa7"@p\x07', + b'\xa7)\xa0q\x07', + b'\xba"@@\x07', + b'\xba"@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1a\xf6F`\x00', + b'\xda\xf2`\x80\x00', + b'\xda\xfd\xe0\x80\x00', + b'\xdc\xf2@`\x00', + b'\xdc\xf2``\x00', + b'\xdc\xf2`\x80\x00', + b'\xdc\xf2`\x81\x00', + ], + }, + CAR.LEGACY_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\x97D\x00', + b'[\xba\xc4\x03', + b'k\x97D\x00', + b'k\x9aD\x00', + b'{\x97D\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x01', + b'[\xb0\x00\x01', + b'k\xb0\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@q\x07', + b'\xa0+@p\x07', + b'\xab*@r\x07', + b'\xab+@p\x07', + b'\xb4"@0\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2\x00`\x00', + b'\xbe\xf2\x00p\x00', + b'\xbe\xfb\xc0p\x00', + b'\xbf\xf2\x00\x80\x00', + b'\xbf\xfb\xc0\x80\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL: { + (Ecu.abs, 0x7b0, None): [ + b'[\xba\xac\x03', + b'[\xf7\xac\x00', + b'[\xf7\xac\x03', + b'[\xf7\xbc\x03', + b'k\x97\xac\x00', + b'k\x9a\xac\x00', + b'{\x97\xac\x00', + b'{\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'K\xb0\x00\x00', + b'K\xb0\x00\x02', + b'[\xb0\x00\x00', + b'k\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00c\x90\x1f@\x10\x0e', + b'\x00\x00c\x94\x00\x00\x00\x00', + b'\x00\x00c\x94\x1f@\x10\x08', + b'\x00\x00c\xb7\x1f@\x10\x16', + b'\x00\x00c\xd1\x1f@\x10\x17', + b'\x00\x00c\xec\x1f@ \x04', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xa0"@\x80\x07', + b'\xa0*@q\x07', + b'\xa0*@u\x07', + b'\xa0+@@\x07', + b'\xa0bAq\x07', + b'\xab"@@\x07', + b'\xab"@s\x07', + b'\xab*@@\x07', + b'\xab+@@\x07', + b'\xb4"@0\x07', + b'\xb4"@p\x07', + b'\xb4"@r\x07', + b'\xb4+@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbd\xf2@`\x00', + b'\xbd\xf2@\x81\x00', + b'\xbd\xfb\xe0\x80\x00', + b'\xbe\xf2@p\x00', + b'\xbe\xf2@\x80\x00', + b'\xbe\xfb\xe0p\x00', + b'\xbf\xe2@\x80\x00', + b'\xbf\xf2@\x80\x00', + b'\xbf\xfb\xe0b\x00', + ], + }, + CAR.OUTBACK_PREGLOBAL_2018: { + (Ecu.abs, 0x7b0, None): [ + b'\x8b\x97\xac\x00', + b'\x8b\x97\xbc\x00', + b'\x8b\x99\xac\x00', + b'\x8b\x9a\xac\x00', + b'\x9b\x97\xac\x00', + b'\x9b\x97\xbe\x10', + b'\x9b\x9a\xac\x00', + ], + (Ecu.eps, 0x746, None): [ + b'{\xb0\x00\x00', + b'{\xb0\x00\x01', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00df\x1f@ \n', + b'\x00\x00d\x95\x00\x00\x00\x00', + b'\x00\x00d\x95\x1f@ \x0f', + b'\x00\x00d\xfe\x00\x00\x00\x00', + b'\x00\x00d\xfe\x1f@ \x15', + b'\x00\x00e\x19\x1f@ \x15', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xb5"@P\x07', + b'\xb5"@p\x07', + b'\xb5+@@\x07', + b'\xb5b@1\x07', + b'\xb5q\xe0@\x07', + b'\xc4"@0\x07', + b'\xc4+@0\x07', + b'\xc4b@p\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xbb\xf2@`\x00', + b'\xbb\xfb\xe0`\x00', + b'\xbc\xaf\xe0`\x00', + b'\xbc\xe2@\x80\x00', + b'\xbc\xf2@\x80\x00', + b'\xbc\xf2@\x81\x00', + b'\xbc\xfb\xe0`\x00', + b'\xbc\xfb\xe0\x80\x00', + ], + }, + CAR.OUTBACK: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 \x06\x00', + b'\xa1 \x06\x01', + b'\xa1 \x06\x02', + b'\xa1 \x07\x00', + b'\xa1 \x07\x02', + b'\xa1 \x08\x00', + b'\xa1 \x08\x01', + b'\xa1 \x08\x02', + b'\xa1 "\t\x00', + b'\xa1 "\t\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x1b\xc0\x10\x00', + b'\x9b\xc0\x10\x00', + b'\x9b\xc0 \x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', + b'\x00\x00eJ\x00\x1f@ \x19\x00', + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', + b'\x00\x00e\x9a\x00\x1f@ 1\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbc"`@\x07', + b'\xbc"`q\x07', + b'\xbc,\xa0q\x07', + b'\xbc,\xa0u\x07', + b'\xde"`0\x07', + b'\xde,\xa0@\x07', + b'\xe2"`0\x07', + b'\xe2"`p\x07', + b'\xe3,\xa0@\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6D@\x00', + b'\xa5\xfe\xf6@\x00', + b'\xa5\xfe\xf7@\x00', + b'\xa5\xfe\xf8@\x00', + b'\xa7\x8e\xf40\x00', + b'\xa7\xf6D@\x00', + b'\xa7\xfe\xf4@\x00', + ], + }, + CAR.FORESTER_2022: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 !v\x00', + b'\xa3 !x\x00', + b'\xa3 "v\x00', + b'\xa3 "x\x00', + ], + (Ecu.eps, 0x746, None): [ + b'-\xc0\x040', + b'-\xc0%0', + b'=\xc0%\x02', + b'=\xc04\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x04!\x01\x1eD\x07!\x00\x04,', + b'\x04!\x08\x01.\x07!\x08\x022', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd5"`0\x07', + b'\xd5"a0\x07', + b'\xf1"`q\x07', + b'\xf1"aq\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1d\x86B0\x00', + b'\x1d\xf6B0\x00', + b'\x1e\x86B0\x00', + b'\x1e\xf6D0\x00', + ], + }, + CAR.OUTBACK_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 #\x14\x00', + b'\xa1 #\x17\x00', + ], + (Ecu.eps, 0x746, None): [ + b'+\xc0\x10\x11\x00', + b'+\xc0\x12\x11\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\t!\x08\x046\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xed,\xa0q\x07', + b'\xed,\xa2q\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\xa8\x8e\xf41\x00', + b'\xa8\xfe\xf41\x00', + ], + }, +} diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index b5f4308569..09f87e83ae 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -125,11 +125,11 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) + ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl: - ret.flags |= SubaruFlags.DISABLE_EYESIGHT + ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: ret.longitudinalTuning.kpBP = [0., 5., 35.] diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 7d1939a497..290737c3e6 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -46,9 +46,9 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long values["Cruise_Soft_Disable"] = 0 + values["Cruise_Fault"] = 0 - if brake_cmd: - values["Cruise_Brake_Active"] = 1 + values["Cruise_Brake_Active"] = brake_cmd if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 @@ -152,14 +152,15 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l values["COUNTER"] = frame % 0x10 - if enabled and long_active: + if long_enabled: values["Cruise_State"] = 0 - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = enabled values["Cruise_Disengaged"] = 0 values["Car_Follow"] = int(lead_visible) - if long_enabled: values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + values["LDW_Off"] = 0 + values["Cruise_Fault"] = 0 # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if values["LKAS_State_Msg"] in (2, 3): @@ -167,7 +168,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l return packer.make_can_msg("ES_DashStatus", CanBus.main, values) -def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): +def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value): values = {s: es_brake_msg[s] for s in [ "CHECKSUM", "Signal1", @@ -182,14 +183,14 @@ def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): values["COUNTER"] = frame % 0x10 - if enabled: - values["Cruise_Activated"] = 1 + if long_enabled: + values["Cruise_Brake_Fault"] = 0 + values["Cruise_Activated"] = long_active - values["Brake_Pressure"] = brake_value + values["Brake_Pressure"] = brake_value - if brake_value > 0: - values["Cruise_Brake_Active"] = 1 - values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0 + values["Cruise_Brake_Active"] = brake_value > 0 + values["Cruise_Brake_Lights"] = brake_value >= 70 return packer.make_can_msg("ES_Brake", CanBus.main, values) @@ -199,7 +200,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr "Signal1", "Cruise_Fault", "Cruise_RPM", - "Signal2", "Cruise_Activated", "Brake_Lights", "Cruise_Hold", @@ -210,9 +210,9 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr if long_enabled: values["Cruise_RPM"] = cruise_rpm + values["Cruise_Fault"] = 0 - if long_active: - values["Cruise_Activated"] = 1 + values["Cruise_Activated"] = long_active return packer.make_can_msg("ES_Status", CanBus.main, values) diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py new file mode 100644 index 0000000000..c8cdf66065 --- /dev/null +++ b/selfdrive/car/subaru/tests/test_subaru.py @@ -0,0 +1,20 @@ +from cereal import car +import unittest +from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS + +Ecu = car.CarParams.Ecu + +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + + +class TestSubaruFingerprint(unittest.TestCase): + def test_fw_version_format(self): + for platform, fws_per_ecu in FW_VERSIONS.items(): + for (ecu, _, _), fws in fws_per_ecu.items(): + fw_size = len(fws[0]) + for fw in fws: + self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}") + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 79f2a280a0..0d23d28315 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -96,6 +96,9 @@ class Footnote(Enum): GLOBAL = CarFootnote( "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.", Column.PACKAGE) + EXP_LONG = CarFootnote( + "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.", + Column.LONGITUDINAL) @dataclass @@ -107,6 +110,9 @@ class SubaruCarInfo(CarInfo): def init_make(self, CP: car.CarParams): self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) + if CP.experimentalLongitudinalAvailable: + self.footnotes.append(Footnote.EXP_LONG) + CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), @@ -129,7 +135,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), - CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])), CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } @@ -144,574 +150,34 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], ), # Some Eyesight modules fail on TESTER_PRESENT_REQUEST # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars Request( [SUBARU_VERSION_REQUEST], [SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera], + ), + # Non-OBD requests + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + bus=0, + logging=True, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission], + bus=1, + logging=True, + obd_multiplexing=False, ), ], ) -FW_VERSIONS = { - CAR.ASCENT: { - (Ecu.abs, 0x7b0, None): [ - b'\xa5 \x19\x02\x00', - b'\xa5 !\002\000', - b'\xf1\x82\xa5 \x19\x02\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x85\xc0\xd0\x00', - b'\005\xc0\xd0\000', - b'\x95\xc0\xd0\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00d\xb9\x1f@ \x10', - b'\000\000e~\037@ \'', - b'\x00\x00e@\x1f@ $', - b'\x00\x00d\xb9\x00\x00\x00\x00', - b'\x00\x00e@\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xbb,\xa0t\a', - b'\xf1\x82\xbb,\xa0t\x87', - b'\xf1\x82\xbb,\xa0t\a', - b'\xf1\x82\xd9,\xa0@\a', - b'\xf1\x82\xd1,\xa0q\x07', - b'\xd1,\xa0q\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x00\xfe\xf7\x00\x00', - b'\001\xfe\xf9\000\000', - b'\x01\xfe\xf7\x00\x00', - b'\x01\xfe\xfa\x00\x00', - ], - }, - CAR.ASCENT_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\xa5 #\x03\x00', - ], - (Ecu.eps, 0x746, None): [ - b'%\xc0\xd0\x11', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x05!\x08\x1dK\x05!\x08\x01/', - ], - (Ecu.engine, 0x7a2, None): [ - b'\xe5,\xa0P\x07', - ], - (Ecu.transmission, 0x7a3, None): [ - b'\x04\xfe\xf3\x00\x00', - ], - }, - CAR.LEGACY: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1\\ x04\x01', - b'\xa1 \x03\x03', - b'\xa1 \x02\x01', - b'\xa1 \x02\x02', - ], - (Ecu.eps, 0x746, None): [ - b'\x9b\xc0\x11\x00', - b'\x9b\xc0\x11\x02', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00e\x80\x00\x1f@ \x19\x00', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xde\"a0\x07', - b'\xe2"aq\x07', - b'\xde,\xa0@\x07', - b'\xe2,\xa0@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xa5\xf6\x05@\x00', - b'\xa7\xf6\x04@\x00', - b'\xa5\xfe\xc7@\x00', - b'\xa7\xfe\xc4@\x00', - ], - }, - CAR.IMPREZA: { - (Ecu.abs, 0x7b0, None): [ - b'\x7a\x94\x3f\x90\x00', - b'\xa2 \x185\x00', - b'\xa2 \x193\x00', - b'\xa2 \x194\x00', - b'z\x94.\x90\x00', - b'z\x94\b\x90\x01', - b'\xa2 \x19`\x00', - b'z\x94\f\x90\001', - b'z\x9c\x19\x80\x01', - b'z\x94\x08\x90\x00', - b'z\x84\x19\x90\x00', - b'\xf1\x00\xb2\x06\x04', - b'z\x94\x0c\x90\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x7a\xc0\x0c\x00', - b'z\xc0\x08\x00', - b'\x8a\xc0\x00\x00', - b'z\xc0\x04\x00', - b'z\xc0\x00\x00', - b'\x8a\xc0\x10\x00', - b'z\xc0\n\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', - b'\x00\x00d\xdc\x1f@ \x0e', - b'\x00\x00e\x1c\x1f@ \x14', - b'\x00\x00d)\x1f@ \a', - b'\x00\x00e+\x1f@ \x14', - b'\000\000e+\000\000\000\000', - b'\000\000dd\037@ \016', - b'\000\000e\002\037@ \024', - b'\x00\x00d)\x00\x00\x00\x00', - b'\x00\x00c\xf4\x00\x00\x00\x00', - b'\x00\x00d\xdc\x00\x00\x00\x00', - b'\x00\x00dd\x00\x00\x00\x00', - b'\x00\x00c\xf4\x1f@ \x07', - b'\x00\x00e\x1c\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xaa\x61\x66\x73\x07', - b'\xbeacr\a', - b'\xc5!`r\a', - b'\xaa!ds\a', - b'\xaa!`u\a', - b'\xaa!dq\a', - b'\xaa!dt\a', - b'\xc5!ar\a', - b'\xbe!as\a', - b'\xc5!as\x07', - b'\xc5!ds\a', - b'\xc5!`s\a', - b'\xaa!au\a', - b'\xbe!at\a', - b'\xaa\x00Bu\x07', - b'\xc5!dr\x07', - b'\xaa!aw\x07', - b'\xaa!av\x07', - b'\xaa\x01bt\x07', - b'\xc5!ap\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xe3\xe5\x46\x31\x00', - b'\xe4\xe5\x061\x00', - b'\xe5\xf5\x04\x00\x00', - b'\xe3\xf5G\x00\x00', - b'\xe3\xf5\a\x00\x00', - b'\xe3\xf5C\x00\x00', - b'\xe5\xf5B\x00\x00', - b'\xe5\xf5$\000\000', - b'\xe4\xf5\a\000\000', - b'\xe3\xf5F\000\000', - b'\xe4\xf5\002\000\000', - b'\xe3\xd0\x081\x00', - b'\xe3\xf5\x06\x00\x00', - b'\xe3\xd5\x161\x00', - ], - }, - CAR.IMPREZA_2020: { - (Ecu.abs, 0x7b0, None): [ - b'\xa2 \0314\000', - b'\xa2 \0313\000', - b'\xa2 !i\000', - b'\xa2 !`\000', - b'\xf1\x00\xb2\x06\x04', - b'\xa2 `\x00', - b'\xa2 !3\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x9a\xc0\000\000', - b'\n\xc0\004\000', - b'\x9a\xc0\x04\x00', - b'\n\xc0\x04\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\000\000eb\037@ \"', - b'\x00\x00e\x8f\x1f@ )', - b'\x00\x00eq\x1f@ "', - b'\x00\x00eq\x00\x00\x00\x00', - b'\x00\x00e\x8f\x00\x00\x00\x00', - b'\x00\x00e\x92\x00\x00\x00\x00', - b'\x00\x00e\xa4\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xca!ap\a', - b'\xca!`p\a', - b'\xca!`0\a', - b'\xcc\"f0\a', - b'\xcc!fp\a', - b'\xcc!`p\x07', - b'\xca!f@\x07', - b'\xca!fp\x07', - b'\xf3"f@\x07', - b'\xe6!fp\x07', - b'\xf3"fp\x07', - b'\xe6"f0\x07', - b'\xe6"fp\x07', - b'\xe6!`@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xe6\xf5\004\000\000', - b'\xe6\xf5$\000\000', - b'\xe7\xf5\x04\x00\x00', - b'\xe7\xf6B0\000', - b'\xe7\xf5D0\000', - b'\xf1\x00\xd7\x10@', - b'\xe6\xf5D0\x00', - b'\xe9\xf6F0\x00', - b'\xe9\xf5B0\x00', - b'\xe9\xf6B0\x00', - b'\xe9\xf5"\x00\x00', - ], - }, - CAR.CROSSTREK_HYBRID: { - (Ecu.abs, 0x7b0, None): [ - b'\xa2 \x19e\x01', - b'\xa2 !e\x01', - ], - (Ecu.eps, 0x746, None): [ - b'\x9a\xc2\x01\x00', - b'\n\xc2\x01\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00el\x1f@ #', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd7!`@\x07', - b'\xd7!`p\a', - b'\xf4!`0\x07', - ], - }, - CAR.FORESTER: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 \x18\x14\x00', - b'\xa3 \024\000', - b'\xa3 \031\024\000', - b'\xa3 \x14\x01', - b'\xf1\x00\xbb\r\x05', - b'\xa3 \x18&\x00', - b'\xa3 \x19&\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x8d\xc0\x04\x00', - b'\x8d\xc0\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00e!\x1f@ \x11', - b'\x00\x00e\x97\x1f@ 0', - b'\000\000e`\037@ ', - b'\xf1\x00\xac\x02\x00', - b'\x00\x00e!\x00\x00\x00\x00', - b'\x00\x00e\x97\x00\x00\x00\x00', - b'\x00\x00e^\x1f@ !', - b'\x00\x00e^\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb6"`A\x07', - b'\xcf"`0\x07', - b'\xcb\"`@\a', - b'\xcb\"`p\a', - b'\xf1\x00\xa2\x10\n', - b'\xcf"`p\x07', - b'\xb6\xa2`A\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\032\xf6B0\000', - b'\x1a\xf6F`\x00', - b'\032\xf6b`\000', - b'\x1a\xf6B`\x00', - b'\x1a\xf6b0\x00', - b'\x1a\xe6B1\x00', - b'\x1a\xe6F1\x00', - ], - }, - CAR.FORESTER_HYBRID: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 \x19T\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x8d\xc2\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00eY\x1f@ !', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd2\xa1`r\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x1b\xa7@a\x00', - ], - }, - CAR.FORESTER_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'\x7d\x97\x14\x40', - b'\xf1\x00\xbb\x0c\x04', - b'm\x97\x14@', - ], - (Ecu.eps, 0x746, None): [ - b'}\xc0\x10\x00', - b'm\xc0\x10\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00\x64\x35\x1f\x40\x20\x09', - b'\x00\x00c\xe9\x1f@ \x03', - b'\x00\x00d\xd3\x1f@ \t', - b'\x00\x00c\xe9\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xba"@p\a', - b'\xa7)\xa0q\a', - b'\xf1\x82\xa7)\xa0q\a', - b'\xba"@@\a', - b'\xa7"@p\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xdc\xf2\x60\x60\x00', - b'\xdc\xf2@`\x00', - b'\xda\xfd\xe0\x80\x00', - b'\xdc\xf2`\x81\000', - b'\xdc\xf2`\x80\x00', - b'\x1a\xf6F`\x00', - b'\xda\xf2`\x80\x00', - ], - }, - CAR.LEGACY_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'k\x97D\x00', - b'[\xba\xc4\x03', - b'{\x97D\x00', - b'[\x97D\000', - b'k\x9aD\x00', - ], - (Ecu.eps, 0x746, None): [ - b'[\xb0\x00\x01', - b'K\xb0\x00\x01', - b'k\xb0\x00\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00c\xb7\x1f@\x10\x16', - b'\x00\x00c\x94\x1f@\x10\x08', - b'\x00\x00c\xec\x1f@ \x04', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xab*@r\a', - b'\xa0+@p\x07', - b'\xb4"@0\x07', - b'\xa0"@q\a', - b'\xab+@p\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbe\xf2\x00p\x00', - b'\xbf\xfb\xc0\x80\x00', - b'\xbd\xf2\x00`\x00', - b'\xbf\xf2\000\x80\000', - b'\xbe\xfb\xc0p\x00', - ], - }, - CAR.OUTBACK_PREGLOBAL: { - (Ecu.abs, 0x7b0, None): [ - b'{\x9a\xac\x00', - b'k\x97\xac\x00', - b'\x5b\xf7\xbc\x03', - b'[\xf7\xac\x03', - b'{\x97\xac\x00', - b'k\x9a\xac\000', - b'[\xba\xac\x03', - b'[\xf7\xac\000', - ], - (Ecu.eps, 0x746, None): [ - b'k\xb0\x00\x00', - b'[\xb0\x00\x00', - b'\x4b\xb0\x00\x02', - b'K\xb0\x00\x00', - b'{\xb0\x00\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00c\xec\x1f@ \x04', - b'\x00\x00c\xd1\x1f@\x10\x17', - b'\xf1\x00\xf0\xe0\x0e', - b'\x00\x00c\x94\x00\x00\x00\x00', - b'\x00\x00c\x94\x1f@\x10\b', - b'\x00\x00c\xb7\x1f@\x10\x16', - b'\000\000c\x90\037@\020\016', - b'\x00\x00c\xec\x37@\x04', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb4+@p\a', - b'\xab\"@@\a', - b'\xa0\x62\x41\x71\x07', - b'\xa0*@q\a', - b'\xab*@@\a', - b'\xb4"@0\a', - b'\xb4"@p\a', - b'\xab"@s\a', - b'\xab+@@\a', - b'\xb4"@r\a', - b'\xa0+@@\x07', - b'\xa0\"@\x80\a', - b'\xa0*@u\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbd\xfb\xe0\x80\x00', - b'\xbe\xf2@\x80\x00', - b'\xbf\xe2\x40\x80\x00', - b'\xbf\xf2@\x80\x00', - b'\xbe\xf2@p\x00', - b'\xbd\xf2@`\x00', - b'\xbd\xf2@\x81\000', - b'\xbe\xfb\xe0p\000', - b'\xbf\xfb\xe0b\x00', - ], - }, - CAR.OUTBACK_PREGLOBAL_2018: { - (Ecu.abs, 0x7b0, None): [ - b'\x8b\x97\xac\x00', - b'\x8b\x9a\xac\x00', - b'\x9b\x97\xac\x00', - b'\x8b\x97\xbc\x00', - b'\x8b\x99\xac\x00', - b'\x9b\x9a\xac\000', - b'\x9b\x97\xbe\x10', - ], - (Ecu.eps, 0x746, None): [ - b'{\xb0\x00\x00', - b'{\xb0\x00\x01', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00df\x1f@ \n', - b'\x00\x00d\xfe\x1f@ \x15', - b'\x00\x00d\x95\x00\x00\x00\x00', - b'\x00\x00d\x95\x1f@ \x0f', - b'\x00\x00d\xfe\x00\x00\x00\x00', - b'\x00\x00e\x19\x1f@ \x15', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xb5"@p\a', - b'\xb5+@@\a', - b'\xb5"@P\a', - b'\xc4"@0\a', - b'\xb5b@1\x07', - b'\xb5q\xe0@\a', - b'\xc4+@0\a', - b'\xc4b@p\a', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xbc\xf2@\x81\x00', - b'\xbc\xfb\xe0\x80\x00', - b'\xbc\xf2@\x80\x00', - b'\xbb\xf2@`\x00', - b'\xbc\xe2@\x80\x00', - b'\xbc\xfb\xe0`\x00', - b'\xbc\xaf\xe0`\x00', - b'\xbb\xfb\xe0`\000', - ], - }, - CAR.OUTBACK: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1 \x06\x01', - b'\xa1 \a\x00', - b'\xa1 \b\001', - b'\xa1 \x06\x00', - b'\xa1 "\t\x01', - b'\xa1 \x08\x02', - b'\xa1 \x06\x02', - b'\xa1 \x07\x02', - b'\xa1 \x08\x00', - b'\xa1 "\t\x00', - ], - (Ecu.eps, 0x746, None): [ - b'\x9b\xc0\x10\x00', - b'\x9b\xc0\x20\x00', - b'\x1b\xc0\x10\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x00\x00eJ\x00\x1f@ \x19\x00', - b'\000\000e\x80\000\037@ \031\000', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', - b'\x00\x00e\x9a\x00\x1f@ 1\x00', - b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xbc,\xa0q\x07', - b'\xbc\"`@\a', - b'\xde"`0\a', - b'\xf1\x82\xbc,\xa0q\a', - b'\xf1\x82\xe3,\xa0@\x07', - b'\xe2"`0\x07', - b'\xe2"`p\x07', - b'\xf1\x82\xe2,\xa0@\x07', - b'\xbc"`q\x07', - b'\xe3,\xa0@\x07', - b'\xbc,\xa0u\x07', - b'\xde,\xa0@\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xa5\xfe\xf7@\x00', - b'\xa5\xf6D@\x00', - b'\xa5\xfe\xf6@\x00', - b'\xa7\x8e\xf40\x00', - b'\xf1\x82\xa7\xf6D@\x00', - b'\xa7\xf6D@\x00', - b'\xa7\xfe\xf4@\x00', - b'\xa5\xfe\xf8@\x00', - ], - }, - CAR.FORESTER_2022: { - (Ecu.abs, 0x7b0, None): [ - b'\xa3 !x\x00', - b'\xa3 !v\x00', - b'\xa3 "v\x00', - b'\xa3 "x\x00', - ], - (Ecu.eps, 0x746, None): [ - b'-\xc0%0', - b'-\xc0\x040', - b'=\xc0%\x02', - b'=\xc04\x02', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\x04!\x01\x1eD\x07!\x00\x04,' - ], - (Ecu.engine, 0x7e0, None): [ - b'\xd5"a0\x07', - b'\xd5"`0\x07', - b'\xf1"aq\x07', - b'\xf1"`q\x07', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\x1d\x86B0\x00', - b'\x1d\xf6B0\x00', - b'\x1e\x86B0\x00', - b'\x1e\xf6D0\x00', - ], - }, - CAR.OUTBACK_2023: { - (Ecu.abs, 0x7b0, None): [ - b'\xa1 #\x14\x00', - b'\xa1 #\x17\x00', - ], - (Ecu.eps, 0x746, None): [ - b'+\xc0\x10\x11\x00', - b'+\xc0\x12\x11\x00', - ], - (Ecu.fwdCamera, 0x787, None): [ - b'\t!\x08\x046\x05!\x08\x01/', - ], - (Ecu.engine, 0x7a2, None): [ - b'\xed,\xa0q\x07', - b'\xed,\xa2q\x07', - ], - (Ecu.transmission, 0x7a3, None): [ - b'\xa8\x8e\xf41\x00', - b'\xa8\xfe\xf41\x00', - ] - } -} - DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None), diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py new file mode 100644 index 0000000000..772ca59efa --- /dev/null +++ b/selfdrive/car/tesla/fingerprints.py @@ -0,0 +1,28 @@ +# ruff: noqa: E501 +from cereal import car +from openpilot.selfdrive.car.tesla.values import CAR + +Ecu = car.CarParams.Ecu + +FINGERPRINTS = { + CAR.AP1_MODELS: [{ + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 + }], +} + +FW_VERSIONS = { + CAR.AP2_MODELS: { + (Ecu.adas, 0x649, None): [ + b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', + ], + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', + ], + (Ecu.eps, 0x730, None): [ + b'\x10#\x01', + ], + }, +} diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 548809af1b..12877f1344 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,4 +1,3 @@ -# ruff: noqa: E501 from collections import namedtuple from enum import StrEnum from typing import Dict, List, Union @@ -23,13 +22,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"), } -FINGERPRINTS = { - CAR.AP1_MODELS: [ - { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 - }, - ], -} DBC = { CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), @@ -55,22 +47,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ] ) -FW_VERSIONS = { - CAR.AP2_MODELS: { - (Ecu.adas, 0x649, None): [ - b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', - ], - (Ecu.electricBrakeBooster, 0x64d, None): [ - b'1037123-00-A', - ], - (Ecu.fwdRadar, 0x671, None): [ - b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', - ], - (Ecu.eps, 0x730, None): [ - b'\x10#\x01', - ], - }, -} class CANBUS: # Lateral harness diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8cf5f3debd..69b39b3b2e 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -24,7 +24,6 @@ non_tested_cars = [ HYUNDAI.GENESIS_G90, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter - TOYOTA.RAV4_TSS2_2023, SUBARU.FORESTER_HYBRID, ] @@ -38,8 +37,8 @@ class CarTestRoute(NamedTuple): routes = [ CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), - CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE), - CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019), + CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE), + CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019), CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID), CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018), CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), @@ -53,6 +52,8 @@ routes = [ CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4), CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1), + CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1), + CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), @@ -118,6 +119,7 @@ routes = [ CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), + CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN), CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023 CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), @@ -154,10 +156,12 @@ routes = [ CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), + CarTestRoute("23349923ba5c4e3b|2023-12-02--08-51-54", HYUNDAI.KIA_NIRO_PHEV_2022), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), + CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30), CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), @@ -185,16 +189,18 @@ routes = [ CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), + CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.RAV4_TSS2_2023), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), + CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), - CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), + CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), - CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), + CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2), # hybrid CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), @@ -204,7 +210,7 @@ routes = [ CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), - CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), + CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER), # hybrid CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), @@ -250,7 +256,7 @@ routes = [ CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), - # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal + CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 6777aeb738..893c79c797 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -5,10 +5,9 @@ import time import unittest from collections import defaultdict from parameterized import parameterized -import threading +from unittest import mock from cereal import car -from openpilot.common.params import Params from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ @@ -64,7 +63,7 @@ class TestFwFingerprint(unittest.TestCase): "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False) - brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), VERSIONS[brand]) # If both have matches, they must agree if len(matches) == 1 and len(brand_matches) == 1: @@ -176,29 +175,36 @@ class TestFwFingerprint(unittest.TestCase): class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.12 + TOL: float = 0.05 - @staticmethod - def _run_thread(thread: threading.Thread) -> float: - params = Params() - params.put_bool("ObdMultiplexingEnabled", True) - thread.start() - t = time.perf_counter() - while thread.is_alive(): - time.sleep(0.02) - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - return time.perf_counter() - t + # for patched functions + current_obd_multiplexing: bool + total_time: float + + def fake_set_obd_multiplexing(self, _, obd_multiplexing): + """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change""" + if obd_multiplexing != self.current_obd_multiplexing: + self.current_obd_multiplexing = obd_multiplexing + self.total_time += 0.1 / 2 + + def fake_get_data(self, timeout): + self.total_time += timeout + return {} def _benchmark_brand(self, brand, num_pandas): fake_socket = FakeSocket() - brand_time = 0 - for _ in range(self.N): - thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), - kwargs=dict(num_pandas=num_pandas)) - brand_time += self._run_thread(thread) + self.total_time = 0 + with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), + mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on + self.current_obd_multiplexing = True - return brand_time / self.N + t = time.perf_counter() + get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) + self.total_time += time.perf_counter() - t + + return self.total_time / self.N def _assert_timing(self, avg_time, ref_time): self.assertLess(avg_time, ref_time + self.TOL) @@ -207,44 +213,49 @@ class TestFwFingerprintTiming(unittest.TestCase): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time vin_ref_time = 1.0 - present_ecu_ref_time = 0.8 + present_ecu_ref_time = 0.75 + + def fake_get_ecu_addrs(*_, timeout): + self.total_time += timeout + return set() fake_socket = FakeSocket() - present_ecu_time = 0.0 - for _ in range(self.N): - thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket), - kwargs=dict(num_pandas=2)) - present_ecu_time += self._run_thread(thread) - self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time) - print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds') + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), + mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)): + for _ in range(self.N): + self.current_obd_multiplexing = True + get_present_ecus(fake_socket, fake_socket, num_pandas=2) + self._assert_timing(self.total_time / self.N, present_ecu_ref_time) + print(f'get_present_ecus, query time={self.total_time / self.N} seconds') - vin_time = 0.0 - for _ in range(self.N): - thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1)) - vin_time += self._run_thread(thread) - self._assert_timing(vin_time / self.N, vin_ref_time) - print(f'get_vin, query time={vin_time / self.N} seconds') + self.total_time = 0.0 + with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): + for _ in range(self.N): + get_vin(fake_socket, fake_socket, 1) + self._assert_timing(self.total_time / self.N, vin_ref_time) + print(f'get_vin, query time={self.total_time / self.N} seconds') @pytest.mark.timeout(60) def test_fw_query_timing(self): - total_ref_time = 6.07 + total_ref_time = 6.5 brand_ref_times = { 1: { - 'body': 0.11, + 'body': 0.1, 'chrysler': 0.3, 'ford': 0.2, - 'honda': 0.52, - 'hyundai': 0.72, + 'honda': 0.45, + 'hyundai': 0.65, 'mazda': 0.2, - 'nissan': 0.4, - 'subaru': 0.2, + 'nissan': 0.8, + 'subaru': 0.45, 'tesla': 0.2, 'toyota': 1.6, 'volkswagen': 0.2, }, 2: { 'ford': 0.3, - 'hyundai': 1.12, + 'hyundai': 1.05, } } diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 1fc626972f..10e24ff4c5 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -95,8 +95,8 @@ if __name__ == "__main__": _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \ - m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + + f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") # exit with test result sys.exit(not result.result.wasSuccessful()) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b9622437a0..537214d14c 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -3,23 +3,27 @@ import capnp import os import importlib import pytest +import random import unittest from collections import defaultdict, Counter +import hypothesis.strategies as st +from hypothesis import Phase, given, settings from typing import List, Optional, Tuple from parameterized import parameterized_class -from cereal import log, car +from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH -from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.selfdrive.test.helpers import read_segment_list +from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT +from openpilot.tools.lib.comma_car_segments import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -33,11 +37,8 @@ NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) - -ignore_addr_checks_valid = [ - GM.BUICK_REGAL, - HYUNDAI.GENESIS_G70_2020, -] +MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50")) +CI = os.environ.get("CI", None) is not None def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: @@ -50,31 +51,110 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: for i, c in enumerate(sorted(all_known_cars())): if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) + test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,)))) else: - with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: - seg_list = f.read().splitlines() - - cnt = INTERNAL_SEG_CNT or len(seg_list) - seg_list_iter = iter(seg_list[:cnt]) - - for platform in seg_list_iter: - platform = platform[2:] # get rid of comment - segment_name = SegmentName(next(seg_list_iter)) + segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) + segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) + for platform, segment in segment_list: + segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) return test_cases @pytest.mark.slow +@pytest.mark.shared_download_cache class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None test_route: Optional[CarTestRoute] = None - ci: bool = True + test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket can_msgs: List[capnp.lib.capnp._DynamicStructReader] + fingerprint: dict[int, dict[int, int]] elm_frame: Optional[int] + car_safety_mode_frame: Optional[int] + + @classmethod + def get_logreader(cls, seg): + if len(INTERNAL_SEG_LIST): + route_name = RouteName(cls.test_route.route) + return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") + else: + return LogReader(get_url(cls.test_route.route, seg)) + + @classmethod + def get_testing_data_from_logreader(cls, lr): + car_fw = [] + can_msgs = [] + cls.elm_frame = None + cls.car_safety_mode_frame = None + cls.fingerprint = gen_empty_fingerprint() + experimental_long = False + for msg in lr: + if msg.which() == "can": + can_msgs.append(msg) + if len(can_msgs) <= FRAME_FINGERPRINT: + for m in msg.can: + if m.src < 64: + cls.fingerprint[m.src][m.address] = len(m.dat) + + elif msg.which() == "carParams": + car_fw = msg.carParams.carFw + if msg.carParams.openpilotLongitudinalControl: + experimental_long = True + if cls.car_model is None and not cls.ci: + cls.car_model = msg.carParams.carFingerprint + + # Log which can frame the panda safety mode left ELM327, for CAN validity checks + elif msg.which() == 'pandaStates': + for ps in msg.pandaStates: + if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and ps.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) + + elif msg.which() == 'pandaStateDEPRECATED': + if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) + + if len(can_msgs) > int(50 / DT_CTRL): + return car_fw, can_msgs, experimental_long + + raise Exception("no can data found") + + @classmethod + def get_testing_data(cls): + test_segs = (2, 1, 0) + if cls.test_route.segment is not None: + test_segs = (cls.test_route.segment,) + + # Try the primary method first (CI or internal) + for seg in test_segs: + try: + lr = cls.get_logreader(seg) + return cls.get_testing_data_from_logreader(lr) + except Exception: + pass + + # Route is not in CI bucket, assume either user has access (private), or it is public + # test_route_on_ci_bucket will fail when running in CI + if not len(INTERNAL_SEG_LIST): + cls.test_route_on_bucket = False + + for seg in test_segs: + try: + lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) + return cls.get_testing_data_from_logreader(lr) + except Exception: + pass + + raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") + @classmethod def setUpClass(cls): @@ -91,75 +171,20 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.car_model}") - test_segs = (2, 1, 0) - if cls.test_route.segment is not None: - test_segs = (cls.test_route.segment,) - - for seg in test_segs: - try: - if len(INTERNAL_SEG_LIST): - route_name = RouteName(cls.test_route.route) - lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") - elif cls.ci: - lr = LogReader(get_url(cls.test_route.route, seg)) - else: - lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) - except Exception: - continue - - car_fw = [] - can_msgs = [] - cls.elm_frame = None - fingerprint = defaultdict(dict) - experimental_long = False - enabled_toggle = True - dashcam_only = False - for msg in lr: - if msg.which() == "can": - can_msgs.append(msg) - if len(can_msgs) <= FRAME_FINGERPRINT: - for m in msg.can: - if m.src < 64: - fingerprint[m.src][m.address] = len(m.dat) - - elif msg.which() == "carParams": - car_fw = msg.carParams.carFw - dashcam_only = msg.carParams.dashcamOnly - if msg.carParams.openpilotLongitudinalControl: - experimental_long = True - if cls.car_model is None and not cls.ci: - cls.car_model = msg.carParams.carFingerprint - - elif msg.which() == 'initData': - for param in msg.initData.params.entries: - if param.key == 'OpenpilotEnabledToggle': - enabled_toggle = param.value.strip(b'\x00') == b'1' - - # Log which can frame the panda safety mode left ELM327, for CAN validity checks - if msg.which() == 'pandaStates': - for ps in msg.pandaStates: - if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - - elif msg.which() == 'pandaStateDEPRECATED': - if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - - if len(can_msgs) > int(50 / DT_CTRL): - break - else: - raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") + car_fw, can_msgs, experimental_long = cls.get_testing_data() # if relay is expected to be open in the route - cls.openpilot_enabled = enabled_toggle and not dashcam_only + cls.openpilot_enabled = cls.car_safety_mode_frame is not None cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] - cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False) + cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.car_model + os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT + @classmethod def tearDownClass(cls): del cls.can_msgs @@ -228,7 +253,7 @@ class TestCarModelBase(unittest.TestCase): error_cnt += car.RadarData.Error.canError in rr.errors self.assertEqual(error_cnt, 0) - def test_panda_safety_rx_valid(self): + def test_panda_safety_rx_checks(self): if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") @@ -250,20 +275,24 @@ class TestCarModelBase(unittest.TestCase): failed_addrs[hex(msg.address)] += 1 # ensure all msgs defined in the addr checks are valid - if self.car_model not in ignore_addr_checks_valid: - self.safety.safety_tick_current_rx_checks() - if t > 1e6: - self.assertTrue(self.safety.addr_checks_valid()) + self.safety.safety_tick_current_safety_config() + if t > 1e6: + self.assertTrue(self.safety.safety_config_valid()) - # No need to check relay malfunction on disabled routes (relay closed), - # or before fingerprinting is done (1s of tolerance to exit silent mode) - if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): - self.assertFalse(self.safety.get_relay_malfunction()) - else: - self.safety.set_relay_malfunction(False) + # Don't check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (elm327 and noOutput) + if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") + # ensure RX checks go invalid after small time with no traffic + self.safety.set_timer(int(t + (2*1e6))) + self.safety.safety_tick_current_safety_config() + self.assertFalse(self.safety.safety_config_valid()) + def test_panda_safety_tx_cases(self, data=None): """Asserts we can tx common messages""" if self.CP.notCar: @@ -300,6 +329,73 @@ class TestCarModelBase(unittest.TestCase): CC = car.CarControl.new_message(cruiseControl={'resume': True}) test_car_controller(CC) + # Skip stdout/stderr capture with pytest, causes elevated memory usage + @pytest.mark.nocapture + @settings(max_examples=MAX_EXAMPLES, deadline=None, + phases=(Phase.reuse, Phase.generate, Phase.shrink)) + @given(data=st.data()) + def test_panda_safety_carstate_fuzzy(self, data): + """ + For each example, pick a random CAN message on the bus and fuzz its data, + checking for panda state mismatches. + """ + + if self.CP.dashcamOnly: + self.skipTest("no need to check panda safety for dashcamOnly") + + valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()] + address, bus, size = data.draw(st.sampled_from(valid_addrs)) + + msg_strategy = st.binary(min_size=size, max_size=size) + msgs = data.draw(st.lists(msg_strategy, min_size=20)) + + CC = car.CarControl.new_message() + + for dat in msgs: + # due to panda updating state selectively, only edges are expected to match + # TODO: warm up CarState with real CAN messages to check edge of both sources + # (eg. toyota's gasPressed is the inverse of a signal being set) + prev_panda_gas = self.safety.get_gas_pressed_prev() + prev_panda_brake = self.safety.get_brake_pressed_prev() + prev_panda_regen_braking = self.safety.get_regen_braking_prev() + prev_panda_vehicle_moving = self.safety.get_vehicle_moving() + prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() + prev_panda_acc_main_on = self.safety.get_acc_main_on() + + to_send = libpanda_py.make_CANPacket(address, bus, dat) + self.safety.safety_rx_hook(to_send) + + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=address, dat=dat, src=bus)] + + CS = self.CI.update(CC, (can.to_bytes(),)) + + if self.safety.get_gas_pressed_prev() != prev_panda_gas: + self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) + + if self.safety.get_brake_pressed_prev() != prev_panda_brake: + # TODO: remove this exception once this mismatch is resolved + brake_pressed = CS.brakePressed + if CS.brakePressed and not self.safety.get_brake_pressed_prev(): + if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05: + brake_pressed = False + + self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) + + if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: + self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) + + if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: + self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) + + if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH): + if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: + self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) + + if self.CP.carName == "honda": + if self.safety.get_acc_main_on() != prev_panda_acc_main_on: + self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) + def test_panda_safety_carstate(self): """ Assert that panda safety matches openpilot's carState @@ -383,8 +479,14 @@ class TestCarModelBase(unittest.TestCase): failed_checks = {k: v for k, v in checks.items() if v > 0} self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") + @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI") + def test_route_on_ci_bucket(self): + self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " + + "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.") + @parameterized_class(('car_model', 'test_route'), get_test_cases()) +@pytest.mark.xdist_group_class_property('test_route') class TestCarModel(TestCarModelBase): pass diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt index 27a2104cf7..92835ae8ad 100644 --- a/selfdrive/car/tests/test_models_segs.txt +++ b/selfdrive/car/tests/test_models_segs.txt @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887 -size 125301 +oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d +size 125147 diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml new file mode 100644 index 0000000000..5cdebc1709 --- /dev/null +++ b/selfdrive/car/torque_data/override.toml @@ -0,0 +1,76 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +### angle control +# Nissan appears to have torque +"NISSAN X-TRAIL 2017" = [nan, 1.5, nan] +"NISSAN ALTIMA 2020" = [nan, 1.5, nan] +"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan] +"NISSAN LEAF 2018" = [nan, 1.5, nan] +"NISSAN ROGUE 2019" = [nan, 1.5, nan] + +# New subarus angle based controllers +"SUBARU FORESTER 2022" = [nan, 3.0, nan] +"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan] +"SUBARU ASCENT 2023" = [nan, 3.0, nan] + +# Toyota LTA also has torque +"TOYOTA RAV4 2023" = [nan, 3.0, nan] + +# Tesla has high torque +"TESLA AP1 MODEL S" = [nan, 2.5, nan] +"TESLA AP2 MODEL S" = [nan, 2.5, nan] + +# Guess +"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan] +"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan] +"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan] +"FORD F-150 14TH GEN" = [nan, 1.5, nan] +"FORD FOCUS 4TH GEN" = [nan, 1.5, nan] +"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan] +"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan] +"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan] +### + +# No steering wheel +"COMMA BODY" = [nan, 1000, nan] + +# Totally new cars +"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05] +"RAM HD 5TH GEN" = [1.4, 1.4, 0.05] +"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2] +"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] +"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2] +"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05] +"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] +"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16] +"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05] +"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1] +"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1] +"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1] +"KIA SPORTAGE 5TH GEN" = [2.7, 2.7, 0.1] +"KIA SPORTAGE HYBRID 5TH GEN" = [2.5, 2.5, 0.1] +"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1] +"KIA SORENTO PLUG-IN HYBRID 4TH GEN" = [2.5, 2.5, 0.1] +"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1] +"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1] +"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12] +"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14] +"GENESIS GV80 2023" = [2.5, 2.5, 0.1] +"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15] +"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2] +"LEXUS IS 2023" = [2.0, 2.0, 0.1] +"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1] +"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1] +"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1] +"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1] +"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1] +"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1] +"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1] +"LEXUS GS F 2016" = [2.5, 2.5, 0.08] +"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15] + +# Dashcam or fallback configured as ideal car +"mock" = [10.0, 10, 0.0] + +# Manually checked +"HONDA CIVIC 2022" = [2.5, 1.2, 0.15] +"HONDA HR-V 2023" = [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml new file mode 100644 index 0000000000..564f50df5e --- /dev/null +++ b/selfdrive/car/torque_data/params.toml @@ -0,0 +1,86 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028] +"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844] +"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] +"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] +"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] +"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] +"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] +"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085] +"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237] +"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818] +"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520] +"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] +"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807] +"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149] +"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] +"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] +"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] +"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] +"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] +"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] +"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] +"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] +"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] +"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] +"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819] +"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171] +"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019] +"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276] +"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] +"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482] +"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548] +"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651] +"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] +"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963] +"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] +"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] +"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] +"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +"HYUNDAI TUCSON HYBRID 4TH GEN" = [2.960174, 2.860284, 0.108745] +"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048] +"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003] +"KIA EV6 2022" = [3.2, 2.093457, 0.05] +"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] +"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] +"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] +"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202] +"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533] +"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927] +"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] +"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] +"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] +"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] +"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] +"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] +"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] +"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] +"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] +"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] +"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] +"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] +"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] +"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753] +"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436] +"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] +"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] +"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] +"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] +"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] +"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515] +"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968] +"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] +"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] +"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] +"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986] +"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] +"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174] +"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736] +"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456] +"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] +"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] +"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] +"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712] +"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647] +"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml new file mode 100644 index 0000000000..2e4513a484 --- /dev/null +++ b/selfdrive/car/torque_data/substitute.toml @@ -0,0 +1,83 @@ +legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] +"MAZDA 3" = "MAZDA CX-9 2021" +"MAZDA 6" = "MAZDA CX-9 2021" +"MAZDA CX-5" = "MAZDA CX-9 2021" +"MAZDA CX-5 2022" = "MAZDA CX-9 2021" +"MAZDA CX-9" = "MAZDA CX-9 2021" + +"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018" +"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017" +"LEXUS IS 2018" = "LEXUS NX 2018" +"LEXUS CT HYBRID 2018" = "LEXUS NX 2018" +"LEXUS ES 2018" = "TOYOTA CAMRY 2018" +"LEXUS RC 2020" = "LEXUS NX 2020" + +"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020" +"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" +"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020" +"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" +"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020" +"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020" +"KIA SELTOS 2021" = "HYUNDAI SONATA 2020" +"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020" +"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020" +"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020" +"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019" +"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019" +"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019" +"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019" +"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020" +"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019" +"HYUNDAI TUCSON 4TH GEN" = "HYUNDAI TUCSON HYBRID 4TH GEN" +"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022" +"KIA K5 HYBRID 2020" = "KIA K5 2021" +"KIA STINGER 2022" = "KIA STINGER GT2 2018" +"GENESIS G90 2017" = "GENESIS G70 2018" +"GENESIS G80 2017" = "GENESIS G70 2018" +"GENESIS G70 2020" = "HYUNDAI SONATA 2020" + +"HONDA FREED 2020" = "HONDA ODYSSEY 2018" +"HONDA CR-V EU 2016" = "HONDA CR-V 2016" +"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019" +"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019" +"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018" + +"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017" +"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017" +"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017" +"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017" +"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017" +"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017" + +"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN" +"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN" +"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN" +"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN" +"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN" +"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN" + +"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" +"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020" +"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN" + +# Old subarus don't have much data guessing it's like low torque impreza" +"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019" +"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019" diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml deleted file mode 100644 index c7a1566b32..0000000000 --- a/selfdrive/car/torque_data/substitute.yaml +++ /dev/null @@ -1,82 +0,0 @@ -MAZDA 3: MAZDA CX-9 2021 -MAZDA 6: MAZDA CX-9 2021 -MAZDA CX-5: MAZDA CX-9 2021 -MAZDA CX-5 2022: MAZDA CX-9 2021 -MAZDA CX-9: MAZDA CX-9 2021 - -TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018 -TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017 -LEXUS IS 2018: LEXUS NX 2018 -LEXUS CT HYBRID 2018 : LEXUS NX 2018 -LEXUS ES 2018: TOYOTA CAMRY 2018 -LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018 -LEXUS RC 2020: LEXUS NX 2020 - -KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020 -KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020 -KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 -KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020 -KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 -KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 -KIA SELTOS 2021: HYUNDAI SONATA 2020 -KIA NIRO HYBRID 2019: KIA NIRO EV 2020 -KIA NIRO HYBRID 2021: KIA NIRO EV 2020 -HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 -HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 -HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 -HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 -HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 -HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN -HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 -KIA K5 HYBRID 2020: KIA K5 2021 -KIA STINGER 2022: KIA STINGER GT2 2018 -GENESIS G90 2017: GENESIS G70 2018 -GENESIS G80 2017: GENESIS G70 2018 -GENESIS G70 2020: HYUNDAI SONATA 2020 - -HONDA FREED 2020: HONDA ODYSSEY 2018 -HONDA CR-V EU 2016: HONDA CR-V 2016 -HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 -HONDA E 2020: HONDA CIVIC (BOSCH) 2019 -HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 - -BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 -BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 -CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 -CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 -CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 -HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 - -SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN -SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN -SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN -SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN -VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN -AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN -VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN -SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN -SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN - -SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020 -SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020 -SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN - -# Old subarus don't have much data guessing it's like low torque impreza -SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019 -SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019 -SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019 -SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019 -SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 502e6ff35b..b99a1091f6 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -22,8 +22,8 @@ MAX_USER_TORQUE = 500 # LTA limits # EPS ignores commands above this angle and causes PCS to fault -MAX_STEER_ANGLE = 94.9461 # deg -MAX_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes +MAX_LTA_ANGLE = 94.9461 # deg +MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes class CarController: @@ -75,31 +75,38 @@ class CarController: apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg # Angular rate limit based on speed - apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params) + apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgoRaw, self.params) if not lat_active: apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg - self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE) + self.last_angle = clip(apply_angle, -MAX_LTA_ANGLE, MAX_LTA_ANGLE) self.last_steer = apply_steer - # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; + # toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2; # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed # on consecutive messages can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req)) + + # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle + # cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above + # the threshold, to limit max lateral acceleration and for driver torque blending respectively. full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and - abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) - setme_x64 = 100 if lta_active and full_torque_condition else 0 - can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) + abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE) + + # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec + torque_wind_down = 100 if lta_active and full_torque_condition else 0 + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle, + lta_active, self.frame // 2, torque_wind_down)) # *** gas and brake *** if self.CP.enableGasInterceptor and CC.longActive: MAX_INTERCEPTOR_GAS = 0.5 # RAV4 has very sensitive gas pedal - if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH): + if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) elif self.CP.carFingerprint in (CAR.COROLLA,): PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py new file mode 100644 index 0000000000..2ecd780843 --- /dev/null +++ b/selfdrive/car/toyota/fingerprints.py @@ -0,0 +1,1624 @@ +from cereal import car +from openpilot.selfdrive.car.toyota.values import CAR + +Ecu = car.CarParams.Ecu + +FW_VERSIONS = { + CAR.AVALON: { + (Ecu.abs, 0x7b0, None): [ + b'F152607060\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510701300\x00\x00\x00\x00', + b'881510705100\x00\x00\x00\x00', + b'881510705200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41051\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + b'8821F4702100\x00\x00\x00\x00', + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0701100\x00\x00\x00\x00', + b'8646F0703000\x00\x00\x00\x00', + ], + }, + CAR.AVALON_2019: { + (Ecu.abs, 0x7b0, None): [ + b'F152607110\x00\x00\x00\x00\x00\x00', + b'F152607140\x00\x00\x00\x00\x00\x00', + b'F152607171\x00\x00\x00\x00\x00\x00', + b'F152607180\x00\x00\x00\x00\x00\x00', + b'F152641040\x00\x00\x00\x00\x00\x00', + b'F152641050\x00\x00\x00\x00\x00\x00', + b'F152641061\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881510703200\x00\x00\x00\x00', + b'881510704200\x00\x00\x00\x00', + b'881514107100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B07010\x00\x00\x00\x00\x00\x00', + b'8965B41070\x00\x00\x00\x00\x00\x00', + b'8965B41080\x00\x00\x00\x00\x00\x00', + b'8965B41090\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896630725100\x00\x00\x00\x00', + b'\x01896630725200\x00\x00\x00\x00', + b'\x01896630725300\x00\x00\x00\x00', + b'\x01896630735100\x00\x00\x00\x00', + b'\x01896630738000\x00\x00\x00\x00', + b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', + b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F0702100\x00\x00\x00\x00', + ], + }, + CAR.AVALON_TSS2: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607250\x00\x00\x00\x00\x00\x00', + b'\x01F152607280\x00\x00\x00\x00\x00\x00', + b'F152641080\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B41110\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x018966306Q6000\x00\x00\x00\x00', + b'\x01896630742000\x00\x00\x00\x00', + b'\x01896630743000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.CAMRY: { + (Ecu.engine, 0x700, None): [ + b'\x018966306L3100\x00\x00\x00\x00', + b'\x018966306L4200\x00\x00\x00\x00', 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CAR.LEXUS_RC: { + (Ecu.engine, 0x700, None): [ + b'\x01896632461100\x00\x00\x00\x00', + b'\x01896632478100\x00\x00\x00\x00', + b'\x01896632478200\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152624150\x00\x00\x00\x00\x00\x00', + b'F152624221\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881512404100\x00\x00\x00\x00', + b'881512407000\x00\x00\x00\x00', + b'881512409100\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B24081\x00\x00\x00\x00\x00\x00', + b'8965B24240\x00\x00\x00\x00\x00\x00', + b'8965B24320\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F2401100\x00\x00\x00\x00', + b'8646F2401200\x00\x00\x00\x00', + b'8646F2402200\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RX: { + (Ecu.engine, 0x700, None): [ + b'\x01896630E36200\x00\x00\x00\x00', + b'\x01896630E36300\x00\x00\x00\x00', + b'\x01896630E37100\x00\x00\x00\x00', + b'\x01896630E37200\x00\x00\x00\x00', + b'\x01896630E37300\x00\x00\x00\x00', + b'\x01896630E41000\x00\x00\x00\x00', + b'\x01896630E41100\x00\x00\x00\x00', + b'\x01896630E41200\x00\x00\x00\x00', + b'\x01896630E41500\x00\x00\x00\x00', + b'\x01896630EA3100\x00\x00\x00\x00', + b'\x01896630EA3400\x00\x00\x00\x00', + b'\x01896630EA4100\x00\x00\x00\x00', + b'\x01896630EA4300\x00\x00\x00\x00', + b'\x01896630EA4400\x00\x00\x00\x00', + b'\x01896630EA6300\x00\x00\x00\x00', + b'\x018966348R1300\x00\x00\x00\x00', + b'\x018966348R8500\x00\x00\x00\x00', + b'\x018966348W1300\x00\x00\x00\x00', + b'\x018966348W2300\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152648361\x00\x00\x00\x00\x00\x00', + b'F152648472\x00\x00\x00\x00\x00\x00', + b'F152648473\x00\x00\x00\x00\x00\x00', + b'F152648474\x00\x00\x00\x00\x00\x00', + b'F152648492\x00\x00\x00\x00\x00\x00', + b'F152648493\x00\x00\x00\x00\x00\x00', + b'F152648494\x00\x00\x00\x00\x00\x00', + b'F152648501\x00\x00\x00\x00\x00\x00', + b'F152648502\x00\x00\x00\x00\x00\x00', + b'F152648504\x00\x00\x00\x00\x00\x00', + b'F152648630\x00\x00\x00\x00\x00\x00', + b'F152648740\x00\x00\x00\x00\x00\x00', + b'F152648A30\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514810300\x00\x00\x00\x00', + b'881514810500\x00\x00\x00\x00', + b'881514810700\x00\x00\x00\x00', + b'881514811300\x00\x00\x00\x00', + b'881514811500\x00\x00\x00\x00', + b'881514811700\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B0E011\x00\x00\x00\x00\x00\x00', + b'8965B0E012\x00\x00\x00\x00\x00\x00', + b'8965B48102\x00\x00\x00\x00\x00\x00', + b'8965B48111\x00\x00\x00\x00\x00\x00', + b'8965B48112\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4701000\x00\x00\x00\x00', + b'8821F4701100\x00\x00\x00\x00', + b'8821F4701200\x00\x00\x00\x00', + b'8821F4701300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4801100\x00\x00\x00\x00', + b'8646F4801200\x00\x00\x00\x00', + b'8646F4802001\x00\x00\x00\x00', + b'8646F4802100\x00\x00\x00\x00', + b'8646F4802200\x00\x00\x00\x00', + b'8646F4809000\x00\x00\x00\x00', + ], + }, + CAR.LEXUS_RX_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x01896630EA9000\x00\x00\x00\x00', + b'\x01896630EB0000\x00\x00\x00\x00', + b'\x01896630EC9000\x00\x00\x00\x00', + b'\x01896630EC9100\x00\x00\x00\x00', + b'\x01896630ED0000\x00\x00\x00\x00', + b'\x01896630ED0100\x00\x00\x00\x00', + b'\x01896630ED5000\x00\x00\x00\x00', + b'\x01896630ED6000\x00\x00\x00\x00', + b'\x018966348R9200\x00\x00\x00\x00', + b'\x018966348T8000\x00\x00\x00\x00', + b'\x018966348W5100\x00\x00\x00\x00', + b'\x018966348W9000\x00\x00\x00\x00', + b'\x018966348X0000\x00\x00\x00\x00', + b'\x01896634D12000\x00\x00\x00\x00', + b'\x01896634D12100\x00\x00\x00\x00', + b'\x01896634D43000\x00\x00\x00\x00', + b'\x01896634D44000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260E031\x00\x00\x00\x00\x00\x00', + b'\x01F15260E041\x00\x00\x00\x00\x00\x00', + b'\x01F152648781\x00\x00\x00\x00\x00\x00', + b'\x01F152648801\x00\x00\x00\x00\x00\x00', + b'F152648493\x00\x00\x00\x00\x00\x00', + b'F152648811\x00\x00\x00\x00\x00\x00', + b'F152648831\x00\x00\x00\x00\x00\x00', + b'F152648891\x00\x00\x00\x00\x00\x00', + b'F152648C80\x00\x00\x00\x00\x00\x00', + b'F152648D00\x00\x00\x00\x00\x00\x00', + b'F152648D60\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B48261\x00\x00\x00\x00\x00\x00', + b'8965B48271\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301100\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', + b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, + CAR.PRIUS_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', + b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152647500\x00\x00\x00\x00\x00\x00', + b'F152647510\x00\x00\x00\x00\x00\x00', + b'F152647520\x00\x00\x00\x00\x00\x00', + b'F152647521\x00\x00\x00\x00\x00\x00', + b'F152647531\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B47070\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + ], + }, + CAR.MIRAI: { + (Ecu.abs, 0x7d1, None): [ + b'\x01898A36203000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15266203200\x00\x00\x00\x00', + b'\x01F15266203500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + ], + }, + CAR.ALPHARD_TSS2: { + (Ecu.engine, 0x7e0, None): [ + b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B58040\x00\x00\x00\x00\x00\x00', + b'8965B58052\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152658320\x00\x00\x00\x00\x00\x00', + b'F152658341\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301200\x00\x00\x00\x00', + b'\x018821F3301400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', + b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + ], + }, +} diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6c213285a5..aaca8724b4 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -29,12 +29,11 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE if candidate in ANGLE_CONTROL_CAR: - ret.dashcamOnly = True ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA # LTA control can be more delayed and winds up more often - ret.steerActuatorDelay = 0.25 + ret.steerActuatorDelay = 0.18 ret.steerLimitTimer = 0.8 else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) @@ -78,7 +77,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2): + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end @@ -100,7 +99,8 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): + # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU stop_and_go = True ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 @@ -143,9 +143,7 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG - elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2): - if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2): ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized ret.tireStiffnessFactor = 0.444 # not optimized yet @@ -164,6 +162,12 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFactor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + elif candidate == CAR.LEXUS_GS_F: + ret.wheelbase = 2.84988 + ret.steerRatio = 13.3 + ret.tireStiffnessFactor = 0.444 + ret.mass = 4034. * CV.LB_TO_KG + elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.wheelbase = 2.60 @@ -218,6 +222,9 @@ class CarInterface(CarInterfaceBase): and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] + if ret.enableGasInterceptor: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR + # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py index 636a013242..9ec7a14cd3 100755 --- a/selfdrive/car/toyota/tests/print_platform_codes.py +++ b/selfdrive/car/toyota/tests/print_platform_codes.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 from collections import defaultdict from cereal import car -from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index 2a82ca5ec0..d9d4fe087f 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -4,7 +4,8 @@ import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict -from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \ +from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, \ FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \ get_platform_codes @@ -17,6 +18,10 @@ class TestToyotaInterfaces(unittest.TestCase): self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) + def test_lta_platforms(self): + # At this time, only RAV4 2023 is expected to use LTA/angle control + self.assertEqual(ANGLE_CONTROL_CAR, {CAR.RAV4_TSS2_2023}) + def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, # like looking up certain signals only in this DBC @@ -45,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase): class TestToyotaFingerprint(unittest.TestCase): + def test_non_essential_ecus(self): + # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model.value): + engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine} + self.assertEqual(len(engine_ecus) > 1, + car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine], + f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list") + # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy # fingerprint in the absence of full FW matches: @settings(max_examples=100) @@ -134,12 +148,12 @@ class TestToyotaFingerprint(unittest.TestCase): "subAddress": 0 if sub_addr is None else sub_addr}) CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) + matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), FW_VERSIONS) if len(matches) == 1: self.assertEqual(list(matches)[0], platform) else: # If a platform has multiple matches, add it and its matches - platforms_with_shared_codes |= {platform, *matches} + platforms_with_shared_codes |= {str(platform), *matches} self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 3010549705..0bce9ae55b 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -1,3 +1,8 @@ +from cereal import car + +SteerControlType = car.CarParams.SteerControlType + + def create_steer_command(packer, steer, steer_req): """Creates a CAN message for the Toyota Steer Command.""" @@ -9,15 +14,16 @@ def create_steer_command(packer, steer, steer_req): return packer.make_can_msg("STEERING_LKA", 0, values) -def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64): +def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down): """Creates a CAN message for the Toyota LTA Steer Command.""" values = { "COUNTER": frame + 128, - "SETME_X1": 1, - "SETME_X3": 3, + "SETME_X1": 1, # suspected LTA feature availability + # 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control + "SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3, "PERCENTAGE": 100, - "SETME_X64": setme_x64, + "TORQUE_WIND_DOWN": torque_wind_down, "ANGLE": 0, "STEER_ANGLE_CMD": steer_angle, "STEER_REQUEST": steer_req, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index bac1fb84b9..4f6e55b5d3 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -27,7 +27,8 @@ class CarControllerParams: # Assuming a steering ratio of 13.7: # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph, - # however the EPS has its own internal limits at all speeds which are less than that + # however the EPS has its own internal limits at all speeds which are less than that: + # Observed internal torque rate limit on TSS 2.5 Camry and RAV4 is ~1500 units/sec up and down when using LTA ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15]) ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) @@ -61,7 +62,6 @@ class CAR(StrEnum): COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" HIGHLANDER = "TOYOTA HIGHLANDER 2017" HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" - HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" PRIUS = "TOYOTA PRIUS 2017" PRIUS_V = "TOYOTA PRIUS v 2017" PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" @@ -76,7 +76,6 @@ class CAR(StrEnum): # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" LEXUS_ES = "LEXUS ES 2018" - LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_IS = "LEXUS IS 2018" LEXUS_IS_TSS2 = "LEXUS IS 2023" @@ -84,8 +83,8 @@ class CAR(StrEnum): LEXUS_NX_TSS2 = "LEXUS NX 2020" LEXUS_RC = "LEXUS RC 2020" LEXUS_RX = "LEXUS RX 2016" - LEXUS_RXH = "LEXUS RX HYBRID 2017" LEXUS_RX_TSS2 = "LEXUS RX 2020" + LEXUS_GS_F = "LEXUS GS F 2016" class Footnote(Enum): @@ -123,7 +122,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), ], CAR.CAMRY_TSS2: [ - ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), ], CAR.CHR: [ @@ -145,12 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], - CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + CAR.HIGHLANDER: [ + ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), + ], CAR.HIGHLANDER_TSS2: [ ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ], - CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.PRIUS: [ ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), @@ -178,22 +179,25 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ], CAR.RAV4_TSS2_2023: [ - ToyotaCarInfo("Toyota RAV4 2023"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), + ToyotaCarInfo("Toyota RAV4 2023-24"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + CAR.LEXUS_ES: [ + ToyotaCarInfo("Lexus ES 2017-18"), + ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + ], CAR.LEXUS_ES_TSS2: [ ToyotaCarInfo("Lexus ES 2019-24"), ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), + CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"), CAR.LEXUS_NX: [ ToyotaCarInfo("Lexus NX 2018-19"), ToyotaCarInfo("Lexus NX Hybrid 2018-19"), @@ -206,8 +210,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), - ], - CAR.LEXUS_RXH: [ + # Hybrid platforms ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], @@ -219,33 +222,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ - (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), + (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), + (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), - (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), - (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), - (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), - (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), - (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, + (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), - (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), + (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), - (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), - (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, - CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'), + (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] @@ -293,10 +295,10 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]: return dict(codes) -def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: candidates = set() - for candidate, fws in FW_VERSIONS.items(): + for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within sub-version range) valid_found_ecus = set() valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS} @@ -346,13 +348,16 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]') # highest seen is 3 chunks, 16 bytes FW_CHUNK_LEN = 16 # List of ECUs that are most unique across openpilot platforms -# TODO: use hybrid ECU, splits similar ICE and hybrid variants # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes # when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2. # On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping. -# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception) +# Note that the platform codes & major versions do not describe features in plain text, only with +# matching against other seen FW versions in the database they can describe features. +# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code. +# For example the RAV4 2022's new radar architecture is shown for both with platform code. +# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination) # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages -PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps] +PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps) # These platforms have at least one platform code for all ECUs shared with another platform. FUZZY_EXCLUDED_PLATFORMS: set[CAR] = set() @@ -392,8 +397,8 @@ FW_QUERY_CONFIG = FwQueryConfig( # FIXME: On some models, abs can sometimes be missing Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], # On some models, the engine can show on two different addresses - Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC, - CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2], + Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, + CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], }, extra_ecus=[ # All known ECUs on a late-model Toyota vehicle not queried here: @@ -430,1618 +435,6 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) -FW_VERSIONS = { - CAR.AVALON: { - (Ecu.abs, 0x7b0, None): [ - b'F152607060\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510701300\x00\x00\x00\x00', - b'881510705100\x00\x00\x00\x00', - b'881510705200\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41051\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0701100\x00\x00\x00\x00', - b'8646F0703000\x00\x00\x00\x00', - ], - }, - CAR.AVALON_2019: { - (Ecu.abs, 0x7b0, None): [ - b'F152607140\x00\x00\x00\x00\x00\x00', - b'F152607171\x00\x00\x00\x00\x00\x00', - b'F152607110\x00\x00\x00\x00\x00\x00', - b'F152607180\x00\x00\x00\x00\x00\x00', - b'F152641040\x00\x00\x00\x00\x00\x00', - b'F152641061\x00\x00\x00\x00\x00\x00', - b'F152641050\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881510703200\x00\x00\x00\x00', - b'881510704200\x00\x00\x00\x00', - b'881514107100\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41080\x00\x00\x00\x00\x00\x00', - b'8965B07010\x00\x00\x00\x00\x00\x00', - b'8965B41090\x00\x00\x00\x00\x00\x00', - b'8965B41070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896630725200\x00\x00\x00\x00', - b'\x01896630725300\x00\x00\x00\x00', - b'\x01896630735100\x00\x00\x00\x00', - b'\x01896630738000\x00\x00\x00\x00', - b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0702100\x00\x00\x00\x00', - ], - }, - CAR.AVALON_TSS2: { - (Ecu.abs, 0x7b0, None): [ - b'\x01F152607240\x00\x00\x00\x00\x00\x00', - b'\x01F152607250\x00\x00\x00\x00\x00\x00', - b'\x01F152607280\x00\x00\x00\x00\x00\x00', - b'F152641080\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B41110\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x01896630742000\x00\x00\x00\x00', - b'\x01896630743000\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.CAMRY: { - (Ecu.engine, 0x700, None): [ - b'\x018966306L3100\x00\x00\x00\x00', - b'\x018966306L4200\x00\x00\x00\x00', - b'\x018966306L5200\x00\x00\x00\x00', - b'\x018966306P8000\x00\x00\x00\x00', - b'\x018966306Q3100\x00\x00\x00\x00', - b'\x018966306Q4000\x00\x00\x00\x00', - b'\x018966306Q4100\x00\x00\x00\x00', - b'\x018966306Q4200\x00\x00\x00\x00', - b'\x018966333Q9200\x00\x00\x00\x00', - b'\x018966333P3100\x00\x00\x00\x00', - b'\x018966333P3200\x00\x00\x00\x00', - b'\x018966333P4200\x00\x00\x00\x00', - b'\x018966333P4300\x00\x00\x00\x00', - b'\x018966333P4400\x00\x00\x00\x00', - b'\x018966333P4500\x00\x00\x00\x00', - b'\x018966333P4700\x00\x00\x00\x00', - b'\x018966333P4900\x00\x00\x00\x00', - b'\x018966333Q6000\x00\x00\x00\x00', - b'\x018966333Q6200\x00\x00\x00\x00', - b'\x018966333Q6300\x00\x00\x00\x00', - b'\x018966333Q6500\x00\x00\x00\x00', - b'\x018966333W6000\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - b'\x018966333N1100\x00\x00\x00\x00', - b'\x018966333N4300\x00\x00\x00\x00', - b'\x018966333X0000\x00\x00\x00\x00', - b'\x018966333X4000\x00\x00\x00\x00', - b'\x01896633T16000\x00\x00\x00\x00', - b'\x018966306L9000\x00\x00\x00\x00', - b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', - b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0602000 ', - b'8821F0603300 ', - b'8821F0604100 ', - b'8821F0605200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609100 ', - b'8821F0603400 ', - b'8821F0604000 ', - b'8821F0604200 ', - b'8821F0606200 ', - b'8821F0609000 ', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152606210\x00\x00\x00\x00\x00\x00', - b'F152606230\x00\x00\x00\x00\x00\x00', - b'F152606270\x00\x00\x00\x00\x00\x00', - b'F152606290\x00\x00\x00\x00\x00\x00', - b'F152606410\x00\x00\x00\x00\x00\x00', - b'F152633540\x00\x00\x00\x00\x00\x00', - b'F152633A10\x00\x00\x00\x00\x00\x00', - b'F152633A20\x00\x00\x00\x00\x00\x00', - b'F152633214\x00\x00\x00\x00\x00\x00', - b'F152633660\x00\x00\x00\x00\x00\x00', - b'F152633712\x00\x00\x00\x00\x00\x00', - b'F152633713\x00\x00\x00\x00\x00\x00', - b'F152633B51\x00\x00\x00\x00\x00\x00', - b'F152633B60\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B33540\x00\x00\x00\x00\x00\x00', - b'8965B33542\x00\x00\x00\x00\x00\x00', - b'8965B33580\x00\x00\x00\x00\x00\x00', - b'8965B33581\x00\x00\x00\x00\x00\x00', - b'8965B33621\x00\x00\x00\x00\x00\x00', - b'8965B33550\x00\x00\x00\x00\x00\x00', - b'8965B33551\x00\x00\x00\x00\x00\x00', - b'8965B33611\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ # Same as 0x791 - b'8821F0601200 ', - b'8821F0601300 ', - b'8821F0602000 ', - b'8821F0603300 ', - b'8821F0604100 ', - b'8821F0605200 ', - b'8821F0607200 ', - b'8821F0608000 ', - b'8821F0608200 ', - b'8821F0609100 ', - b'8821F0603400 ', - b'8821F0604000 ', - b'8821F0604200 ', - b'8821F0606200 ', - b'8821F0609000 ', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F0601200 ', - b'8646F0601300 ', - b'8646F0601400 ', - b'8646F0603400 ', - b'8646F0604100 ', - b'8646F0605000 ', - b'8646F0606000 ', - b'8646F0606100 ', - b'8646F0607100 ', - b'8646F0603500 ', - b'8646F0607000 ', - ], - }, - CAR.CAMRY_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B33630\x00\x00\x00\x00\x00\x00', - b'8965B33640\x00\x00\x00\x00\x00\x00', - b'8965B33650\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'\x01F152606370\x00\x00\x00\x00\x00\x00', - b'\x01F152606390\x00\x00\x00\x00\x00\x00', - b'\x01F152606400\x00\x00\x00\x00\x00\x00', - b'\x01F152606431\x00\x00\x00\x00\x00\x00', - b'F152633D00\x00\x00\x00\x00\x00\x00', - b'F152633D60\x00\x00\x00\x00\x00\x00', - b'F152633310\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x018966306Q5000\x00\x00\x00\x00', - b'\x018966306Q9000\x00\x00\x00\x00', - b'\x018966306R3000\x00\x00\x00\x00', - b'\x018966306R8000\x00\x00\x00\x00', - b'\x018966306T3100\x00\x00\x00\x00', - b'\x018966306T3200\x00\x00\x00\x00', - b'\x018966306T4000\x00\x00\x00\x00', - b'\x018966306T4100\x00\x00\x00\x00', - b'\x018966306Q6000\x00\x00\x00\x00', - b'\x018966306Q7000\x00\x00\x00\x00', - b'\x018966306T0000\x00\x00\x00\x00', - b'\x018966306V1000\x00\x00\x00\x00', - b'\x01896633T20000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F6201200\x00\x00\x00\x00', - b'\x018821F6201300\x00\x00\x00\x00', - b'\x018821F6201400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', - b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - ], - }, - CAR.CHR: { - (Ecu.engine, 0x700, None): [ - b'\x01896631021100\x00\x00\x00\x00', - b'\x01896631017100\x00\x00\x00\x00', - b'\x01896631017200\x00\x00\x00\x00', - b'\x0189663F413100\x00\x00\x00\x00', - b'\x0189663F414100\x00\x00\x00\x00', - b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x0189663F438000\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'8821F0W01000 ', - b'8821F0W01100 ', - b'8821FF401600 ', - b'8821FF404000 ', - b'8821FF404100 ', - b'8821FF405100 ', - b'8821FF406000 ', - b'8821FF407100 ', - b'8821FF402300 ', - b'8821FF402400 ', - b'8821FF405000 ', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152610020\x00\x00\x00\x00\x00\x00', - b'F152610153\x00\x00\x00\x00\x00\x00', - b'F152610210\x00\x00\x00\x00\x00\x00', - b'F1526F4034\x00\x00\x00\x00\x00\x00', - b'F1526F4044\x00\x00\x00\x00\x00\x00', - b'F1526F4073\x00\x00\x00\x00\x00\x00', - b'F1526F4121\x00\x00\x00\x00\x00\x00', - b'F1526F4122\x00\x00\x00\x00\x00\x00', - b'F152610012\x00\x00\x00\x00\x00\x00', - b'F152610013\x00\x00\x00\x00\x00\x00', - b'F152610014\x00\x00\x00\x00\x00\x00', - b'F152610040\x00\x00\x00\x00\x00\x00', - b'F152610190\x00\x00\x00\x00\x00\x00', - b'F152610200\x00\x00\x00\x00\x00\x00', - b'F152610220\x00\x00\x00\x00\x00\x00', - b'F152610230\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B10011\x00\x00\x00\x00\x00\x00', - b'8965B10040\x00\x00\x00\x00\x00\x00', - 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b'8965B47022\x00\x00\x00\x00\x00\x00', - b'8965B47023\x00\x00\x00\x00\x00\x00', - b'8965B47050\x00\x00\x00\x00\x00\x00', - b'8965B47060\x00\x00\x00\x00\x00\x00', # This is the EPS with good angle sensor - ], - (Ecu.abs, 0x7b0, None): [ - b'F152647290\x00\x00\x00\x00\x00\x00', - b'F152647300\x00\x00\x00\x00\x00\x00', - b'F152647310\x00\x00\x00\x00\x00\x00', - b'F152647414\x00\x00\x00\x00\x00\x00', - b'F152647415\x00\x00\x00\x00\x00\x00', - b'F152647416\x00\x00\x00\x00\x00\x00', - b'F152647417\x00\x00\x00\x00\x00\x00', - b'F152647470\x00\x00\x00\x00\x00\x00', - b'F152647490\x00\x00\x00\x00\x00\x00', - b'F152647682\x00\x00\x00\x00\x00\x00', - b'F152647683\x00\x00\x00\x00\x00\x00', - b'F152647684\x00\x00\x00\x00\x00\x00', - b'F152647862\x00\x00\x00\x00\x00\x00', - b'F152647863\x00\x00\x00\x00\x00\x00', - b'F152647864\x00\x00\x00\x00\x00\x00', - b'F152647865\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514702300\x00\x00\x00\x00', - b'881514702400\x00\x00\x00\x00', - b'881514703100\x00\x00\x00\x00', - b'881514704100\x00\x00\x00\x00', - b'881514706000\x00\x00\x00\x00', - b'881514706100\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4701300\x00\x00\x00\x00', - b'8646F4702001\x00\x00\x00\x00', - b'8646F4702100\x00\x00\x00\x00', - b'8646F4702200\x00\x00\x00\x00', - b'8646F4705000\x00\x00\x00\x00', - b'8646F4705200\x00\x00\x00\x00', - ], - }, - CAR.PRIUS_V: { - (Ecu.abs, 0x7b0, None): [ - b'F152647280\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514705100\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4703300\x00\x00\x00\x00', - ], - }, - CAR.RAV4: { - (Ecu.engine, 0x7e0, None): [ - b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q1200\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B42063\x00\x00\x00\x00\x00\x00', - b'8965B42073\x00\x00\x00\x00\x00\x00', - b'8965B42082\x00\x00\x00\x00\x00\x00', - b'8965B42083\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F15260R102\x00\x00\x00\x00\x00\x00', - b'F15260R103\x00\x00\x00\x00\x00\x00', - b'F152642493\x00\x00\x00\x00\x00\x00', - b'F152642492\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514201200\x00\x00\x00\x00', - b'881514201300\x00\x00\x00\x00', - b'881514201400\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4201100\x00\x00\x00\x00', - b'8646F4201200\x00\x00\x00\x00', - b'8646F4202001\x00\x00\x00\x00', - b'8646F4202100\x00\x00\x00\x00', - b'8646F4204000\x00\x00\x00\x00', - ], - }, - CAR.RAV4H: { - (Ecu.engine, 0x7e0, None): [ - b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B42102\x00\x00\x00\x00\x00\x00', - b'8965B42103\x00\x00\x00\x00\x00\x00', - b'8965B42112\x00\x00\x00\x00\x00\x00', - b'8965B42162\x00\x00\x00\x00\x00\x00', - b'8965B42163\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152642090\x00\x00\x00\x00\x00\x00', - b'F152642110\x00\x00\x00\x00\x00\x00', - b'F152642120\x00\x00\x00\x00\x00\x00', - b'F152642400\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514202200\x00\x00\x00\x00', - b'881514202300\x00\x00\x00\x00', - b'881514202400\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4702000\x00\x00\x00\x00', - b'8821F4702100\x00\x00\x00\x00', - b'8821F4702300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4201100\x00\x00\x00\x00', - b'8646F4201200\x00\x00\x00\x00', - b'8646F4202001\x00\x00\x00\x00', - b'8646F4202100\x00\x00\x00\x00', - b'8646F4204000\x00\x00\x00\x00', - ], - }, - CAR.RAV4_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x01896630R58000\x00\x00\x00\x00', - b'\x01896630R58100\x00\x00\x00\x00', - b'\x018966342E2000\x00\x00\x00\x00', - b'\x018966342M8000\x00\x00\x00\x00', - b'\x018966342S9000\x00\x00\x00\x00', - b'\x018966342T1000\x00\x00\x00\x00', - b'\x018966342T6000\x00\x00\x00\x00', - b'\x018966342T9000\x00\x00\x00\x00', - b'\x018966342U4000\x00\x00\x00\x00', - b'\x018966342U4100\x00\x00\x00\x00', - b'\x018966342U5100\x00\x00\x00\x00', - b'\x018966342V0000\x00\x00\x00\x00', - b'\x018966342V3000\x00\x00\x00\x00', - b'\x018966342V3100\x00\x00\x00\x00', - b'\x018966342V3200\x00\x00\x00\x00', - b'\x01896634A05000\x00\x00\x00\x00', - b'\x01896634A19000\x00\x00\x00\x00', - b'\x01896634A19100\x00\x00\x00\x00', - b'\x01896634A20000\x00\x00\x00\x00', - b'\x01896634A20100\x00\x00\x00\x00', - b'\x01896634A22000\x00\x00\x00\x00', - b'\x01896634A22100\x00\x00\x00\x00', - b'\x01896634A30000\x00\x00\x00\x00', - b'\x01896634A44000\x00\x00\x00\x00', - b'\x01896634A45000\x00\x00\x00\x00', - b'\x01896634A46000\x00\x00\x00\x00', - b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00', - b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', - b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', - b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', - b'\x01896634A15000\x00\x00\x00\x00', - b'\x018966342M5000\x00\x00\x00\x00', - b'\x018966342W8000\x00\x00\x00\x00', - b'\x018966342X5000\x00\x00\x00\x00', - b'\x018966342X6000\x00\x00\x00\x00', - b'\x01896634A25000\x00\x00\x00\x00', - b'\x018966342W5000\x00\x00\x00\x00', - b'\x018966342W7000\x00\x00\x00\x00', - b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', - b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', - b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', - b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', - b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'\x01F15260R210\x00\x00\x00\x00\x00\x00', - b'\x01F15260R220\x00\x00\x00\x00\x00\x00', - b'\x01F15260R290\x00\x00\x00\x00\x00\x00', - b'\x01F15260R300\x00\x00\x00\x00\x00\x00', - b'\x01F15260R302\x00\x00\x00\x00\x00\x00', - b'\x01F152642551\x00\x00\x00\x00\x00\x00', - b'\x01F152642561\x00\x00\x00\x00\x00\x00', - b'\x01F152642601\x00\x00\x00\x00\x00\x00', - b'\x01F152642700\x00\x00\x00\x00\x00\x00', - b'\x01F152642701\x00\x00\x00\x00\x00\x00', - b'\x01F152642710\x00\x00\x00\x00\x00\x00', - b'\x01F152642711\x00\x00\x00\x00\x00\x00', - b'\x01F152642750\x00\x00\x00\x00\x00\x00', - b'\x01F152642751\x00\x00\x00\x00\x00\x00', - 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b'8965B48102\x00\x00\x00\x00\x00\x00', - b'8965B48111\x00\x00\x00\x00\x00\x00', - b'8965B48112\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4701000\x00\x00\x00\x00', - b'8821F4701100\x00\x00\x00\x00', - b'8821F4701200\x00\x00\x00\x00', - b'8821F4701300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4801100\x00\x00\x00\x00', - b'8646F4801200\x00\x00\x00\x00', - b'8646F4802001\x00\x00\x00\x00', - b'8646F4802100\x00\x00\x00\x00', - b'8646F4802200\x00\x00\x00\x00', - b'8646F4809000\x00\x00\x00\x00', - ], - }, - CAR.LEXUS_RXH: { - (Ecu.engine, 0x7e0, None): [ - b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152648361\x00\x00\x00\x00\x00\x00', - b'F152648501\x00\x00\x00\x00\x00\x00', - b'F152648502\x00\x00\x00\x00\x00\x00', - b'F152648504\x00\x00\x00\x00\x00\x00', - b'F152648740\x00\x00\x00\x00\x00\x00', - b'F152648A30\x00\x00\x00\x00\x00\x00', - ], - (Ecu.dsu, 0x791, None): [ - b'881514811300\x00\x00\x00\x00', - b'881514811500\x00\x00\x00\x00', - b'881514811700\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B0E011\x00\x00\x00\x00\x00\x00', - b'8965B0E012\x00\x00\x00\x00\x00\x00', - b'8965B48111\x00\x00\x00\x00\x00\x00', - b'8965B48112\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'8821F4701000\x00\x00\x00\x00', - b'8821F4701100\x00\x00\x00\x00', - b'8821F4701200\x00\x00\x00\x00', - b'8821F4701300\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'8646F4801200\x00\x00\x00\x00', - b'8646F4802001\x00\x00\x00\x00', - b'8646F4802100\x00\x00\x00\x00', - b'8646F4802200\x00\x00\x00\x00', - b'8646F4809000\x00\x00\x00\x00', - ], - }, - CAR.LEXUS_RX_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x01896630EA9000\x00\x00\x00\x00', - b'\x01896630EB0000\x00\x00\x00\x00', - b'\x01896630EC9000\x00\x00\x00\x00', - b'\x01896630EC9100\x00\x00\x00\x00', - b'\x01896630ED0000\x00\x00\x00\x00', - b'\x01896630ED0100\x00\x00\x00\x00', - b'\x01896630ED6000\x00\x00\x00\x00', - b'\x018966348T8000\x00\x00\x00\x00', - b'\x018966348W5100\x00\x00\x00\x00', - b'\x018966348W9000\x00\x00\x00\x00', - b'\x01896634D12000\x00\x00\x00\x00', - b'\x01896634D12100\x00\x00\x00\x00', - b'\x01896634D43000\x00\x00\x00\x00', - b'\x01896634D44000\x00\x00\x00\x00', - b'\x018966348X0000\x00\x00\x00\x00', - b'\x01896630ED5000\x00\x00\x00\x00', - b'\x018966348R9200\x00\x00\x00\x00', - ], - (Ecu.engine, 0x7e0, None): [ - b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'\x01F15260E031\x00\x00\x00\x00\x00\x00', - b'\x01F15260E041\x00\x00\x00\x00\x00\x00', - b'\x01F152648781\x00\x00\x00\x00\x00\x00', - b'\x01F152648801\x00\x00\x00\x00\x00\x00', - b'F152648831\x00\x00\x00\x00\x00\x00', - b'F152648891\x00\x00\x00\x00\x00\x00', - b'F152648D00\x00\x00\x00\x00\x00\x00', - b'F152648D60\x00\x00\x00\x00\x00\x00', - b'F152648811\x00\x00\x00\x00\x00\x00', - b'F152648C80\x00\x00\x00\x00\x00\x00', - b'F152648493\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B48261\x00\x00\x00\x00\x00\x00', - b'8965B48271\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301100\x00\x00\x00\x00', - b'\x018821F3301300\x00\x00\x00\x00', - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', - b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, - CAR.PRIUS_TSS2: { - (Ecu.engine, 0x700, None): [ - b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', - b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', - b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', - b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', - b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152647500\x00\x00\x00\x00\x00\x00', - b'F152647510\x00\x00\x00\x00\x00\x00', - b'F152647520\x00\x00\x00\x00\x00\x00', - b'F152647521\x00\x00\x00\x00\x00\x00', - b'F152647531\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B47070\x00\x00\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', - b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', - ], - }, - CAR.MIRAI: { - (Ecu.abs, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], - (Ecu.abs, 0x7B0, None): [ # a second ABS ECU - b'\x01F15266203200\x00\x00\x00\x00', - b'\x01F15266203500\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',], - (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',], - (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',], - }, - CAR.ALPHARD_TSS2: { - (Ecu.engine, 0x7e0, None): [ - b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', - ], - (Ecu.eps, 0x7a1, None): [ - b'8965B58040\x00\x00\x00\x00\x00\x00', - b'8965B58052\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152658341\x00\x00\x00\x00\x00\x00' - ], - (Ecu.fwdRadar, 0x750, 0xf): [ - b'\x018821F3301200\x00\x00\x00\x00', - b'\x018821F3301400\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 0x6d): [ - b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', - b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', - ], - }, -} STEER_THRESHOLD = 100 @@ -2053,7 +446,6 @@ DBC = { CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), @@ -2061,7 +453,6 @@ DBC = { CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2071,7 +462,6 @@ DBC = { CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2081,6 +471,7 @@ DBC = { CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), } # These cars have non-standard EPS torque scale factors. All others are 73 @@ -2094,7 +485,7 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_T NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} # the DSU uses the AEB message for longitudinal on these cars -UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} +UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F} # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} @@ -2103,4 +494,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA} diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 28edf157ae..e2709cc842 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -5,7 +5,7 @@ import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from openpilot.selfdrive.car.fw_query_definitions import StdQueries -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index e7a7f2a998..0cee2c7fce 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -65,13 +65,22 @@ class CarController: self.apply_steer_last = apply_steer can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque + # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to + # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. + ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX) + if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): + ea_simulated_torque = CS.out.steeringTorque + can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque)) + # **** Acceleration Controls ******************************************** # if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping - starting = actuators.longControlState == LongCtrlState.starting + starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, acc_control, stopping, starting, CS.esp_hold_confirmation)) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 1e19f6bd38..44cac42719 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ - CarControllerParams + CarControllerParams, VolkswagenFlags class CarState(CarStateBase): @@ -14,6 +14,7 @@ class CarState(CarStateBase): self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False self.upscale_lead_car_signal = False + self.eps_stock_values = False def create_button_events(self, pt_cp, buttons): button_events = [] @@ -59,6 +60,11 @@ class CarState(CarStateBase): ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + # VW Emergency Assist status tracking and mitigation + self.eps_stock_values = pt_cp.vl["LH_EPS_03"] + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 + # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 @@ -297,6 +303,11 @@ class CarState(CarStateBase): messages = [] + if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + messages += [ + ("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not + ] + if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ # sig_address, frequency diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py new file mode 100644 index 0000000000..f98a822f1e --- /dev/null +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -0,0 +1,1155 @@ +from cereal import car +from openpilot.selfdrive.car.volkswagen.values import CAR + +Ecu = car.CarParams.Ecu + +# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting + + +FW_VERSIONS = { + CAR.ARTEON_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259AH\xf1\x890001', + b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890004', + b'\xf1\x873G0906259G \xf1\x890005', + b'\xf1\x873G0906259M \xf1\x890003', + b'\xf1\x873G0906259N \xf1\x890004', + b'\xf1\x873G0906259P \xf1\x890001', + b'\xf1\x875NA907115H \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158L \xf1\x893611', + b'\xf1\x870DL300014C \xf1\x893704', + b'\xf1\x870GC300011L \xf1\x891401', + b'\xf1\x870GC300014M \xf1\x892802', + b'\xf1\x870GC300019G \xf1\x892804', + b'\xf1\x870GC300040P \xf1\x891401', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', + b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', + b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.ATLAS_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703H906026AA\xf1\x899970', + b'\xf1\x8703H906026AG\xf1\x899973', + b'\xf1\x8703H906026AJ\xf1\x890638', + b'\xf1\x8703H906026AJ\xf1\x891017', + b'\xf1\x8703H906026AT\xf1\x891922', + b'\xf1\x8703H906026BC\xf1\x892664', + b'\xf1\x8703H906026F \xf1\x896696', + b'\xf1\x8703H906026F \xf1\x899970', + b'\xf1\x8703H906026J \xf1\x896026', + b'\xf1\x8703H906026J \xf1\x899971', + b'\xf1\x8703H906026S \xf1\x896693', + b'\xf1\x8703H906026S \xf1\x899970', + b'\xf1\x873CN906259 \xf1\x890005', + b'\xf1\x873CN906259F \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158A \xf1\x893387', + b'\xf1\x8709G927158DR\xf1\x893536', + b'\xf1\x8709G927158DR\xf1\x893742', + b'\xf1\x8709G927158EN\xf1\x893691', + b'\xf1\x8709G927158F \xf1\x893489', + b'\xf1\x8709G927158FT\xf1\x893835', + b'\xf1\x8709G927158GL\xf1\x893939', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\x0e1914151912001103111122031200', + b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', + b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', + b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + ], + }, + CAR.CRAFTER_MK2: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056BP\xf1\x894729', + b'\xf1\x8704L906056EK\xf1\x896391', + b'\xf1\x8705L906023BC\xf1\x892688', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', + b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', + b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', + b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572J \xf1\x890156', + b'\xf1\x872Q0907572M \xf1\x890233', + ], + }, + CAR.GOLF_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906016A \xf1\x897697', + b'\xf1\x8704E906016AD\xf1\x895758', + b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', + b'\xf1\x8704E906016N \xf1\x899105', + b'\xf1\x8704E906023AG\xf1\x891726', + b'\xf1\x8704E906023BN\xf1\x894518', + b'\xf1\x8704E906024K \xf1\x896811', + b'\xf1\x8704E906024K \xf1\x899970', + b'\xf1\x8704E906027GR\xf1\x892394', + b'\xf1\x8704E906027HD\xf1\x892603', + b'\xf1\x8704E906027HD\xf1\x893742', + b'\xf1\x8704E906027MA\xf1\x894958', + b'\xf1\x8704L906021DT\xf1\x895520', + b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', + b'\xf1\x8704L906026BN\xf1\x891197', + b'\xf1\x8704L906026BP\xf1\x897608', + b'\xf1\x8704L906026NF\xf1\x899528', + b'\xf1\x8704L906056CL\xf1\x893823', + b'\xf1\x8704L906056CR\xf1\x895813', + b'\xf1\x8704L906056HE\xf1\x893758', + b'\xf1\x8704L906056HN\xf1\x896590', + b'\xf1\x8704L906056HT\xf1\x896591', + b'\xf1\x870EA906016A \xf1\x898343', + b'\xf1\x870EA906016E \xf1\x894219', + b'\xf1\x870EA906016F \xf1\x894238', + b'\xf1\x870EA906016F \xf1\x895002', + b'\xf1\x870EA906016Q \xf1\x895993', + b'\xf1\x870EA906016S \xf1\x897207', + b'\xf1\x875G0906259 \xf1\x890007', + b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x875G0906259J \xf1\x890002', + b'\xf1\x875G0906259L \xf1\x890002', + b'\xf1\x875G0906259N \xf1\x890003', + b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x875G0906259Q \xf1\x892313', + b'\xf1\x875G0906259T \xf1\x890003', + b'\xf1\x878V0906259H \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890003', + b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259K \xf1\x890003', + b'\xf1\x878V0906259P \xf1\x890001', + b'\xf1\x878V0906259Q \xf1\x890002', + b'\xf1\x878V0906259R \xf1\x890002', + b'\xf1\x878V0906264F \xf1\x890003', + b'\xf1\x878V0906264L \xf1\x890002', + b'\xf1\x878V0906264M \xf1\x890001', + b'\xf1\x878V09C0BB01 \xf1\x890001', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927749AP\xf1\x892943', + b'\xf1\x8709S927158A \xf1\x893585', + b'\xf1\x870CW300040H \xf1\x890606', + b'\xf1\x870CW300041D \xf1\x891004', + b'\xf1\x870CW300041H \xf1\x891010', + b'\xf1\x870CW300042F \xf1\x891604', + b'\xf1\x870CW300043B \xf1\x891601', + b'\xf1\x870CW300043E \xf1\x891603', + b'\xf1\x870CW300044S \xf1\x894530', + b'\xf1\x870CW300044T \xf1\x895245', + b'\xf1\x870CW300045 \xf1\x894531', + b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', + b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', + b'\xf1\x870CW300050G \xf1\x891905', + b'\xf1\x870D9300012 \xf1\x894904', + b'\xf1\x870D9300012 \xf1\x894913', + b'\xf1\x870D9300012 \xf1\x894937', + b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300012 \xf1\x895046', + b'\xf1\x870D9300014M \xf1\x895004', + b'\xf1\x870D9300014Q \xf1\x895006', + b'\xf1\x870D9300020J \xf1\x894902', + b'\xf1\x870D9300020Q \xf1\x895201', + b'\xf1\x870D9300020S \xf1\x895201', + b'\xf1\x870D9300040A \xf1\x893613', + b'\xf1\x870D9300040S \xf1\x894311', + b'\xf1\x870D9300041H \xf1\x895220', + b'\xf1\x870D9300041P \xf1\x894507', + b'\xf1\x870DD300045K \xf1\x891120', + b'\xf1\x870DD300046F \xf1\x891601', + b'\xf1\x870GC300012A \xf1\x891401', + b'\xf1\x870GC300012A \xf1\x891403', + b'\xf1\x870GC300014B \xf1\x892401', + b'\xf1\x870GC300014B \xf1\x892403', + b'\xf1\x870GC300014B \xf1\x892405', + b'\xf1\x870GC300020G \xf1\x892401', + b'\xf1\x870GC300020G \xf1\x892403', + b'\xf1\x870GC300020G \xf1\x892404', + b'\xf1\x870GC300020N \xf1\x892804', + b'\xf1\x870GC300043T \xf1\x899999', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', + b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', + b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', + b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111', + b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', + b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', + b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', + b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400', + b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', + b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1', + b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', + b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', + b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', + b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', + b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', + b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572G \xf1\x890571', + b'\xf1\x875Q0907572H \xf1\x890620', + b'\xf1\x875Q0907572J \xf1\x890653', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, + CAR.JETTA_MK7: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906024AK\xf1\x899937', + b'\xf1\x8704E906024AS\xf1\x899912', + b'\xf1\x8704E906024B \xf1\x895594', + b'\xf1\x8704E906024BC\xf1\x899971', + b'\xf1\x8704E906024BG\xf1\x891057', + b'\xf1\x8704E906024C \xf1\x899970', + b'\xf1\x8704E906024L \xf1\x895595', + b'\xf1\x8704E906024L \xf1\x899970', + b'\xf1\x8704E906027MS\xf1\x896223', + b'\xf1\x875G0906259T \xf1\x890003', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158BQ\xf1\x893545', + b'\xf1\x8709S927158BS\xf1\x893642', + b'\xf1\x8709S927158BS\xf1\x893694', + b'\xf1\x8709S927158CK\xf1\x893770', + b'\xf1\x8709S927158R \xf1\x893552', + b'\xf1\x8709S927158R \xf1\x893587', + b'\xf1\x870GC300020N \xf1\x892803', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1314171231313500314611011630169333463100', + b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100', + b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314642011650169333463100', + b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314643011650169333463100', + b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1311170031313300314240011150119333433100', + b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', + b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A10A01A1', + b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907572N \xf1\x890681', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.PASSAT_MK8: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703N906026E \xf1\x892114', + b'\xf1\x8704E906023AH\xf1\x893379', + b'\xf1\x8704E906023BM\xf1\x894522', + b'\xf1\x8704L906026DP\xf1\x891538', + b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x892012', + b'\xf1\x8704L906026GA\xf1\x892013', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x873G0906259 \xf1\x890004', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906264 \xf1\x890004', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300042H \xf1\x891607', + b'\xf1\x870CW300043H \xf1\x891601', + b'\xf1\x870CW300048R \xf1\x890610', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014L \xf1\x895002', + b'\xf1\x870D9300018C \xf1\x895297', + b'\xf1\x870D9300041A \xf1\x894801', + b'\xf1\x870D9300042H \xf1\x894901', + b'\xf1\x870DD300045T \xf1\x891601', + b'\xf1\x870DD300046H \xf1\x891601', + b'\xf1\x870DL300011H \xf1\x895201', + b'\xf1\x870GC300042H \xf1\x891404', + b'\xf1\x870GC300043 \xf1\x892301', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', + b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', + b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', + b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012416612124111', + b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', + b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001344701311442900', + b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011111200631145171716121691132111', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', + b'\xf1\x875Q0909143M 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b'\xf1\x8706K906071BJ\xf1\x894891', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158AB\xf1\x893318', + b'\xf1\x8709G927158BD\xf1\x893121', + b'\xf1\x8709G927158DK\xf1\x893594', + b'\xf1\x8709G927158FQ\xf1\x893745', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x87561959655 \xf1\x890210\xf1\x82\x1212121111113000102011--121012--101312', + b'\xf1\x87561959655C \xf1\x890508\xf1\x82\x1215141111121100314919--153015--304831', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x87561907567A \xf1\x890132', + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152', + ], + }, + CAR.POLO_MK6: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042D \xf1\x891612', + b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', + 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b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', + b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', + b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', + b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', + b'\xf1\x875Q0907572P \xf1\x890682', + b'\xf1\x875Q0907572R \xf1\x890771', + ], + }, + CAR.SKODA_SCALA_MK1: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704C906025AK\xf1\x897053', + b'\xf1\x8705C906032M \xf1\x892365', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020 \xf1\x891907', + b'\xf1\x870CW300050 \xf1\x891709', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', + b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x12111104111104112104040404111111112H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144AB\xf1\x896050', + b'\xf1\x872Q1909144M \xf1\x896041', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572R \xf1\x890372', + ], + }, + CAR.SKODA_SUPERB_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027BS\xf1\x892887', + b'\xf1\x8704E906027BT\xf1\x899042', + b'\xf1\x8704L906026ET\xf1\x891343', + b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x891196', + b'\xf1\x8704L906026KA\xf1\x896014', + b'\xf1\x8704L906026KB\xf1\x894071', + b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8704L906026MT\xf1\x893076', + b'\xf1\x8705L906022BK\xf1\x899971', + b'\xf1\x873G0906259 \xf1\x890004', + b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', + b'\xf1\x873G0906264A \xf1\x890002', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300043B \xf1\x891603', + b'\xf1\x870CW300049Q \xf1\x890906', + b'\xf1\x870D9300011T \xf1\x894801', + b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', + b'\xf1\x870D9300014K \xf1\x895006', + b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870D9300042M \xf1\x895013', + b'\xf1\x870D9300043F \xf1\x895202', + b'\xf1\x870GC300013K \xf1\x892403', + b'\xf1\x870GC300014M \xf1\x892801', + b'\xf1\x870GC300019G \xf1\x892803', + b'\xf1\x870GC300043 \xf1\x892301', + b'\xf1\x870GC300046D \xf1\x892402', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121118112231292221111', + b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', + b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', + b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060700', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x873Q0907572B \xf1\x890192', + b'\xf1\x873Q0907572B \xf1\x890194', + b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', + ], + }, +} diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index dc038df273..488e93ed51 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -3,7 +3,7 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -67,6 +67,9 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera + if 0x126 in fingerprint[2]: # HCA_01 + ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value + # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 @@ -91,11 +94,9 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.openpilotLongitudinalControl ret.customStockLongAvailable = True ret.stoppingControl = True - ret.startingState = True - ret.startAccel = 1.0 ret.stopAccel = -0.55 - ret.vEgoStarting = 1.0 - ret.vEgoStopping = 1.0 + ret.vEgoStarting = 0.1 + ret.vEgoStopping = 0.5 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 849d99592f..787c7de530 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): return packer.make_can_msg("HCA_01", bus, values) +def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): + values = {s: eps_stock_values[s] for s in [ + "COUNTER", # Sync counter value to EPS output + "EPS_Lenkungstyp", # EPS rack type + "EPS_Berechneter_LW", # Absolute raw steering angle + "EPS_VZ_BLW", # Raw steering angle sign + "EPS_HCA_Status", # EPS HCA control status + ]} + + values.update({ + # Absolute driver torque input and sign, with EA inactivity mitigation + "EPS_Lenkmoment": abs(ea_simulated_torque), + "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, + }) + + return packer.make_can_msg("LH_EPS_03", bus, values) + + def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): values = {} if len(ldw_stock_values): @@ -94,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont acc_hold_type = 0 acc_07_values = { - "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 3c9aeb55d7..f4809e4523 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,6 +1,6 @@ from collections import defaultdict, namedtuple from dataclasses import dataclass, field -from enum import Enum, StrEnum +from enum import Enum, IntFlag, StrEnum from typing import Dict, List, Union from cereal import car @@ -109,6 +109,10 @@ class CANBUS: cam = 2 +class VolkswagenFlags(IntFlag): + STOCK_HCA_PRESENT = 1 + + # Check the 7th and 8th characters of the VIN before adding a new CAR. If the # chassis code is already listed below, don't add a new CAR, just add to the # FW_VERSIONS for that existing CAR. @@ -239,7 +243,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), CAR.TIGUAN_MK2: [ - VWCarInfo("Volkswagen Tiguan 2018-23"), + VWCarInfo("Volkswagen Tiguan 2018-24"), VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), ], CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), @@ -247,7 +251,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021-23"), ], - CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]), + CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), CAR.AUDI_A3_MK3: [ VWCarInfo("Audi A3 2014-19"), VWCarInfo("Audi A3 Sportback e-tron 2017-18"), @@ -259,7 +263,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), - CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), + CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), @@ -303,1117 +307,3 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ], ) - -FW_VERSIONS = { - CAR.ARTEON_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x873G0906259AH\xf1\x890001', - b'\xf1\x873G0906259F \xf1\x890004', - b'\xf1\x873G0906259G \xf1\x890004', - b'\xf1\x873G0906259G \xf1\x890005', - b'\xf1\x873G0906259M \xf1\x890003', - b'\xf1\x873G0906259N \xf1\x890004', - b'\xf1\x873G0906259P \xf1\x890001', - b'\xf1\x875NA907115H \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158L \xf1\x893611', - b'\xf1\x870DL300014C \xf1\x893704', - b'\xf1\x870GC300011L \xf1\x891401', - b'\xf1\x870GC300014M \xf1\x892802', - b'\xf1\x870GC300019G \xf1\x892804', - b'\xf1\x870GC300040P \xf1\x891401', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', - b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', - b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900', - b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00', - b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', - b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', - b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', - b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.ATLAS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703H906026AA\xf1\x899970', - b'\xf1\x8703H906026AG\xf1\x899973', - b'\xf1\x8703H906026AJ\xf1\x890638', - b'\xf1\x8703H906026AJ\xf1\x891017', - b'\xf1\x8703H906026AT\xf1\x891922', - b'\xf1\x8703H906026BC\xf1\x892664', - b'\xf1\x8703H906026F \xf1\x896696', - b'\xf1\x8703H906026F \xf1\x899970', - b'\xf1\x8703H906026J \xf1\x896026', - b'\xf1\x8703H906026J \xf1\x899971', - b'\xf1\x8703H906026S \xf1\x896693', - b'\xf1\x8703H906026S \xf1\x899970', - b'\xf1\x873CN906259 \xf1\x890005', - b'\xf1\x873CN906259F \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158A \xf1\x893387', - b'\xf1\x8709G927158DR\xf1\x893536', - b'\xf1\x8709G927158DR\xf1\x893742', - b'\xf1\x8709G927158EN\xf1\x893691', - b'\xf1\x8709G927158F \xf1\x893489', - b'\xf1\x8709G927158FT\xf1\x893835', - b'\xf1\x8709G927158GL\xf1\x893939', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200', - b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900', - b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900', - b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900', - b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', - b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1', - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', - b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x875Q0907572H \xf1\x890620', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572P \xf1\x890682', - ], - }, - CAR.CRAFTER_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906056BP\xf1\x894729', - b'\xf1\x8704L906056EK\xf1\x896391', - b'\xf1\x8705L906023BC\xf1\x892688', - ], - # Only current upstreamed vehicle has a manual transmission - #(Ecu.transmission, 0x7e1, None): [ - #], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', - b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900', - b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', - b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', - b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572J \xf1\x890156', - b'\xf1\x872Q0907572M \xf1\x890233', - ], - }, - CAR.GOLF_MK7: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906016A \xf1\x897697', - b'\xf1\x8704E906016N \xf1\x899105', - b'\xf1\x8704E906016AD\xf1\x895758', - b'\xf1\x8704E906016CE\xf1\x899096', - b'\xf1\x8704E906016CH\xf1\x899226', - b'\xf1\x8704E906023AG\xf1\x891726', - b'\xf1\x8704E906023BN\xf1\x894518', - b'\xf1\x8704E906024K \xf1\x896811', - b'\xf1\x8704E906027GR\xf1\x892394', - b'\xf1\x8704E906027HD\xf1\x892603', - b'\xf1\x8704E906027HD\xf1\x893742', - b'\xf1\x8704E906027MA\xf1\x894958', - b'\xf1\x8704L906021DT\xf1\x895520', - b'\xf1\x8704L906021DT\xf1\x898127', - b'\xf1\x8704L906021N \xf1\x895518', - b'\xf1\x8704L906021N \xf1\x898138', - b'\xf1\x8704L906026BN\xf1\x891197', - b'\xf1\x8704L906026BP\xf1\x897608', - b'\xf1\x8704L906026NF\xf1\x899528', - b'\xf1\x8704L906056CL\xf1\x893823', - b'\xf1\x8704L906056CR\xf1\x895813', - b'\xf1\x8704L906056HE\xf1\x893758', - b'\xf1\x8704L906056HN\xf1\x896590', - b'\xf1\x8704L906056HT\xf1\x896591', - b'\xf1\x870EA906016A \xf1\x898343', - b'\xf1\x870EA906016E \xf1\x894219', - b'\xf1\x870EA906016F \xf1\x894238', - b'\xf1\x870EA906016F \xf1\x895002', - b'\xf1\x870EA906016Q \xf1\x895993', - b'\xf1\x870EA906016S \xf1\x897207', - b'\xf1\x875G0906259 \xf1\x890007', - b'\xf1\x875G0906259D \xf1\x890002', - b'\xf1\x875G0906259J \xf1\x890002', - b'\xf1\x875G0906259L \xf1\x890002', - b'\xf1\x875G0906259N \xf1\x890003', - b'\xf1\x875G0906259Q \xf1\x890002', - b'\xf1\x875G0906259Q \xf1\x892313', - b'\xf1\x875G0906259T \xf1\x890003', - b'\xf1\x878V0906259H \xf1\x890002', - b'\xf1\x878V0906259J \xf1\x890003', - b'\xf1\x878V0906259K \xf1\x890001', - b'\xf1\x878V0906259K \xf1\x890003', - b'\xf1\x878V0906259P \xf1\x890001', - b'\xf1\x878V0906259Q \xf1\x890002', - b'\xf1\x878V0906259R \xf1\x890002', - b'\xf1\x878V0906264F \xf1\x890003', - b'\xf1\x878V0906264L \xf1\x890002', - b'\xf1\x878V0906264M \xf1\x890001', - b'\xf1\x878V09C0BB01 \xf1\x890001', - b'\xf1\x8704E906024K \xf1\x899970', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927749AP\xf1\x892943', - b'\xf1\x8709S927158A \xf1\x893585', - b'\xf1\x870CW300040H \xf1\x890606', - b'\xf1\x870CW300041D \xf1\x891004', - b'\xf1\x870CW300041H \xf1\x891010', - b'\xf1\x870CW300042F \xf1\x891604', - b'\xf1\x870CW300043B \xf1\x891601', - b'\xf1\x870CW300043E \xf1\x891603', - b'\xf1\x870CW300044S \xf1\x894530', - b'\xf1\x870CW300044T \xf1\x895245', - b'\xf1\x870CW300045 \xf1\x894531', - b'\xf1\x870CW300047D \xf1\x895261', - b'\xf1\x870CW300047E \xf1\x895261', - b'\xf1\x870CW300048J \xf1\x890611', - b'\xf1\x870CW300049H \xf1\x890905', - b'\xf1\x870D9300012 \xf1\x894904', - b'\xf1\x870D9300012 \xf1\x894913', - b'\xf1\x870D9300012 \xf1\x894937', - b'\xf1\x870D9300012 \xf1\x895045', - b'\xf1\x870D9300012 \xf1\x895046', - b'\xf1\x870D9300014M \xf1\x895004', - b'\xf1\x870D9300014Q \xf1\x895006', - b'\xf1\x870D9300020J \xf1\x894902', - b'\xf1\x870D9300020Q \xf1\x895201', - b'\xf1\x870D9300020S \xf1\x895201', - b'\xf1\x870D9300040A \xf1\x893613', - b'\xf1\x870D9300040S \xf1\x894311', - b'\xf1\x870D9300041H \xf1\x895220', - b'\xf1\x870D9300041P \xf1\x894507', - b'\xf1\x870DD300045K \xf1\x891120', - b'\xf1\x870DD300046F \xf1\x891601', - b'\xf1\x870GC300012A \xf1\x891401', - b'\xf1\x870GC300012A \xf1\x891403', - b'\xf1\x870GC300014B \xf1\x892401', - b'\xf1\x870GC300014B \xf1\x892403', - b'\xf1\x870GC300014B \xf1\x892405', - b'\xf1\x870GC300020G \xf1\x892401', - b'\xf1\x870GC300020G \xf1\x892403', - b'\xf1\x870GC300020G \xf1\x892404', - b'\xf1\x870GC300020N \xf1\x892804', - b'\xf1\x870GC300043T \xf1\x899999', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', - b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', - b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', - b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', - b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', - b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111', - b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', - b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', - b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', - b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', - b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', - b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', - b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', - b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', - b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', - b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', - b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', - b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', - b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', - b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', - b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', - b'\xf1\x875Q0907572G \xf1\x890571', - b'\xf1\x875Q0907572H \xf1\x890620', - b'\xf1\x875Q0907572J \xf1\x890653', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - b'\xf1\x875Q0907572S \xf1\x890780', - ], - }, - CAR.JETTA_MK7: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906024AK\xf1\x899937', - b'\xf1\x8704E906024AS\xf1\x899912', - b'\xf1\x8704E906024BC\xf1\x899971', - b'\xf1\x8704E906024BG\xf1\x891057', - b'\xf1\x8704E906024B \xf1\x895594', - b'\xf1\x8704E906024C \xf1\x899970', - b'\xf1\x8704E906024L \xf1\x895595', - b'\xf1\x8704E906024L \xf1\x899970', - b'\xf1\x8704E906027MS\xf1\x896223', - b'\xf1\x875G0906259T \xf1\x890003', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158BQ\xf1\x893545', - b'\xf1\x8709S927158BS\xf1\x893642', - b'\xf1\x8709S927158BS\xf1\x893694', - b'\xf1\x8709S927158CK\xf1\x893770', - b'\xf1\x8709S927158R \xf1\x893552', - b'\xf1\x8709S927158R \xf1\x893587', - b'\xf1\x870GC300020N \xf1\x892803', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100', - b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100', - b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100', - b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100', - b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100', - b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02319170031313300314240011550159333463100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A00642A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A10A01A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A10A11A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907572N \xf1\x890681', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.PASSAT_MK8: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703N906026E \xf1\x892114', - b'\xf1\x8704E906023AH\xf1\x893379', - b'\xf1\x8704L906026DP\xf1\x891538', - b'\xf1\x8704L906026ET\xf1\x891990', - b'\xf1\x8704L906026FP\xf1\x892012', - b'\xf1\x8704L906026GA\xf1\x892013', - b'\xf1\x8704L906026KD\xf1\x894798', - b'\xf1\x873G0906259B \xf1\x890002', - b'\xf1\x873G0906264 \xf1\x890004', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300043H \xf1\x891601', - b'\xf1\x870CW300048R \xf1\x890610', - b'\xf1\x870D9300013A \xf1\x894905', - b'\xf1\x870D9300014L \xf1\x895002', - b'\xf1\x870D9300041A \xf1\x894801', - b'\xf1\x870DD300045T \xf1\x891601', - b'\xf1\x870DL300011H \xf1\x895201', - b'\xf1\x870CW300042H \xf1\x891601', - b'\xf1\x870CW300042H \xf1\x891607', - b'\xf1\x870GC300042H \xf1\x891404', - b'\xf1\x870D9300018C \xf1\x895297', - b'\xf1\x870GC300043 \xf1\x892301', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', - b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211', - b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311', - b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', - b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', - b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', - b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', - b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572A \xf1\x890126', - b'\xf1\x873Q0907572A \xf1\x890130', - b'\xf1\x873Q0907572B \xf1\x890192', - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x873Q0907572C \xf1\x890196', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.PASSAT_NMS: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8706K906016C \xf1\x899609', - b'\xf1\x8706K906016E \xf1\x899830', - b'\xf1\x8706K906016G \xf1\x891124', - b'\xf1\x8706K906071BJ\xf1\x894891', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158AB\xf1\x893318', - b'\xf1\x8709G927158BD\xf1\x893121', - b'\xf1\x8709G927158DK\xf1\x893594', - b'\xf1\x8709G927158FQ\xf1\x893745', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x87561959655 \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312', - b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x87561907567A \xf1\x890132', - b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152', - ], - }, - CAR.POLO_MK6: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025H \xf1\x895177', - b'\xf1\x8705C906032J \xf1\x891702', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300042D \xf1\x891612', - b'\xf1\x870CW300050D \xf1\x891908', - b'\xf1\x870CW300051G \xf1\x891909', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', - b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q2909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572R \xf1\x890372', - ], - }, - CAR.SHARAN_MK2: { - # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906016HE\xf1\x894635', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153', - ], - }, - CAR.TAOS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027NJ\xf1\x891445', - b'\xf1\x8704E906027NP\xf1\x891286', - b'\xf1\x8705E906013BD\xf1\x892496', - b'\xf1\x8705E906013E \xf1\x891624', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158EM\xf1\x893812', - b'\xf1\x8709S927158BL\xf1\x893791', - b'\xf1\x8709S927158DN\xf1\x893946', - b'\xf1\x8709S927158FF\xf1\x893876', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100', - b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TCROSS_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025AK\xf1\x897053', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300050E \xf1\x891903', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\02212130411110411--04041104141311152H14', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TIGUAN_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8703N906026D \xf1\x893680', - b'\xf1\x8704E906027NB\xf1\x899504', - b'\xf1\x8704L906026EJ\xf1\x893661', - b'\xf1\x8704L906027G \xf1\x899893', - b'\xf1\x875N0906259 \xf1\x890002', - b'\xf1\x875NA906259H \xf1\x890002', - b'\xf1\x875NA907115E \xf1\x890003', - b'\xf1\x875NA907115E \xf1\x890005', - b'\xf1\x875NA907115J \xf1\x890002', - b'\xf1\x8783A907115B \xf1\x890005', - b'\xf1\x8783A907115F \xf1\x890002', - b'\xf1\x8783A907115G \xf1\x890001', - b'\xf1\x8783A907115K \xf1\x890001', - b'\xf1\x8783A907115K \xf1\x890002', - b'\xf1\x8704E906024AP\xf1\x891461', - b'\xf1\x8783A907115 \xf1\x890007', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x8709G927158DT\xf1\x893698', - b'\xf1\x8709G927158FM\xf1\x893757', - b'\xf1\x8709G927158GC\xf1\x893821', - b'\xf1\x8709G927158GD\xf1\x893820', - b'\xf1\x8709G927158GM\xf1\x893936', - b'\xf1\x8709G927158GN\xf1\x893938', - b'\xf1\x870D9300043 \xf1\x895202', - b'\xf1\x870DL300011N \xf1\x892001', - b'\xf1\x870DL300011N \xf1\x892012', - b'\xf1\x870DL300012M \xf1\x892107', - b'\xf1\x870DL300012P \xf1\x892103', - b'\xf1\x870DL300013A \xf1\x893005', - b'\xf1\x870DL300013G \xf1\x892119', - b'\xf1\x870DL300013G \xf1\x892120', - b'\xf1\x870DL300014C \xf1\x893703', - b'\xf1\x870DD300046K \xf1\x892302', - b'\xf1\x870GC300013P \xf1\x892401', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', - b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', - b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100', - b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', - b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', - b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', - b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', - b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', - b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', - b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1', - b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1', - b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', - b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM', - b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572J \xf1\x890156', - b'\xf1\x872Q0907572M \xf1\x890233', - b'\xf1\x872Q0907572Q \xf1\x890342', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - ], - }, - CAR.TOURAN_MK2: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906026HM\xf1\x893017', - b'\xf1\x8705E906018CQ\xf1\x890808', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300041E \xf1\x891005', - b'\xf1\x870CW300051M \xf1\x891926', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.TRANSPORTER_T61: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704L906056AG\xf1\x899970', - b'\xf1\x8704L906056AL\xf1\x899970', - b'\xf1\x8704L906057AP\xf1\x891186', - b'\xf1\x8704L906057N \xf1\x890413', - b'\xf1\x8705L906023E \xf1\x891352', - b'\xf1\x8705L906023MR\xf1\x892582', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870BT300012G \xf1\x893102', - b'\xf1\x870BT300012E \xf1\x893105', - b'\xf1\x870BT300046R \xf1\x893102', - b'\xf1\x870DV300012B \xf1\x893701', - b'\xf1\x870DV300012B \xf1\x893702', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', - 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b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', - b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', - b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', - b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', - b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572Q \xf1\x890342', - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572T \xf1\x890383', - b'\xf1\x872Q0907572AA\xf1\x890396', - b'\xf1\x872Q0907572AB\xf1\x890397', - ], - }, - CAR.SKODA_OCTAVIA_MK3: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025L \xf1\x896198', - b'\xf1\x8704E906016ER\xf1\x895823', - b'\xf1\x8704E906027HD\xf1\x893742', - b'\xf1\x8704E906027MH\xf1\x894786', - b'\xf1\x8704L906021DT\xf1\x898127', - b'\xf1\x8704L906026BP\xf1\x897608', - b'\xf1\x8704L906026BS\xf1\x891541', - b'\xf1\x875G0906259C \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300041L \xf1\x891601', - b'\xf1\x870CW300041N \xf1\x891605', - b'\xf1\x870CW300043B \xf1\x891601', - b'\xf1\x870CW300043P \xf1\x891605', - b'\xf1\x870D9300041C \xf1\x894936', - b'\xf1\x870D9300041H \xf1\x895220', - b'\xf1\x870D9300041J \xf1\x894902', - b'\xf1\x870D9300041P \xf1\x894507', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', - b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', - b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', - b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', - b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100', - b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', - b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100', - b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', - b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', - b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', - b'\xf1\x875Q0907572J \xf1\x890654', - b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', - b'\xf1\x875Q0907572P \xf1\x890682', - b'\xf1\x875Q0907572R \xf1\x890771', - ], - }, - CAR.SKODA_SCALA_MK1: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704C906025AK\xf1\x897053', - b'\xf1\x8705C906032M \xf1\x892365', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300020 \xf1\x891907', - b'\xf1\x870CW300050 \xf1\x891709', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14', - b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14', - b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x872Q1909144M \xf1\x896041', - b'\xf1\x872Q1909144AB\xf1\x896050', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x872Q0907572R \xf1\x890372', - b'\xf1\x872Q0907572AA\xf1\x890396', - ], - }, - CAR.SKODA_SUPERB_MK3: { - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x8704E906027BS\xf1\x892887', - b'\xf1\x8704E906027BT\xf1\x899042', - b'\xf1\x8704L906026ET\xf1\x891343', - b'\xf1\x8704L906026ET\xf1\x891990', - b'\xf1\x8704L906026FP\xf1\x891196', - b'\xf1\x8704L906026KA\xf1\x896014', - b'\xf1\x8704L906026KB\xf1\x894071', - b'\xf1\x8704L906026KD\xf1\x894798', - b'\xf1\x8704L906026MT\xf1\x893076', - b'\xf1\x873G0906259 \xf1\x890004', - b'\xf1\x873G0906259B \xf1\x890002', - b'\xf1\x873G0906259L \xf1\x890003', - b'\xf1\x873G0906264A \xf1\x890002', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x870CW300042H \xf1\x891601', - b'\xf1\x870CW300043B \xf1\x891603', - b'\xf1\x870CW300049Q \xf1\x890906', - b'\xf1\x870D9300011T \xf1\x894801', - b'\xf1\x870D9300012 \xf1\x894940', - b'\xf1\x870D9300013A \xf1\x894905', - b'\xf1\x870D9300014K \xf1\x895006', - b'\xf1\x870D9300041H \xf1\x894905', - b'\xf1\x870D9300042M \xf1\x895013', - b'\xf1\x870D9300043F \xf1\x895202', - b'\xf1\x870GC300013K \xf1\x892403', - b'\xf1\x870GC300014M \xf1\x892801', - b'\xf1\x870GC300019G \xf1\x892803', - b'\xf1\x870GC300043 \xf1\x892301', - ], - (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', - b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', - b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', - b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', - b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', - b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', - b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', - b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', - ], - (Ecu.eps, 0x712, None): [ - b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', - b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', - b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', - b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', - ], - (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x873Q0907572B \xf1\x890192', - b'\xf1\x873Q0907572B \xf1\x890194', - b'\xf1\x873Q0907572C \xf1\x890195', - b'\xf1\x875Q0907572R \xf1\x890771', - b'\xf1\x875Q0907572S \xf1\x890780', - ], - }, -} diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1b36c35baf..a09acad832 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -2,23 +2,22 @@ import os import math import time +import threading from typing import SupportsFloat from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.common.profiler import Profiler -from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from openpilot.system.swaglog import cloudlog -from openpilot.system.version import is_release_branch, get_short_branch +from openpilot.common.swaglog import cloudlog +from openpilot.system.version import get_short_branch from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -32,6 +31,7 @@ from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS LANE_DEPARTURE_THRESHOLD = 0.1 +CAMERA_OFFSET = 0.04 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ @@ -41,9 +41,9 @@ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} ThermalStatus = log.DeviceState.ThermalStatus State = log.ControlsState.OpenpilotState PandaType = log.PandaState.PandaType -Desire = log.LateralPlan.Desire -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +Desire = log.Desire +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection EventName = car.CarEvent.EventName ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel @@ -64,25 +64,23 @@ class Controls: # Setup sockets self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', - 'carControl', 'carEvents', 'carParams']) + 'carControl', 'onroadEvents', 'carParams']) self.sensor_packets = ["accelerometer", "gyroscope"] self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] - can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20 - self.can_sock = messaging.sub_sock('can', timeout=can_timeout) - self.log_sock = messaging.sub_sock('androidLog') + self.can_sock = messaging.sub_sock('can', timeout=20) self.params = Params() ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick', 'longitudinalPlanSP', 'lateralPlanSP'] + self.camera_packets + self.sensor_packets, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick']) + ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ]) if CI is None: # wait for one pandaState and one CAN packet @@ -90,12 +88,12 @@ class Controls: get_one_can(self.can_sock) num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch() + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) else: self.CI, self.CP = CI, CI.CP - self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar + self.joystick_mode = self.params.get_bool("JoystickDebugMode") # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") @@ -107,16 +105,15 @@ class Controls: self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() car_recognized = self.CP.carName != 'mock' - controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly - self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly - if self.read_only: + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly + self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly + if self.CP.passive: safety_config = car.CarParams.SafetyConfig.new_message() safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] @@ -129,11 +126,11 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) - put_nonblocking("CarParamsCache", cp_bytes) - put_nonblocking("CarParamsPersistent", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params - if not self.CP.experimentalLongitudinalAvailable or is_release_branch(): + if not self.CP.experimentalLongitudinalAvailable: self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") @@ -174,15 +171,12 @@ class Controls: self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 - self.desired_curvature_rate = 0.0 self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False self.reverse_acc_change = False - # TODO: no longer necessary, aside from process replay - self.sm['liveParameters'].valid = True self.can_log_mono_time = 0 self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0) @@ -195,15 +189,11 @@ class Controls: set_offroad_alert("Offroad_CarUnrecognized", True) else: set_offroad_alert("Offroad_NoFirmware", True) - elif self.read_only: + elif self.CP.passive: self.events.add(EventName.dashcamMode, static=True) - elif self.joystick_mode: - self.events.add(EventName.joystickDebug, static=True) - self.startup_event = None # controlsd is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) - self.prof = Profiler(False) # off by default def set_initial_state(self): if REPLAY: @@ -216,10 +206,15 @@ class Controls: self.state = State.enabled def update_events(self, CS): - """Compute carEvents from carState""" + """Compute onroadEvents from carState""" self.events.clear() + # Add joystick event, static on cars, dynamic on nonCars + if self.joystick_mode: + self.events.add(EventName.joystickDebug) + self.startup_event = None + # Add startup event if self.startup_event is not None: self.events.add(self.startup_event) @@ -231,7 +226,7 @@ class Controls: return # no more events while in dashcam mode - if self.read_only: + if self.CP.passive: return # Block resume if cruise never previously enabled @@ -297,8 +292,8 @@ class Controls: # Handle lane change lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8")) - if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange: - direction = self.sm['lateralPlan'].laneChangeDirection + if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: + direction = self.sm['modelV2'].meta.laneChangeDirection lc_prev = self.sm['lateralPlanSP'].laneChangePrev if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): @@ -310,7 +305,7 @@ class Controls: else: self.events.add(EventName.preLaneChangeRight) if lane_change_set_timer == 0 or lc_prev else \ self.events.add(EventName.laneChange) - elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting, + elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) @@ -381,16 +376,15 @@ class Controls: else: self.logged_comm_issue = None - if not self.sm['lateralPlan'].mpcSolutionValid: - self.events.add(EventName.plannerError) - if not self.sm['liveLocationKalman'].posenetOK: - self.events.add(EventName.posenetInvalid) - if not self.sm['liveLocationKalman'].deviceStable: - self.events.add(EventName.deviceFalling) - if not self.sm['liveLocationKalman'].inputsOK: - self.events.add(EventName.locationdTemporaryError) - if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): - self.events.add(EventName.paramsdTemporaryError) + if not (self.CP.notCar and self.joystick_mode): + if not self.sm['liveLocationKalman'].posenetOK: + self.events.add(EventName.posenetInvalid) + if not self.sm['liveLocationKalman'].deviceStable: + self.events.add(EventName.deviceFalling) + if not self.sm['liveLocationKalman'].inputsOK: + self.events.add(EventName.locationdTemporaryError) + if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): + self.events.add(EventName.paramsdTemporaryError) # conservative HW alert. if the data or frequency are off, locationd will throw an error if any((self.sm.frame - self.sm.rcv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets): @@ -451,12 +445,12 @@ class Controls: if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: self.sm.ignore_alive.append('wideRoadCameraState') - if not self.read_only: + if not self.CP.passive: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) self.initialized = True self.set_initial_state() - put_bool_nonblocking("ControlsReady", True) + self.params.put_bool_nonblocking("ControlsReady", True) # Check for CAN timeout if not can_strs: @@ -583,8 +577,8 @@ class Controls: self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) - lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] + model_v2 = self.sm['modelV2'] CC = car.CarControl.new_message() CC.enabled = self.enabled @@ -599,9 +593,9 @@ class Controls: actuators.longControlState = self.LoC.long_control_state # Enable blinkers while lane changing - if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off: - CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left - CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right + if model_v2.meta.laneChangeState != LaneChangeState.off: + CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame @@ -620,14 +614,11 @@ class Controls: actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) # Steering PID loop and lateral MPC - self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, - lat_plan.psis, - lat_plan.curvatures, - lat_plan.curvatureRates) - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, - self.last_actuators, self.steer_limited, self.desired_curvature, - self.desired_curvature_rate, self.sm['liveLocationKalman']) + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) actuators.curvature = self.desired_curvature + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, + self.steer_limited, self.desired_curvature, + self.sm['liveLocationKalman']) else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.rcv_frame['testJoystick'] > 0: @@ -644,7 +635,7 @@ class Controls: if CC.latActive: steer = clip(joystick_axes[1], -1, 1) # max angle is 45 for angle-based cars, max curvature is 0.02 - actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02 + actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 90., steer * -0.02 lac_log.active = self.active lac_log.steeringAngleDeg = CS.steeringAngleDeg @@ -665,7 +656,8 @@ class Controls: if undershooting and turning and good_speed and max_torque: lac_log.active and self.events.add(EventName.steerSaturated) elif lac_log.saturated: - dpath_points = lat_plan.dPathPoints + # TODO probably should not use dpath_points but curvature + dpath_points = model_v2.position.y if len(dpath_points): # Check if we deviated from the path # TODO use desired vs actual curvature @@ -756,7 +748,7 @@ class Controls: if current_alert: hudControl.visualAlert = current_alert.visual_alert - if not self.read_only and self.initialized: + if not self.CP.passive and self.initialized: # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) @@ -791,12 +783,11 @@ class Controls: controlsState.alertSound = current_alert.audible_alert controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] - controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan'] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2'] controlsState.enabled = self.enabled controlsState.active = self.active controlsState.curvature = curvature controlsState.desiredCurvature = self.desired_curvature - controlsState.desiredCurvatureRate = self.desired_curvature_rate controlsState.state = self.state controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state @@ -832,16 +823,18 @@ class Controls: cs_send.carState.events = car_events self.pm.send('carState', cs_send) - # carEvents - logged every second or on change + # onroadEvents - logged every second or on change if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): - ce_send = messaging.new_message('carEvents', len(self.events)) - ce_send.carEvents = car_events - self.pm.send('carEvents', ce_send) + ce_send = messaging.new_message('onroadEvents', len(self.events)) + ce_send.valid = True + ce_send.onroadEvents = car_events + self.pm.send('onroadEvents', ce_send) self.events_prev = self.events.names.copy() # carParams - logged every 50 seconds (> 1 per segment) if (self.sm.frame % int(50. / DT_CTRL) == 0): cp_send = messaging.new_message('carParams') + cp_send.valid = True cp_send.carParams = self.CP self.pm.send('carParams', cp_send) @@ -856,42 +849,47 @@ class Controls: def step(self): start_time = time.monotonic() - self.prof.checkpoint("Ratekeeper", ignore=True) - - self.is_metric = self.params.get_bool("IsMetric") - self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl self.reverse_acc_change = self.params.get_bool("ReverseAccChange") # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") - self.prof.checkpoint("Sample") self.update_events(CS) cloudlog.timestamp("Events updated") - if not self.read_only and self.initialized: + if not self.CP.passive and self.initialized: # Update control state self.state_transition(CS) - self.prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) CC, lac_log = self.state_control(CS) - self.prof.checkpoint("State Control") - # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.prof.checkpoint("Sent") self.CS_prev = CS + def params_thread(self, evt): + while not evt.is_set(): + self.is_metric = self.params.get_bool("IsMetric") + self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl + if self.CP.notCar: + self.joystick_mode = self.params.get_bool("JoystickDebugMode") + time.sleep(0.1) + def controlsd_thread(self): - while True: - self.step() - self.rk.monitor_time() - self.prof.display() + e = threading.Event() + t = threading.Thread(target=self.params_thread, args=(e, )) + try: + t.start() + while True: + self.step() + self.rk.monitor_time() + except SystemExit: + e.set() + t.join() def main(): diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index af7564e66f..3e87ab58a1 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -3,30 +3,30 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL -LaneChangeState = log.LateralPlan.LaneChangeState -LaneChangeDirection = log.LateralPlan.LaneChangeDirection +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { LaneChangeDirection.none: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.none, + LaneChangeState.laneChangeFinishing: log.Desire.none, }, LaneChangeDirection.left: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft, }, LaneChangeDirection.right: { - LaneChangeState.off: log.LateralPlan.Desire.none, - LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, - LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight, - LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight, + LaneChangeState.off: log.Desire.none, + LaneChangeState.preLaneChange: log.Desire.none, + LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight, + LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight, }, } @@ -39,7 +39,7 @@ class DesireHelper: self.lane_change_ll_prob = 1.0 self.keep_pulse_timer = 0.0 self.prev_one_blinker = False - self.desire = log.LateralPlan.Desire.none + self.desire = log.Desire.none self.param_s = Params() self.lane_change_wait_timer = 0 @@ -126,5 +126,5 @@ class DesireHelper: self.keep_pulse_timer += DT_MDL if self.keep_pulse_timer > 1.0: self.keep_pulse_timer = 0.0 - elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): - self.desire = log.LateralPlan.Desire.none + elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight): + self.desire = log.Desire.none diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 393f53e4b7..88b70cf41e 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -3,8 +3,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_MDL -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.common.realtime import DT_CTRL # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable @@ -22,7 +21,6 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 - MAX_VEL_ERR = 5.0 ButtonEvent = car.CarState.ButtonEvent @@ -174,35 +172,14 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): - if len(psis) != CONTROL_N: - psis = [0.0]*CONTROL_N - curvatures = [0.0]*CONTROL_N - curvature_rates = [0.0]*CONTROL_N +def clip_curvature(v_ego, prev_curvature, new_curvature): v_ego = max(MIN_SPEED, v_ego) - - # TODO this needs more thought, use .2s extra for now to estimate other delays - delay = CP.steerActuatorDelay + .2 - - # MPC can plan to turn the wheel and turn back before t_delay. This means - # in high delay cases some corrections never even get commanded. So just use - # psi to calculate a simple linearization of desired curvature - current_curvature_desired = curvatures[0] - psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis) - average_curvature_desired = psi / (v_ego * delay) - desired_curvature = 2 * average_curvature_desired - current_curvature_desired - - # This is the "desired rate of the setpoint" not an actual desired rate - desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 - safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) - safe_desired_curvature = clip(desired_curvature, - current_curvature_desired - max_curvature_rate * DT_MDL, - current_curvature_desired + max_curvature_rate * DT_MDL) + safe_desired_curvature = clip(new_curvature, + prev_curvature - max_curvature_rate * DT_CTRL, + prev_curvature + max_curvature_rate * DT_CTRL) - return safe_desired_curvature, safe_desired_curvature_rate + return safe_desired_curvature def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 0727926805..84109e6059 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -954,14 +954,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"), }, - # For planning the trajectory Model Predictive Control (MPC) is used. This is - # an optimization algorithm that is not guaranteed to find a feasible solution. - # If no solution is found or the solution has a very high cost this alert is thrown. - EventName.plannerError: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Planner Solution Error"), - ET.NO_ENTRY: NoEntryAlert("Planner Solution Error"), - }, - # When the relay in the harness box opens the CAN bus between the LKAS camera # and the rest of the car is separated. When messages from the LKAS camera # are received on the car side this usually means the relay hasn't opened correctly diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 30e1918442..fddb331ccb 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index b13d41e51c..329c486eb9 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index c41130af95..9e6160838b 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 2c77630632..65fd1b51c5 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -36,7 +36,7 @@ class LatControlTorque(LatControl): self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() if not active: diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index a23ba1eaf6..39cfda4e8a 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -4,7 +4,7 @@ import time import numpy as np from cereal import log from openpilot.common.numpy_fast import clip -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild from openpilot.selfdrive.modeld.constants import index_function from openpilot.selfdrive.car.interfaces import ACCEL_MIN diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index f988cadb05..ffb4dada25 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -19,7 +19,7 @@ from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnCo from openpilot.selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver from openpilot.selfdrive.controls.lib.turn_speed_controller import TurnSpeedController from openpilot.selfdrive.controls.lib.events import Events -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 @@ -51,13 +51,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: - def __init__(self, CP, init_v=0.0, init_a=0.0): + def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc() self.fcw = False + self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N) @@ -164,8 +165,8 @@ class LongitudinalPlanner: # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired - self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) - self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 9580e604ff..248abf1d7b 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -30,13 +30,11 @@ class TestLatControl(unittest.TestCase): CS.vEgo = 30 CS.steeringPressed = False - last_actuators = car.CarControl.Actuators.new_message() - params = log.LiveParametersData.new_message() llk = gen_llk() for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk) + _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk) self.assertTrue(lac_log.saturated) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 863396ac6b..28f2121264 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,29 +1,19 @@ #!/usr/bin/env python3 -import os -import numpy as np from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import Priority, config_realtime_process -from openpilot.system.swaglog import cloudlog -from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging -def cumtrapz(x, t): - return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))]) - -def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): - plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS) - model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS) - +def publish_ui_plan(sm, pm, longitudinal_planner): ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) uiPlan = ui_send.uiPlan uiPlan.frameId = sm['modelV2'].frameId - uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist() - uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist() - uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() + uiPlan.position.x = list(sm['modelV2'].position.x) + uiPlan.position.y = list(sm['modelV2'].position.y) + uiPlan.position.z = list(sm['modelV2'].position.z) uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() pm.send('uiPlan', ui_send) @@ -36,12 +26,8 @@ def plannerd_thread(): CP = msg cloudlog.info("plannerd got CarParams: %s", CP.carName) - debug_mode = bool(int(os.getenv("DEBUG", "0"))) - longitudinal_planner = LongitudinalPlanner(CP) - lateral_planner = LateralPlanner(CP, debug=debug_mode) - - pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSP']) + pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSP']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'lateralPlanSP', 'liveMapDataSP'], poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState']) @@ -49,11 +35,9 @@ def plannerd_thread(): sm.update() if sm.updated['modelV2']: - lateral_planner.update(sm) - lateral_planner.publish(sm, pm) longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner) + publish_ui_plan(sm, pm, longitudinal_planner) def main(): plannerd_thread() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index ec42ae66f2..4acadee7a7 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -9,9 +9,9 @@ from cereal import messaging, log, car from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog -from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s @@ -270,6 +270,7 @@ class RadarD: # publish tracks for UI debugging (keep last) tracks_msg = messaging.new_message('liveTracks', len(self.tracks)) + tracks_msg.valid = self.radar_state_valid for index, tid in enumerate(sorted(self.tracks.keys())): tracks_msg.liveTracks[index] = { "trackId": tid, diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py old mode 100755 new mode 100644 index 6eb803e8aa..34d14fbb39 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -1,6 +1,4 @@ -#!/usr/bin/env python3 -import time -import unittest +import os from parameterized import parameterized from cereal import log, car @@ -11,7 +9,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.mazda.values import CAR as MAZDA from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.manager.process_config import managed_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu @@ -36,94 +34,87 @@ CX5_FW_VERSIONS = [ (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), ] -class TestStartup(unittest.TestCase): - @parameterized.expand([ - # TODO: test EventName.startup for release branches +@parameterized.expand([ + # TODO: test EventName.startup for release branches - # officially supported car - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + # officially supported car + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), - # dashcamOnly car - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + # dashcamOnly car + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), - # unrecognized car with no fw - (EventName.startupNoFw, None, None, ""), - (EventName.startupNoFw, None, None, ""), + # unrecognized car with no fw + (EventName.startupNoFw, None, None, ""), + (EventName.startupNoFw, None, None, ""), - # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + # unrecognized car + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - # fuzzy match - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - ]) - @with_processes(['controlsd']) - def test_startup_alert(self, expected_event, car_model, fw_versions, brand): + # fuzzy match + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), +]) +def test_startup_alert(expected_event, car_model, fw_versions, brand): + controls_sock = messaging.sub_sock("controlsState") + pm = messaging.PubMaster(['can', 'pandaStates']) - # TODO: this should be done without any real sockets - controls_sock = messaging.sub_sock("controlsState") - pm = messaging.PubMaster(['can', 'pandaStates']) + params = Params() + params.put_bool("OpenpilotEnabledToggle", True) - params = Params() - params.clear_all() - params.put_bool("Passive", False) - params.put_bool("OpenpilotEnabledToggle", True) + # Build capnn version of FW array + if fw_versions is not None: + car_fw = [] + cp = car.CarParams.new_message() + for ecu, addr, subaddress, version in fw_versions: + f = car.CarParams.CarFw.new_message() + f.ecu = ecu + f.address = addr + f.fwVersion = version + f.brand = brand - # Build capnn version of FW array - if fw_versions is not None: - car_fw = [] - cp = car.CarParams.new_message() - for ecu, addr, subaddress, version in fw_versions: - f = car.CarParams.CarFw.new_message() - f.ecu = ecu - f.address = addr - f.fwVersion = version - f.brand = brand + if subaddress is not None: + f.subAddress = subaddress - if subaddress is not None: - f.subAddress = subaddress + car_fw.append(f) + cp.carVin = "1" * 17 + cp.carFw = car_fw + params.put("CarParamsCache", cp.to_bytes()) + else: + os.environ['SKIP_FW_QUERY'] = '1' - car_fw.append(f) - cp.carVin = "1" * 17 - cp.carFw = car_fw - params.put("CarParamsCache", cp.to_bytes()) + managed_processes['controlsd'].start() - time.sleep(2) # wait for controlsd to be ready + assert pm.wait_for_readers_to_update('can', 5) + pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - time.sleep(0.1) + assert pm.wait_for_readers_to_update('pandaStates', 5) + msg = messaging.new_message('pandaStates', 1) + msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno + pm.send('pandaStates', msg) - msg = messaging.new_message('pandaStates', 1) - msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno - pm.send('pandaStates', msg) + # fingerprint + if (car_model is None) or (fw_versions is not None): + finger = {addr: 1 for addr in range(1, 100)} + else: + finger = _FINGERPRINTS[car_model][0] - # fingerprint - if (car_model is None) or (fw_versions is not None): - finger = {addr: 1 for addr in range(1, 100)} - else: - finger = _FINGERPRINTS[car_model][0] + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] + for _ in range(1000): + # controlsd waits for boardd to echo back that it has changed the multiplexing mode + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) - for _ in range(1000): - # controlsd waits for boardd to echo back that it has changed the multiplexing mode - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) + pm.send('can', can_list_to_can_capnp(msgs)) + assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}" - msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] - pm.send('can', can_list_to_can_capnp(msgs)) - - time.sleep(0.01) - msgs = messaging.drain_sock(controls_sock) - if len(msgs): - event_name = msgs[0].controlsState.alertType.split("/")[0] - self.assertEqual(EVENT_NAME[expected_event], event_name, - f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}") - break - else: - self.fail(f"failed to fingerprint {car_model}") - -if __name__ == "__main__": - unittest.main() + ctrls = messaging.drain_sock(controls_sock) + if len(ctrls): + event_name = ctrls[0].controlsState.alertType.split("/")[0] + assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}" + break + else: + raise Exception(f"failed to fingerprint {car_model}") diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ea1160d60b..810e45cfc6 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -3,10 +3,11 @@ import argparse import binascii import time from collections import defaultdict +from typing import Optional import cereal.messaging as messaging from openpilot.selfdrive.debug.can_table import can_table -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogIterable, LogReader RED = '\033[91m' CLEAR = '\033[0m' @@ -95,13 +96,15 @@ if __name__ == "__main__": args = parser.parse_args() - init_lr, new_lr = None, None + init_lr: Optional[LogIterable] = None + new_lr: Optional[LogIterable] = None + if args.init: if args.init == '': init_lr = [] else: - init_lr = logreader_from_route_or_segment(args.init) + init_lr = LogReader(args.init) if args.comp: - new_lr = logreader_from_route_or_segment(args.comp) + new_lr = LogReader(args.comp) can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a148996d94..0d545b3153 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -4,16 +4,12 @@ import math import datetime from collections import Counter from pprint import pprint -from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import SERVICE_LIST -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, ReadMode if __name__ == "__main__": - r = Route(sys.argv[1]) - cnt_valid: Counter = Counter() cnt_events: Counter = Counter() @@ -24,31 +20,29 @@ if __name__ == "__main__": start_time = math.inf end_time = -math.inf ignition_off = None - for q in tqdm(r.qlog_paths()): - if q is None: - continue - lr = list(LogReader(q)) - for msg in lr: - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) + for msg in LogReader(sys.argv[1], ReadMode.QLOG): + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) - if msg.which() == 'carEvents': - for e in msg.carEvents: - cnt_events[e.name] += 1 - elif msg.which() == 'controlsState': - if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: + if msg.which() == 'onroadEvents': + for e in msg.onroadEvents: + cnt_events[e.name] += 1 + elif msg.which() == 'controlsState': + at = msg.controlsState.alertType + if "/override" not in at or "lanechange" in at.lower(): + if len(alerts) == 0 or alerts[-1][1] != at: t = (msg.logMonoTime - start_time) / 1e9 - alerts.append((t, msg.controlsState.alertType)) - elif msg.which() == 'pandaStates': - if ignition_off is None: - ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) - if not ign: - ignition_off = msg.logMonoTime - elif msg.which() in cams: - cnt_cameras[msg.which()] += 1 + alerts.append((t, at)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime + elif msg.which() in cams: + cnt_cameras[msg.which()] += 1 - if not msg.valid: - cnt_valid[msg.which()] += 1 + if not msg.valid: + cnt_valid[msg.which()] += 1 duration = (end_time - start_time) / 1e9 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 53cfef3fcc..d66d4033fb 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -54,7 +54,7 @@ def cycle_alerts(duration=200, is_metric=False): CS = car.CarState.new_message() CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016") sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', + 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'longitudinalPlanSP', 'lateralPlanSP', 'driverMonitoringStateSP'] + cameras) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 20cef0fcc0..20028f8fd2 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import os import argparse import json import cereal.messaging as messaging from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, @@ -53,31 +51,18 @@ if __name__ == "__main__": parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") args = parser.parse_args() - logs = None - if len(args.route): - if os.path.exists(args.route[0]): - logs = [args.route[0]] - else: - r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] - - if len(args.route) == 2 and logs: - n = int(args.route[1]) - logs = [logs[n]] - min_level = LEVELS[args.level] - if logs: - for log in logs: - if log: - lr = LogReader(log) - for m in lr: - if m.which() == 'logMessage': - print_logmessage(m.logMonoTime, m.logMessage, min_level) - elif m.which() == 'errorLogMessage' and 'qlog' in log: - print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) - elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime, m.androidLog) + if args.route: + for route in args.route: + lr = LogReader(route) + for m in lr: + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime, m.logMessage, min_level) + elif m.which() == 'errorLogMessage': + print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime, m.androidLog) else: sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) while True: diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index c2bff7c638..68308bb627 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.logreader import LogReader, ReadMode def get_fingerprint(lr): @@ -40,6 +39,5 @@ if __name__ == "__main__": print("Usage: ./fingerprint_from_route.py ") sys.exit(1) - route = Route(sys.argv[1]) - lr = MultiLogIterator(route.log_paths()[:5]) + lr = LogReader(sys.argv[1], ReadMode.QLOG) get_fingerprint(lr) diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py new file mode 100755 index 0000000000..1752aa1f06 --- /dev/null +++ b/selfdrive/debug/format_fingerprints.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python3 +import jinja2 +import os + +from cereal import car +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.interfaces import get_interface_attr + +Ecu = car.CarParams.Ecu + +CARS = get_interface_attr('CAR') +FW_VERSIONS = get_interface_attr('FW_VERSIONS') +FINGERPRINTS = get_interface_attr('FINGERPRINTS') +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} + +FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" +{%- if FINGERPRINTS[brand] %} +# ruff: noqa: E501 +{% endif %} +{% if FW_VERSIONS[brand] %} +from cereal import car +{% endif %} +from openpilot.selfdrive.car.{{brand}}.values import CAR +{% if FW_VERSIONS[brand] %} + +Ecu = car.CarParams.Ecu +{% endif %} +{% if comments +%} +{{ comments | join() }} +{% endif %} +{% if FINGERPRINTS[brand] %} + +FINGERPRINTS = { +{% for car, fingerprints in FINGERPRINTS[brand].items() %} + CAR.{{car.name}}: [{ +{% for fingerprint in fingerprints %} +{% if not loop.first %} + {{ "{" }} +{% endif %} + {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %} + + }{% if loop.last %}]{% endif %}, +{% endfor %} +{% endfor %} +} +{% endif %} +{% if FW_VERSIONS[brand] %} + +FW_VERSIONS = { +{% for car, _ in FW_VERSIONS[brand].items() %} + CAR.{{car.name}}: { +{% for key, fw_versions in FW_VERSIONS[brand][car].items() %} + (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ +{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ + {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} + {{fw_version}}, + {% endfor %} + ], +{% endfor %} + }, +{% endfor %} +} +{% endif %} +""", trim_blocks=True) + + +def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None): + extra_fw_versions = extra_fw_versions or {} + + fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py") + with open(fingerprints_file, "r") as f: + comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] + + with open(fingerprints_file, "w") as f: + f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, + FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, + extra_fw_versions=extra_fw_versions)) + + +if __name__ == "__main__": + for brand in FW_VERSIONS.keys(): + format_brand_fw_versions(brand) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 8fb6277d3b..3d35532496 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -8,9 +8,10 @@ from openpilot.selfdrive.car.docs import get_all_car_info from openpilot.selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" -STAR_ICON = '' -VIDEO_ICON = '\ - ' +STAR_ICON = '' +VIDEO_ICON = '' + \ + '' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) ARROW_SYMBOL = "➡️" diff --git a/selfdrive/debug/profiling/clpeak/clpeak3 b/selfdrive/debug/profiling/clpeak/clpeak3 deleted file mode 100755 index 4b3c4c130e..0000000000 Binary files a/selfdrive/debug/profiling/clpeak/clpeak3 and /dev/null differ diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/selfdrive/debug/profiling/snapdragon/.gitignore deleted file mode 100644 index 5d3033efb3..0000000000 --- a/selfdrive/debug/profiling/snapdragon/.gitignore +++ /dev/null @@ -1 +0,0 @@ -SnapdragonProfiler/ diff --git a/selfdrive/debug/profiling/snapdragon/README b/selfdrive/debug/profiling/snapdragon/README deleted file mode 100644 index ee826b413a..0000000000 --- a/selfdrive/debug/profiling/snapdragon/README +++ /dev/null @@ -1,7 +0,0 @@ -snapdragon profiler --------- - -* download from https://developer.qualcomm.com/software/snapdragon-profiler -* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler -* run ./setup-agnos.sh -* run selfdrive/debug/adb.sh on device diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index c7b6250d3f..441de9ef57 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -3,29 +3,28 @@ import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--fingerprint", help="The fingerprint to use") parser.add_argument("route", help="The route name to use") parser.add_argument("process", help="The process to run") args = parser.parse_args() cfg = [c for c in CONFIGS if c.proc_name == args.process][0] - route = Route(args.route) - lr = MultiLogIterator(route.log_paths()) + lr = LogReader(args.route) inputs = list(lr) - outputs = replay_process(cfg, inputs) + outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) # Remove message generated by the process under test and merge in the new messages produces = {o.which() for o in outputs} inputs = [i for i in inputs if i.which() not in produces] outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) - fn = f"{args.route}_{args.process}.bz2" + fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" save_log(fn, outputs) diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py deleted file mode 100755 index 73f98b285c..0000000000 --- a/selfdrive/debug/sensor_data_to_hist.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -''' -printing the gap between interrupts in a histogram to check if the -frequency is what we expect, the bmx is not interrupt driven for as we -get interrupts in a 2kHz rate. -''' - -import argparse -import sys -import numpy as np -from collections import defaultdict - -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import matplotlib.pyplot as plt - -SRC_BMX = "bmx055" -SRC_LSM = "lsm6ds3" - - -def parseEvents(log_reader): - bmx_data = defaultdict(list) - lsm_data = defaultdict(list) - - for m in log_reader: - if m.which() not in ['accelerometer', 'gyroscope']: - continue - - d = getattr(m, m.which()).to_dict() - - if d["source"] == SRC_BMX and "acceleration" in d: - bmx_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_BMX and "gyroUncalibrated" in d: - bmx_data["gyro"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "acceleration" in d: - lsm_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "gyroUncalibrated" in d: - lsm_data["gyro"].append(d["timestamp"] / 1e9) - - return bmx_data, lsm_data - - -def cleanData(data): - if len(data) == 0: - return [], [] - - data.sort() - diffs = np.diff(data) - return data, diffs - - -def logAvgValues(data, sensor): - if len(data) == 0: - print(f"{sensor}: no data to average") - return - - avg = sum(data) / len(data) - hz = 1 / avg - print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("route", type=str, help="route name") - parser.add_argument("segment", type=int, help="segment number") - args = parser.parse_args() - - r = Route(args.route) - logs = r.log_paths() - - if len(logs) == 0: - print("NO data routes") - sys.exit(0) - - if args.segment >= len(logs): - print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}") - sys.exit(0) - - lr = LogReader(logs[args.segment]) - bmx_data, lsm_data = parseEvents(lr) - - # sort bmx accel data, and then cal all the diffs, and to a histogram of those - bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"]) - bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"]) - lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"]) - lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"]) - - # get out the averages - logAvgValues(bmx_accel_diffs, "bmx accel") - logAvgValues(bmx_gyro_diffs, "bmx gyro ") - logAvgValues(lsm_accel_diffs, "lsm accel") - logAvgValues(lsm_gyro_diffs, "lsm gyro ") - - fig, axs = plt.subplots(1, 2, tight_layout=True) - axs[0].hist(bmx_accel_diffs, bins=50) - axs[0].set_title("bmx_accel") - axs[1].hist(bmx_gyro_diffs, bins=50) - axs[1].set_title("bmx_gyro") - - figl, axsl = plt.subplots(1, 2, tight_layout=True) - axsl[0].hist(lsm_accel_diffs, bins=50) - axsl[0].set_title("lsm_accel") - axsl[1].hist(lsm_gyro_diffs, bins=50) - axsl[1].set_title("lsm_gyro") - - print("check plot...") - plt.show() diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 83e173244e..dd6243a44c 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -6,8 +6,8 @@ import argparse import os import traceback from tqdm import tqdm -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader, ReadMode +from openpilot.tools.lib.route import SegmentRange from openpilot.selfdrive.car.car_helpers import interface_names from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car @@ -44,23 +44,14 @@ if __name__ == "__main__": dongles = [] for route in tqdm(routes): - route = route.rstrip() - dongle_id, time = route.split('|') + dongle_id = SegmentRange(route).dongle_id if dongle_id in dongles: continue - if NO_API: - qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2" - else: - route = Route(route) - qlog_path = next((p for p in route.qlog_paths() if p is not None), None) - - if qlog_path is None: - continue + lr = LogReader(route, default_mode=ReadMode.QLOG) try: - lr = LogReader(qlog_path) dongles.append(dongle_id) CP = None @@ -98,13 +89,11 @@ if __name__ == "__main__": if len(fuzzy_matches) == 1: if list(fuzzy_matches)[0] != live_fingerprint: wrong_fuzzy += 1 - print(f"{dongle_id}|{time}") print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) else: good_fuzzy += 1 break - print(f"{dongle_id}|{time}") print("Old style:", live_fingerprint, "Vin", CP.carVin) print("New style (exact):", exact_matches) print("New style (fuzzy):", fuzzy_matches) @@ -112,8 +101,8 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \ - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + + f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index d60d2d372b..dc83c8f7a4 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -5,8 +5,7 @@ import matplotlib.pyplot as plt from sklearn import linear_model from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.logreader import LogReader MIN_SAMPLES = 30 * 100 @@ -58,7 +57,6 @@ def get_eps_factor(lr, plot=False): if __name__ == "__main__": - r = Route(sys.argv[1]) - lr = MultiLogIterator(r.log_paths()) + lr = LogReader(sys.argv[1]) n = get_eps_factor(lr, plot="--plot" in sys.argv) print("EPS torque factor: ", n) diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index a6febe0170..07555a6087 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,10 +1,37 @@ -Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') +Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl'] + +# build ekf models +rednose_gen_dir = 'models/generated' +rednose_gen_deps = [ + "models/constants.py", +] +live_ekf = env.RednoseCompileFilter( + target='live', + filter_gen_script='models/live_kf.py', + output_dir=rednose_gen_dir, + extra_gen_artifacts=['live_kf_constants.h'], + gen_script_deps=rednose_gen_deps, +) +car_ekf = env.RednoseCompileFilter( + target='car', + filter_gen_script='models/car_kf.py', + output_dir=rednose_gen_dir, + extra_gen_artifacts=[], + gen_script_deps=rednose_gen_deps, +) + +# locationd build +locationd_sources = ["locationd.cc", "models/live_kf.cc"] -ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") -locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] lenv = env.Clone() -lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}' -locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations) -lenv.Depends(locationd, libkf) \ No newline at end of file +# ekf filter libraries need to be linked, even if no symbols are used +if arch != "Darwin": + lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"] + +lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath) +lenv["RPATH"].append(Dir(rednose_gen_dir).abspath) +locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations) +lenv.Depends(locationd, rednose) +lenv.Depends(locationd, live_ekf) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 566373d7b8..06be9f031a 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -15,10 +15,10 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) @@ -64,8 +64,8 @@ class Calibrator: self.not_car = False # Read saved calibration - params = Params() - calibration_params = params.get("CalibrationParams") + self.params = Params() + calibration_params = self.params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT height = HEIGHT_INIT @@ -164,7 +164,7 @@ class Calibrator: write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: - put_nonblocking("CalibrationParams", self.get_msg().to_bytes()) + self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes()) def handle_v_ego(self, v_ego: float) -> None: self.v_ego = v_ego @@ -227,12 +227,13 @@ class Calibrator: return new_rpy - def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder: + def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder: smooth_rpy = self.get_smooth_rpy() msg = messaging.new_message('liveCalibration') - liveCalibration = msg.liveCalibration + msg.valid = valid + liveCalibration = msg.liveCalibration liveCalibration.validBlocks = self.valid_blocks liveCalibration.calStatus = self.cal_status liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) @@ -250,19 +251,16 @@ class Calibrator: return msg - def send_data(self, pm: messaging.PubMaster) -> None: - pm.send('liveCalibration', self.get_msg()) + def send_data(self, pm: messaging.PubMaster, valid: bool) -> None: + pm.send('liveCalibration', self.get_msg(valid)) -def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn: +def main() -> NoReturn: gc.disable() set_realtime_priority(1) - if sm is None: - sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) - - if pm is None: - pm = messaging.PubMaster(['liveCalibration']) + pm = messaging.PubMaster(['liveCalibration']) + sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) calibrator = Calibrator(param_put=True) @@ -286,11 +284,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m # 4Hz driven by cameraOdometry if sm.frame % 5 == 0: - calibrator.send_data(pm) - - -def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None) -> NoReturn: - calibrationd_thread(sm, pm) + calibrator.send_data(pm, sm.all_checks()) if __name__ == "__main__": diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index bde21f7879..93e2929139 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -1,11 +1,7 @@ import numpy as np -import signal -import sys from typing import List, Optional, Tuple, Any from cereal import log -from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog class NPQueue: @@ -66,12 +62,3 @@ class ParameterEstimator: def get_msg(self, valid: bool, with_points: bool) -> log.Event: raise NotImplementedError - - -def cache_points_onexit(param_name, estimator, sig, frame): - signal.signal(sig, signal.SIG_DFL) - cloudlog.warning(f"Caching {param_name} param") - params = Params() - msg = estimator.get_msg(valid=True, with_points=True) - params.put(param_name, msg.to_bytes()) - sys.exit(0) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 80882fc951..e32ed78a3e 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -678,9 +678,10 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { } int Localizer::locationd_thread() { + Params params; LocalizerGnssSource source; const char* gps_location_socket; - if (Params().getBool("UbloxAvailable")) { + if (params.getBool("UbloxAvailable")) { source = LocalizerGnssSource::UBLOX; gps_location_socket = "gpsLocationExternal"; } else { @@ -737,10 +738,7 @@ int Localizer::locationd_thread() { VectorXd posGeo = this->get_position_geodetic(); std::string lastGPSPosJSON = util::string_format( "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2)); - - std::thread([] (const std::string gpsjson) { - Params().put("LastGPSPosition", gpsjson); - }, lastGPSPosJSON).detach(); + params.putNonBlocking("LastGPSPosition", lastGPSPosJSON); } cnt++; } diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index b87c83cac2..9230cb48f0 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -7,7 +7,7 @@ import numpy as np from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py deleted file mode 100644 index b6c1771ec6..0000000000 --- a/selfdrive/locationd/models/gnss_helpers.py +++ /dev/null @@ -1,19 +0,0 @@ -import numpy as np -from laika.raw_gnss import GNSSMeasurement - -def parse_prr(m): - sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - m[GNSSMeasurement.SAT_VEL])) - R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2) - z_i = m[GNSSMeasurement.PRR] - return z_i, R_i, sat_pos_vel_i - -def parse_pr(m): - pseudorange = m[GNSSMeasurement.PR] - pseudorange_stdev = m[GNSSMeasurement.PR_STD] - sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - np.array([m[GNSSMeasurement.GLONASS_FREQ]]))) - z_i = np.atleast_1d(pseudorange) - R_i = np.atleast_2d(pseudorange_stdev**2) - return z_i, R_i, sat_pos_freq_i - diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py deleted file mode 100755 index c4f3b2e210..0000000000 --- a/selfdrive/locationd/models/gnss_kf.py +++ /dev/null @@ -1,190 +0,0 @@ -#!/usr/bin/env python3 -import sys -from typing import List - -import numpy as np - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr - -if __name__ == '__main__': # Generating sympy - import sympy as sp - from rednose.helpers.ekf_sym import gen_code -else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx - from rednose.helpers.ekf_sym import EKF_sym - - -class States(): - ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters - ECEF_VELOCITY = slice(3, 6) - CLOCK_BIAS = slice(6, 7) # clock bias in light-meters, - CLOCK_DRIFT = slice(7, 8) # clock drift in light-meters/s, - CLOCK_ACCELERATION = slice(8, 9) # clock acceleration in light-meters/s**2 - GLONASS_BIAS = slice(9, 10) # clock drift in light-meters/s, - GLONASS_FREQ_SLOPE = slice(10, 11) # GLONASS bias in m expressed as bias + freq_num*freq_slope - - -class GNSSKalman(): - name = 'gnss' - - x_initial = np.array([-2712700.6008, -4281600.6679, 3859300.1830, - 0, 0, 0, - 0, 0, 0, - 0, 0]) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 10**2, 10**2, 10**2, - 1e14, (100)**2, (0.2)**2, - (10)**2, (1)**2]) - - maha_test_kinds: List[int] = [] # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS] - - @staticmethod - def generate_code(generated_dir): - dim_state = GNSSKalman.x_initial.shape[0] - name = GNSSKalman.name - maha_test_kinds = GNSSKalman.maha_test_kinds - - # make functions and jacobians with sympy - # state variables - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - x, y, z = state[0:3, :] - v = state[3:6, :] - vx, vy, vz = v - cb, cd, ca = state[6:9, :] - glonass_bias, glonass_freq_slope = state[9:11, :] - - dt = sp.Symbol('dt') - - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[:3, :] = v - state_dot[6, 0] = cd - state_dot[7, 0] = ca - - # Basic descretization, 1st order integrator - # Can be pretty bad if dt is big - f_sym = state + dt * state_dot - - # - # Observation functions - # - - # extra args - sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1) - sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1) - # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1) - # orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1) - - # expand extra args - sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym - sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:] - # los_x, los_y, los_z = sat_los_sym - # orb_x, orb_y, orb_z = orb_epos_sym - - h_pseudorange_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb - ]) - - h_pseudorange_glonass_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb + glonass_bias + glonass_freq_slope * glonass_freq - ]) - - los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z])) - los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2) - h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) + - los_vector[1] * (sat_vy - vy) + - los_vector[2] * (sat_vz - vz) + - cd]) - - obs_eqs = [[h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym], - [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym]] - - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - - def __init__(self, generated_dir, cython=False, erratic_clock=False): - # process noise - clock_error_drift = 100.0 if erratic_clock else 0.1 - self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 3**2, 3**2, 3**2, - (clock_error_drift)**2, (0)**2, (0.005)**2, - .1**2, (.01)**2]) - - self.dim_state = self.x_initial.shape[0] - - # init filter - filter_cls = EKF_sym_pyx if cython else EKF_sym - self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, - self.dim_state, maha_test_kinds=self.maha_test_kinds) - self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial) - - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=False) - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - if len(data) > 0: - data = np.atleast_2d(data) - if kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS: - r = self.predict_and_update_pseudorange(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS: - r = self.predict_and_update_pseudorange_rate(data, t, kind) - return r - - def predict_and_update_pseudorange(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - sat_pos_freq = np.zeros((len(meas), 4)) - z = np.zeros((len(meas), 1)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_freq_i = parse_pr(m) - sat_pos_freq[i, :] = sat_pos_freq_i - z[i, :] = z_i - R[i, :, :] = R_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq) - - def predict_and_update_pseudorange_rate(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - z = np.zeros((len(meas), 1)) - sat_pos_vel = np.zeros((len(meas), 6)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_vel_i = parse_prr(m) - sat_pos_vel[i] = sat_pos_vel_i - R[i, :, :] = R_i - z[i, :] = z_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel) - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - GNSSKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py deleted file mode 100755 index e8fa999956..0000000000 --- a/selfdrive/locationd/models/lane_kf.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python3 -import sys -import numpy as np -import sympy as sp - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from rednose.helpers.ekf_sym import gen_code, EKF_sym - - -class LaneKalman(): - name = 'lane' - - @staticmethod - def generate_code(generated_dir): - # make functions and jacobians with sympy - # state variables - dim = 6 - state = sp.MatrixSymbol('state', dim, 1) - - dd = sp.Symbol('dd') # WARNING: NOT TIME - - # Time derivative of the state as a function of state - state_dot = sp.Matrix(np.zeros((dim, 1))) - state_dot[:3,0] = sp.Matrix(state[3:6,0]) - - # Basic descretization, 1st order intergrator - # Can be pretty bad if dt is big - f_sym = sp.Matrix(state) + dd*state_dot - - # - # Observation functions - # - h_lane_sym = sp.Matrix(state[:3,0]) - obs_eqs = [[h_lane_sym, ObservationKind.LANE_PT, None]] - gen_code(generated_dir, LaneKalman.name, f_sym, dd, state, obs_eqs, dim, dim) - - def __init__(self, generated_dir, pt_std=5): - # state - # left and right lane centers in ecef - # WARNING: this is not a temporal model - # the 'time' in this kalman filter is - # the distance traveled by the vehicle, - # which should approximately be the - # distance along the lane path - # a more logical parametrization - # states 0-2 are ecef coordinates distance d - # states 3-5 is the 3d "velocity" of the - # lane in ecef (m/m). - x_initial = np.array([0,0,0, - 0,0,0]) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 1**2, 1**2, 1**2]) - - # process noise - Q = np.diag([0.1**2, 0.1**2, 0.1**2, - 0.1**2, 0.1**2, 0.1*2]) - - self.dim_state = len(x_initial) - - # init filter - self.filter = EKF_sym(generated_dir, self.name, Q, x_initial, P_initial, x_initial.shape[0], P_initial.shape[0]) - self.obs_noise = {ObservationKind.LANE_PT: np.diag([pt_std**2]*3)} - - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=False) - - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - data = np.atleast_2d(data) - return self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i,:,:] = obs_noise - return R - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - LaneKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py deleted file mode 100755 index 8bd317bd58..0000000000 --- a/selfdrive/locationd/models/loc_kf.py +++ /dev/null @@ -1,565 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -import numpy as np -import sympy as sp - -from rednose.helpers.ekf_sym import EKF_sym, gen_code -from rednose.helpers.lst_sq_computer import LstSqComputer -from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr - -EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) - -class States(): - ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters - ECEF_ORIENTATION = slice(3, 7) # quat for orientation of phone in ecef - ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s - ANGULAR_VELOCITY = slice(10, 13) # roll, pitch and yaw rates in device frame in radians/s - CLOCK_BIAS = slice(13, 14) # clock bias in light-meters, - CLOCK_DRIFT = slice(14, 15) # clock drift in light-meters/s, - GYRO_BIAS = slice(15, 18) # roll, pitch and yaw biases - ODO_SCALE_UNUSED = slice(18, 19) # odometer scale - ACCELERATION = slice(19, 22) # Acceleration in device frame in m/s**2 - FOCAL_SCALE_UNUSED = slice(22, 23) # focal length scale - IMU_FROM_DEVICE_EULER = slice(23, 26) # imu offset angles in radians - GLONASS_BIAS = slice(26, 27) # GLONASS bias in m expressed as bias + freq_num*freq_slope - GLONASS_FREQ_SLOPE = slice(27, 28) # GLONASS bias in m expressed as bias + freq_num*freq_slope - CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2, - ACCELEROMETER_SCALE_UNUSED = slice(29, 30) # scale of mems accelerometer - ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer - # TODO the offset is likely a translation of the sensor, not a rotation of the camera - WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) - # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables - # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). - # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE - - # Error-state has different slices because it is an ESKF - ECEF_POS_ERR = slice(0, 3) - ECEF_ORIENTATION_ERR = slice(3, 6) # euler angles for orientation error - ECEF_VELOCITY_ERR = slice(6, 9) - ANGULAR_VELOCITY_ERR = slice(9, 12) - CLOCK_BIAS_ERR = slice(12, 13) - CLOCK_DRIFT_ERR = slice(13, 14) - GYRO_BIAS_ERR = slice(14, 17) - ODO_SCALE_ERR_UNUSED = slice(17, 18) - ACCELERATION_ERR = slice(18, 21) - FOCAL_SCALE_ERR_UNUSED = slice(21, 22) - IMU_FROM_DEVICE_EULER_ERR = slice(22, 25) - GLONASS_BIAS_ERR = slice(25, 26) - GLONASS_FREQ_SLOPE_ERR = slice(26, 27) - CLOCK_ACCELERATION_ERR = slice(27, 28) - ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29) - ACCELEROMETER_BIAS_ERR = slice(29, 32) - WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35) - - -class LocKalman(): - name = "loc" - x_initial = np.array([0, 0, 0, - 1, 0, 0, 0, - 0, 0, 0, - 0, 0, 0, - 0, 0, - 0, 0, 0, - 1, - 0, 0, 0, - 1, - 0, 0, 0, - 0, 0, - 0, - 1, - 0, 0, 0, - 0, 0, 0], dtype=np.float64) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 10**2, 10**2, 10**2, - 10**2, 10**2, 10**2, - 1**2, 1**2, 1**2, - 1e14, (100)**2, - 0.05**2, 0.05**2, 0.05**2, - 0.02**2, - 2**2, 2**2, 2**2, - 0.01**2, - 0.01**2, 0.01**2, 0.01**2, - 10**2, 1**2, - 0.2**2, - 0.05**2, - 0.05**2, 0.05**2, 0.05**2, - 0.01**2, 0.01**2, 0.01**2]) - - - # measurements that need to pass mahalanobis distance outlier rejector - maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE] # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE] - dim_augment = 7 - dim_augment_err = 6 - - @staticmethod - def generate_code(generated_dir, N=4): - dim_augment = LocKalman.dim_augment - dim_augment_err = LocKalman.dim_augment_err - - dim_main = LocKalman.x_initial.shape[0] - dim_main_err = LocKalman.P_initial.shape[0] - dim_state = dim_main + dim_augment * N - dim_state_err = dim_main_err + dim_augment_err * N - maha_test_kinds = LocKalman.maha_test_kinds - - name = f"{LocKalman.name}_{N}" - - # make functions and jacobians with sympy - # state variables - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - x, y, z = state[States.ECEF_POS, :] - q = state[States.ECEF_ORIENTATION, :] - v = state[States.ECEF_VELOCITY, :] - vx, vy, vz = v - omega = state[States.ANGULAR_VELOCITY, :] - vroll, vpitch, vyaw = omega - cb = state[States.CLOCK_BIAS, :] - cd = state[States.CLOCK_DRIFT, :] - roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] - acceleration = state[States.ACCELERATION, :] - imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :] - imu_from_device_euler[0, 0] = 0 # not observable enough - imu_from_device_euler[2, 0] = 0 # not observable enough - glonass_bias = state[States.GLONASS_BIAS, :] - glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :] - ca = state[States.CLOCK_ACCELERATION, :] - accel_bias = state[States.ACCELEROMETER_BIAS, :] - wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :] - wide_from_device_euler[0, 0] = 0 # not observable enough - - dt = sp.Symbol('dt') - - # calibration and attitude rotation matrices - quat_rot = quat_rotate(*q) - - # Got the quat predict equations from here - # A New Quaternion-Based Kalman Filter for - # Real-Time Attitude Estimation Using the Two-Step - # Geometrically-Intuitive Correction Algorithm - A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw], - [vroll, 0, vyaw, -vpitch], - [vpitch, -vyaw, 0, vroll], - [vyaw, vpitch, -vroll, 0]]) - q_dot = A * q - - # Time derivative of the state as a function of state - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[States.ECEF_POS, :] = v - state_dot[States.ECEF_ORIENTATION, :] = q_dot - state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration - state_dot[States.CLOCK_BIAS, :] = cd - state_dot[States.CLOCK_DRIFT, :] = ca - - # Basic descretization, 1st order intergrator - # Can be pretty bad if dt is big - f_sym = state + dt * state_dot - - state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1) - state_err = sp.Matrix(state_err_sym) - quat_err = state_err[States.ECEF_ORIENTATION_ERR, :] - v_err = state_err[States.ECEF_VELOCITY_ERR, :] - omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :] - cd_err = state_err[States.CLOCK_DRIFT_ERR, :] - acceleration_err = state_err[States.ACCELERATION_ERR, :] - ca_err = state_err[States.CLOCK_ACCELERATION_ERR, :] - - # Time derivative of the state error as a function of state error and state - quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2]) - q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err) - state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1))) - state_err_dot[States.ECEF_POS_ERR, :] = v_err - state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot - state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err) - state_err_dot[States.CLOCK_BIAS_ERR, :] = cd_err - state_err_dot[States.CLOCK_DRIFT_ERR, :] = ca_err - f_err_sym = state_err + dt * state_err_dot - - # convenient indexing - # q idxs are for quats and p idxs are for other - q_idxs = [[3, dim_augment]] + [[dim_main + n * dim_augment + 3, dim_main + (n + 1) * dim_augment] for n in range(N)] - q_err_idxs = [[3, dim_augment_err]] + [[dim_main_err + n * dim_augment_err + 3, dim_main_err + (n + 1) * dim_augment_err] for n in range(N)] - p_idxs = [[0, 3]] + [[dim_augment, dim_main]] + [[dim_main + n * dim_augment, dim_main + n * dim_augment + 3] for n in range(N)] - p_err_idxs = [[0, 3]] + [[dim_augment_err, dim_main_err]] + [[dim_main_err + n * dim_augment_err, dim_main_err + n * dim_augment_err + 3] for n in range(N)] - - # Observation matrix modifier - H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:] - - # these error functions are defined so that say there - # is a nominal x and true x: - # true x = err_function(nominal x, delta x) - # delta x = inv_err_function(nominal x, true x) - nom_x = sp.MatrixSymbol('nom_x', dim_state, 1) - true_x = sp.MatrixSymbol('true_x', dim_state, 1) - delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) - - err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - delta_quat = sp.Matrix(np.ones(4)) - delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :]) - err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :]) - - inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0] - inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:]) - - eskf_params = [[err_function_sym, nom_x, delta_x], - [inv_err_function_sym, nom_x, true_x], - H_mod_sym, f_err_sym, state_err_sym] - # - # Observation functions - # - - # extra args - sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1) - sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1) - # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1) - - # expand extra args - sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym - sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:] - - h_pseudorange_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb[0] - ]) - - h_pseudorange_glonass_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb[0] + glonass_bias[0] + glonass_freq_slope[0] * glonass_freq - ]) - - los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z])) - los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2) - h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) + - los_vector[1] * (sat_vy - vy) + - los_vector[2] * (sat_vz - vz) + - cd[0]]) - - imu_from_device = euler_rotate(*imu_from_device_euler) - h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias, - vpitch + pitch_bias, - vyaw + yaw_bias]) - - pos = sp.Matrix([x, y, z]) - # add 1 for stability, prevent division by 0 - gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos) - h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias) - h_acc_stationary_sym = acceleration - h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) - h_relative_motion = sp.Matrix(quat_rot.T * v) - - obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None], - [h_phone_rot_sym, ObservationKind.NO_ROT, None], - [h_acc_sym, ObservationKind.PHONE_ACCEL, None], - [h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym], - [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym], - [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None], - [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], - [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]] - - wide_from_device = euler_rotate(*wide_from_device_euler) - # MSCKF configuration - if N > 0: - # experimentally found this is correct value for imx298 with 910 focal length - # this is a variable so it can change with focus, but we disregard that for now - # TODO: this isn't correct for tici - focal_scale = 1.01 - # Add observation functions for orb feature tracks - track_epos_sym = sp.MatrixSymbol('track_epos_sym', 3, 1) - track_x, track_y, track_z = track_epos_sym - h_track_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1))) - h_track_wide_cam_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1))) - - track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) - track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym - h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), - focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) - h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), - focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])]) - - h_msckf_test_sym = sp.Matrix(np.zeros(((1 + N) * 3, 1))) - h_msckf_test_sym[-3:, :] = track_pos_sym - - for n in range(N): - idx = dim_main + n * dim_augment - # err_idx = dim_main_err + n * dim_augment_err # FIXME: Why is this not used? - x, y, z = state[idx:idx + 3] - q = state[idx + 3:idx + 7] - quat_rot = quat_rotate(*q) - track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) - track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym - h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), - focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) - h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), - focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])]) - h_msckf_test_sym[n * 3:n * 3 + 3, :] = track_pos_sym - - obs_eqs.append([h_msckf_test_sym, ObservationKind.MSCKF_TEST, track_epos_sym]) - obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym]) - obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym]) - obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym]) - msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, - [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] - else: - msckf_params = None - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds) - - def __init__(self, generated_dir, N=4, erratic_clock=False): - name = f"{self.name}_{N}" - - - # process noise - q_clock_error = 100.0 if erratic_clock else 0.1 - q_clock_error_rate = 10 if erratic_clock else 0.0 - self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 0.0**2, 0.0**2, 0.0**2, - 0.0**2, 0.0**2, 0.0**2, - 0.1**2, 0.1**2, 0.1**2, - (q_clock_error)**2, (q_clock_error_rate)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.02 / 100)**2, - 3**2, 3**2, 3**2, - 0.001**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2, - (.1)**2, (.01)**2, - 0.005**2, - (0.02 / 100)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2]) - - - self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), - ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]), - ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]), - ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]), - ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]), - ObservationKind.NO_ROT: np.diag([0.0025**2, 0.0025**2, 0.0025**2]), - ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]), - ObservationKind.NO_ACCEL: np.diag([0.0025**2, 0.0025**2, 0.0025**2])} - - # MSCKF stuff - self.N = N - self.dim_main = LocKalman.x_initial.shape[0] - self.dim_main_err = LocKalman.P_initial.shape[0] - self.dim_state = self.dim_main + self.dim_augment * self.N - self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N - - if self.N > 0: - x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] - self.computer = LstSqComputer(generated_dir, N) - - self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)] - - # init filter - self.filter = EKF_sym(generated_dir, name, Q, x_initial, P_initial, self.dim_main, self.dim_main_err, - N, self.dim_augment, self.dim_augment_err, self.maha_test_kinds, self.quaternion_idxs) - - @property - def x(self): - return self.filter.state() - - @property - def t(self): - return self.filter.get_filter_time() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=True) - - def pad_augmented(self, x, P, Q=None): - if x.shape[0] == self.dim_main and self.N > 0: - x = np.pad(x, (0, self.N * self.dim_augment), mode='constant') - x[self.dim_main + 3::7] = 1 - if P.shape[0] == self.dim_main_err and self.N > 0: - P = np.pad(P, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant') - P[self.dim_main_err:, self.dim_main_err:] = 10e20 * np.eye(self.dim_augment_err * self.N) - if Q is None: - return x, P - else: - Q = np.pad(Q, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant') - return x, P, Q - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - state, P = self.pad_augmented(state, P) - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - if len(data) > 0: - data = np.atleast_2d(data) - if kind == ObservationKind.CAMERA_ODO_TRANSLATION: - r = self.predict_and_update_odo_trans(data, t, kind) - elif kind == ObservationKind.CAMERA_ODO_ROTATION: - r = self.predict_and_update_odo_rot(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS: - r = self.predict_and_update_pseudorange(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS: - r = self.predict_and_update_pseudorange_rate(data, t, kind) - elif kind == ObservationKind.ORB_FEATURES or kind == ObservationKind.ORB_FEATURES_WIDE: - r = self.predict_and_update_orb_features(data, t, kind) - elif kind == ObservationKind.MSCKF_TEST: - r = self.predict_and_update_msckf_test(data, t, kind) - else: - r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) - # Normalize quats - quat_norm = np.linalg.norm(self.filter.state()[3:7]) - # Should not continue if the quats behave this weirdly - if not 0.1 < quat_norm < 10: - raise RuntimeError("Sir! The filter's gone all wobbly!") - return r - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i, :, :] = obs_noise - return R - - def predict_and_update_pseudorange(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - sat_pos_freq = np.zeros((len(meas), 4)) - z = np.zeros((len(meas), 1)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_freq_i = parse_pr(m) - sat_pos_freq[i, :] = sat_pos_freq_i - z[i, :] = z_i - R[i, :, :] = R_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq) - - def predict_and_update_pseudorange_rate(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - z = np.zeros((len(meas), 1)) - sat_pos_vel = np.zeros((len(meas), 6)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_vel_i = parse_prr(m) - sat_pos_vel[i] = sat_pos_vel_i - R[i, :, :] = R_i - z[i, :] = z_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel) - - def predict_and_update_odo_trans(self, trans, t, kind): - z = trans[:, :3] - R = np.zeros((len(trans), 3, 3)) - for i, _ in enumerate(z): - R[i, :, :] = np.diag(trans[i, 3:]**2) - return self.filter.predict_and_update_batch(t, kind, z, R) - - def predict_and_update_odo_rot(self, rot, t, kind): - z = rot[:, :3] - R = np.zeros((len(rot), 3, 3)) - for i, _ in enumerate(z): - R[i, :, :] = np.diag(rot[i, 3:]**2) - return self.filter.predict_and_update_batch(t, kind, z, R) - - def predict_and_update_orb_features(self, tracks, t, kind): - k = 2 * (self.N + 1) - R = np.zeros((len(tracks), k, k)) - z = np.zeros((len(tracks), k)) - ecef_pos = np.zeros((len(tracks), 3)) - ecef_pos[:] = np.nan - poses = self.x[self.dim_main:].reshape((-1, 7)) - times = tracks.reshape((len(tracks), self.N + 1, 4))[:, :, 0] - if kind==ObservationKind.ORB_FEATURES: - pt_std = 0.005 - else: - pt_std = 0.02 - if times.any(): - assert np.allclose(times[0, :-1], self.filter.get_augment_times(), atol=1e-7, rtol=0.0) - for i, track in enumerate(tracks): - img_positions = track.reshape((self.N + 1, 4))[:, 2:] - - # TODO not perfect as last pose not used - # img_positions = unroll_shutter(img_positions, poses, self.filter.state()[7:10], self.filter.state()[10:13], ecef_pos[i]) - - ecef_pos[i] = self.computer.compute_pos(poses, img_positions[:-1]) - z[i] = img_positions.flatten() - R[i, :, :] = np.diag([pt_std**2] * (k)) - - good_idxs = np.all(np.isfinite(ecef_pos), axis=1) - - # This code relies on wide and narrow orb features being captured at the same time, - # and wide features to be processed first. - ret = self.filter.predict_and_update_batch(t, kind, z[good_idxs], R[good_idxs], ecef_pos[good_idxs], - augment=kind==ObservationKind.ORB_FEATURES) - if ret is None: - return - - # have to do some weird stuff here to keep - # to have the observations input from mesh3d - # consistent with the outputs of the filter - # Probably should be replaced, not sure how. - y_full = np.zeros((z.shape[0], z.shape[1] - 3)) - if sum(good_idxs) > 0: - y_full[good_idxs] = np.array(ret[6]) - ret = ret[:6] + (y_full, z, ecef_pos) - return ret - - def predict_and_update_msckf_test(self, test_data, t, kind): - assert self.N > 0 - z = test_data - R = np.zeros((len(test_data), len(z[0]), len(z[0]))) - ecef_pos = [self.x[:3]] - for i, _ in enumerate(z): - R[i, :, :] = np.diag([0.1**2] * len(z[0])) - ret = self.filter.predict_and_update_batch(t, kind, z, R, ecef_pos) - self.filter.augment() - return ret - - def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3): - bools = [] - for m in meas: - z, R, sat_pos_freq = parse_pr(m) - bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_freq, maha_thresh=maha_thresh)) - return np.array(bools) - - def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999): - bools = [] - for m in meas: - z, R, sat_pos_vel = parse_prr(m) - bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_vel, maha_thresh=maha_thresh)) - return np.array(bools) - - -if __name__ == "__main__": - N = int(sys.argv[1].split("_")[-1]) - generated_dir = sys.argv[2] - LocKalman.generate_code(generated_dir, N=N) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 0e779c9e3e..183a8666e8 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,12 +7,12 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.numpy_fast import clip from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s @@ -251,7 +251,7 @@ def main(): 'stiffnessFactor': liveParameters.stiffnessFactor, 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg, } - put_nonblocking("LiveParameters", json.dumps(params)) + params_reader.put_nonblocking("LiveParameters", json.dumps(params)) pm.send('liveParameters', msg) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 707fdd743f..78de9216dc 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -60,6 +60,7 @@ class TestLocationdProc(unittest.TestCase): msg.cameraOdometry.trans = [0.0, 0.0, 0.0] msg.cameraOdometry.transStd = [0.0, 0.0, 0.0] msg.logMonoTime = t + msg.valid = True return msg def test_params_gps(self): diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index d2455ef9e0..f48c83ce46 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -1,15 +1,14 @@ #!/usr/bin/env python3 +import pytest import unittest import numpy as np from collections import defaultdict from enum import Enum - -from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name -TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4 +TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4" GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation'] SELECT_COMPARE_FIELDS = { 'yaw_rate': ['angularVelocityCalibrated', 'value', 2], @@ -97,6 +96,8 @@ def run_scenarios(scenario, logs): return get_select_fields_data(logs), get_select_fields_data(replayed_logs) +@pytest.mark.xdist_group("test_locationd_scenarios") +@pytest.mark.shared_download_cache class TestLocationdScenarios(unittest.TestCase): """ Test locationd with different scenarios. In all these scenarios, we expect the following: @@ -106,7 +107,7 @@ class TestLocationdScenarios(unittest.TestCase): @classmethod def setUpClass(cls): - cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) + cls.logs = list(LogReader(TEST_ROUTE)) def test_base(self): """ diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index ff1fac2c22..f2c0248afa 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -1,18 +1,15 @@ #!/usr/bin/env python3 -import os -import signal import numpy as np from collections import deque, defaultdict -from functools import partial import cereal.messaging as messaging from cereal import car, log from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points_onexit +from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 @@ -217,7 +214,7 @@ class TorqueEstimator(ParameterEstimator): return msg -def main(): +def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) @@ -227,9 +224,6 @@ def main(): with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: estimator = TorqueEstimator(CP) - if "REPLAY" not in os.environ: - signal.signal(signal.SIGINT, partial(cache_points_onexit, "LiveTorqueParameters", estimator)) - while True: sm.update() if sm.all_checks(): @@ -242,6 +236,14 @@ def main(): if sm.frame % 5 == 0: pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) + # Cache points every 60 seconds while onroad + if sm.frame % 240 == 0: + msg = estimator.get_msg(valid=sm.all_checks(), with_points=True) + params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) if __name__ == "__main__": - main() + import argparse + parser = argparse.ArgumentParser(description='Process the --demo argument.') + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index be37b3e7e4..f2758cf32b 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -9,7 +9,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.spinner import Spinner from openpilot.common.text_window import TextWindow from openpilot.system.hardware import AGNOS -from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 @@ -17,21 +17,22 @@ CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 -PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) -def build(spinner: Spinner, dirty: bool = False) -> None: +def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: env = os.environ.copy() env['SCONS_PROGRESS'] = "1" nproc = os.cpu_count() if nproc is None: nproc = 2 + extra_args = ["--minimal"] if minimal else [] + # building with all cores can result in using too # much memory, so retry with less parallelism compile_output: List[bytes] = [] for n in (nproc, nproc/2, 1): compile_output.clear() - scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", "--minimal"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) assert scons.stderr is not None # Read progress from stderr and update spinner @@ -83,7 +84,7 @@ def build(spinner: Spinner, dirty: bool = False) -> None: f.unlink() -if __name__ == "__main__" and not PREBUILT: +if __name__ == "__main__": spinner = Spinner() spinner.update_progress(0, 100) - build(spinner, is_dirty()) + build(spinner, is_dirty(), minimal = AGNOS) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index f8607fffc6..1b6f8df1ef 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -3,7 +3,13 @@ import sys import fcntl import errno import signal +import shutil +import subprocess +import tempfile +import threading +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params def unblock_stdout() -> None: # get a non-blocking stdout @@ -41,3 +47,18 @@ def unblock_stdout() -> None: def write_onroad_params(started, params): params.put_bool("IsOnroad", started) params.put_bool("IsOffroad", not started) + + +def save_bootlog(): + # copy current params + tmp = tempfile.mkdtemp() + shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True) + + def fn(tmpdir): + env = os.environ.copy() + env['PARAMS_ROOT'] = tmpdir + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env) + shutil.rmtree(tmpdir) + t = threading.Thread(target=fn, args=(tmp, )) + t.daemon = True + t.start() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 81677133f5..8e8476d42b 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -2,7 +2,6 @@ import datetime import os import signal -import subprocess import sys import traceback from typing import List, Tuple, Union @@ -10,16 +9,15 @@ from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging import openpilot.selfdrive.sentry as sentry -from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow from openpilot.selfdrive.boardd.set_time import set_time from openpilot.system.hardware import HARDWARE, PC -from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.selfdrive.manager.process import ensure_running from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ get_normalized_origin, terms_version, training_version, \ is_tested_branch, is_release_branch @@ -33,12 +31,14 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) + save_bootlog() params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + if is_release_branch(): + params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), @@ -123,13 +123,6 @@ def manager_init() -> None: if os.getenv("HANDSMONITORING") is not None: params.put_bool("HandsOnWheelMonitoring", bool(int(os.getenv("HANDSMONITORING", "0")))) - # is this dashcam? - if os.getenv("PASSIVE") is not None: - params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) - - if params.get("Passive") is None: - raise Exception("Passive must be set to continue") - # Create folders needed for msgq try: os.mkdir("/dev/shm") @@ -170,8 +163,7 @@ def manager_init() -> None: dirty=is_dirty(), device=HARDWARE.get_device_type()) - -def manager_prepare() -> None: + # preimport all processes for p in managed_processes.values(): p.prepare() @@ -234,7 +226,7 @@ def manager_thread() -> None: cloudlog.debug(running) # send managerState - msg = messaging.new_message('managerState') + msg = messaging.new_message('managerState', valid=True) msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()] pm.send('managerState', msg) @@ -251,17 +243,8 @@ def manager_thread() -> None: def main() -> None: - prepare_only = os.getenv("PREPAREONLY") is not None - manager_init() - - # Start UI early so prepare can happen in the background - if not prepare_only: - managed_processes['ui'].start() - - manager_prepare() - - if prepare_only: + if os.getenv("PREPAREONLY") is not None: return # SystemExit on sigterm @@ -292,6 +275,8 @@ if __name__ == "__main__": try: main() + except KeyboardInterrupt: + print("got CTRL-C, exiting") except Exception: add_file_handler(cloudlog) cloudlog.exception("Manager failed to start") diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 82cc8d74a3..523e1fd209 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -15,7 +15,7 @@ import cereal.messaging as messaging import openpilot.selfdrive.sentry as sentry from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index f8ae579d5b..96d614a0b1 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -49,7 +49,7 @@ procs = [ NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), PythonProcess("logmessaged", "system.logmessaged", always_run), PythonProcess("micd", "system.micd", iscar), - PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), + PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), @@ -60,7 +60,7 @@ procs = [ PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad), + PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), @@ -68,7 +68,7 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), - PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), + PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), @@ -89,6 +89,7 @@ procs = [ # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), + PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), ] diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 0fa186baff..fbeb932a86 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -21,7 +21,6 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] @pytest.mark.tici class TestManager(unittest.TestCase): def setUp(self): - os.environ['PASSIVE'] = '0' HARDWARE.set_power_save(False) # ensure clean CarParams @@ -47,13 +46,13 @@ class TestManager(unittest.TestCase): t = time.monotonic() - start assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" + @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad") def test_clean_exit(self): """ Ensure all processes exit cleanly when stopped. """ HARDWARE.set_power_save(False) manager.manager_init() - manager.manager_prepare() CP = car.CarParams.new_message() procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 4d3af51635..dda1ff5e33 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -22,6 +22,8 @@ class ModelConstants: NAV_INSTRUCTION_LEN = 150 DRIVING_STYLE_LEN = 12 LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURV_LEN = 1 # model outputs constants FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) @@ -39,6 +41,7 @@ class ModelConstants: PLAN_WIDTH = 15 DESIRE_PRED_WIDTH = 8 LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 NUM_LANE_LINES = 4 NUM_ROAD_EDGES = 2 diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 53c0af0ff3..1e25964702 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -11,7 +11,7 @@ from typing import Tuple, Dict from cereal import messaging from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime @@ -101,7 +101,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult): def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents - msg = messaging.new_message('driverStateV2') + msg = messaging.new_message('driverStateV2', valid=True) ds = msg.driverStateV2 ds.frameId = frame_id ds.modelExecutionTime = execution_time diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 7434e94287..93d1c7e77b 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, - nav_enabled: bool, valid: bool) -> None: + nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 msg.valid = valid @@ -72,9 +72,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # lateral planning - solution = modelV2.lateralPlannerSolution - solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)] - solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)] + action = modelV2.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index 14048ec9fd..e1cef4dcc3 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -7,4 +7,4 @@ if [ -f "$DIR/libthneed.so" ]; then export LD_PRELOAD="$DIR/libthneed.so" fi -exec "$DIR/modeld.py" +exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 2b211b22e6..5b227d08e9 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -4,19 +4,20 @@ import time import pickle import numpy as np import cereal.messaging as messaging +from cereal import car, log from pathlib import Path from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params -from openpilot.common.realtime import DT_MDL -from openpilot.common.numpy_fast import interp from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState @@ -56,7 +57,8 @@ class ModelState: self.inputs = { 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), - 'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32), 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), @@ -91,9 +93,9 @@ class ModelState: self.prev_desire[:] = inputs['desire'] self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] self.inputs['nav_features'][:] = inputs['nav_features'] self.inputs['nav_instructions'][:] = inputs['nav_instructions'] - # self.inputs['driving_style'][:] = inputs['driving_style'] # if getCLBuffer is not None, frame will be None self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) @@ -108,12 +110,12 @@ class ModelState: self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2]) - self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3]) + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] return outputs -def main(): +def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) @@ -148,10 +150,14 @@ def main(): # messaging pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"]) + sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"]) + publish_state = PublishState() params = Params() + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + steer_delay = msg.steerActuatorDelay + .2 + #steer_delay = 0.4 # setup filter to track dropped frames frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) @@ -162,13 +168,23 @@ def main(): model_transform_main = np.zeros((3, 3), dtype=np.float32) model_transform_extra = np.zeros((3, 3), dtype=np.float32) live_calib_seen = False - driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) buf_main, buf_extra = None, None meta_main = FrameMeta() meta_extra = FrameMeta() + + if demo: + CP = get_demo_car_params() + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("plannerd got CarParams: %s", CP.carName) + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + DH = DesireHelper() + + while True: # Keep receiving frames until we are at least 1 frame ahead of previous extra frame while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: @@ -205,9 +221,12 @@ def main(): # TODO: path planner timeout? sm.update(0) - desire = sm["lateralPlan"].desire.raw + desire = DH.desire + v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId + # TODO add lag + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) @@ -261,7 +280,7 @@ def main(): inputs:Dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'driving_style': driving_style, + 'lateral_control_params': lateral_control_params, 'nav_features': nav_features, 'nav_instructions': nav_instructions} @@ -274,7 +293,15 @@ def main(): modelv2_send = messaging.new_message('modelV2') posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen) + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen) + + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) @@ -285,7 +312,11 @@ def main(): if __name__ == "__main__": try: - main() + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) except KeyboardInterrupt: cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") except Exception: diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx index 3b0961537e..3b687b960a 100644 --- a/selfdrive/modeld/models/navmodel.onnx +++ b/selfdrive/modeld/models/navmodel.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048 -size 14138061 +oid sha256:8254b569878b7472e3f63ed9f3527a87bde785c9037aee3ed66f972e072b5899 +size 14166696 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index e878ec25af..d5e43abcfb 100644 --- a/selfdrive/modeld/models/navmodel_q.dlc +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132 +oid sha256:89fda8380efa3e421fbcdb6bb204c36a4991f137ee01d47f3d0380895aa7c036 size 3630942 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index e2897b08a5..dc93d84135 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0b7184d46dc2ba3f84eb748252634205105a3742bac29942ae4380b0332fa850 -size 52524758 +oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be +size 48219112 diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py index 90b9762800..ed0b597dfe 100755 --- a/selfdrive/modeld/navmodeld.py +++ b/selfdrive/modeld/navmodeld.py @@ -10,7 +10,7 @@ from typing import Tuple, Dict from cereal import messaging from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.constants import ModelConstants diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 9d37a5fad4..01cba29d1c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -93,7 +93,10 @@ class Parser: self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) for k in ['lead_prob', 'lane_lines_prob', 'meta']: self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index e010f6cfd6..257a9bc878 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,6 +7,7 @@ import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import tici_f_frame_size from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state @@ -22,9 +23,10 @@ class TestModeld(unittest.TestCase): self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) self.vipc_server.start_listener() + write_car_param() self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) - self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration', 'lateralPlan']) + self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) managed_processes['modeld'].start() self.pm.wait_for_readers_to_update("roadCameraState", 10) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index bbcfc99c65..9d8d5c4662 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -3,8 +3,7 @@ import gc import cereal.messaging as messaging from cereal import car -from cereal import log -from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus @@ -15,17 +14,13 @@ def dmonitoringd_thread(): gc.disable() set_realtime_priority(2) + params = Params() pm = messaging.PubMaster(['driverMonitoringState', 'driverMonitoringStateSP']) sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) - driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) + driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected")) hands_on_wheel_status = HandsOnWheelStatus() - sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid - sm['liveCalibration'].rpyCalib = [0, 0, 0] - sm['carState'].buttonEvents = [] - sm['carState'].standstill = True - v_cruise_last = 0 driver_engaged = False steering_wheel_engaged = False @@ -34,7 +29,6 @@ def dmonitoringd_thread(): # 10Hz <- dmonitoringmodeld while True: sm.update() - if not sm.updated['driverStateV2']: continue @@ -55,7 +49,9 @@ def dmonitoringd_thread(): # Get data from dmonitoringmodeld events = Events() - driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) + + if sm.all_checks(): + driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) # Block engaging after max number of distrations if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ @@ -69,7 +65,7 @@ def dmonitoringd_thread(): hands_on_wheel_status.update(events, steering_wheel_engaged, sm['controlsState'].enabled, sm['carState'].vEgo) # build driverMonitoringState packet - dat = messaging.new_message('driverMonitoringState') + dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks()) dat.driverMonitoringState = { "events": events.to_msg(), "faceDetected": driver_status.face_detected, @@ -100,7 +96,7 @@ def dmonitoringd_thread(): if (sm['driverStateV2'].frameId % 6000 == 0 and driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): - put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) + params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) def main(): dmonitoringd_thread() diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc index 5251b046fb..2e7b4d3b60 100644 --- a/selfdrive/navd/main.cc +++ b/selfdrive/navd/main.cc @@ -11,7 +11,7 @@ #include "system/hardware/hw.h" int main(int argc, char *argv[]) { - Hardware::config_cpu_rendering(); + Hardware::config_cpu_rendering(true); qInstallMessageHandler(swagLogMessageHandler); setpriority(PRIO_PROCESS, 0, -20); diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index da2b8c06b9..2be703cdb2 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -15,7 +15,7 @@ from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 @@ -71,8 +71,11 @@ class RouteEngine: self.ui_pid = ui_pid[0] self.update_location() - self.recompute_route() - self.send_instruction() + try: + self.recompute_route() + self.send_instruction() + except Exception: + cloudlog.exception("navd.failed_to_compute") def update_location(self): location = self.sm['liveLocationKalman'] @@ -196,7 +199,7 @@ class RouteEngine: self.send_route() def send_instruction(self): - msg = messaging.new_message('navInstruction') + msg = messaging.new_message('navInstruction', valid=True) if self.step_idx is None: msg.valid = False @@ -256,7 +259,10 @@ class RouteEngine: for i in range(self.step_idx + 1, len(self.route)): total_distance += self.route[i]['distance'] total_time += self.route[i]['duration'] - total_time_typical += self.route[i]['duration_typical'] + if self.route[i]['duration_typical'] is None: + total_time_typical += self.route[i]['duration'] + else: + total_time_typical += self.route[i]['duration_typical'] msg.navInstruction.distanceRemaining = total_distance msg.navInstruction.timeRemaining = total_time @@ -302,7 +308,7 @@ class RouteEngine: for path in self.route_geometry: coords += [c.as_dict() for c in path] - msg = messaging.new_message('navRoute') + msg = messaging.new_message('navRoute', valid=True) msg.navRoute.coordinates = coords self.pm.send('navRoute', msg) diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index dbd6add995..d056198bec 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import time import numpy as np import os import pytest @@ -10,7 +11,7 @@ import cereal.messaging as messaging from typing import Any from cereal.visionipc import VisionIpcClient, VisionStreamType -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.helpers import with_processes LLK_DECIMATION = 10 CACHE_PATH = "/data/mbgl-cache-navd.db" @@ -18,7 +19,8 @@ CACHE_PATH = "/data/mbgl-cache-navd.db" LOCATION1 = (32.7174, -117.16277) LOCATION2 = (32.7558, -117.2037) -DEFAULT_ITERATIONS = 30 * LLK_DECIMATION +RENDER_FRAMES = 15 +DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS @@ -60,7 +62,8 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): class MapBoxInternetDisabledServer(threading.Thread): def run(self): - self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler) + self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler) + self.port = self.server.server_port self.server.serve_forever() def stop(self): @@ -74,13 +77,15 @@ class MapBoxInternetDisabledServer(threading.Thread): class TestMapRenderer(unittest.TestCase): - server = MapBoxInternetDisabledServer() + server: MapBoxInternetDisabledServer @classmethod def setUpClass(cls): assert "MAPBOX_TOKEN" in os.environ cls.original_token = os.environ["MAPBOX_TOKEN"] + cls.server = MapBoxInternetDisabledServer() cls.server.start() + time.sleep(0.5) # wait for server to startup @classmethod def tearDownClass(cls) -> None: @@ -88,7 +93,7 @@ class TestMapRenderer(unittest.TestCase): def setUp(self): self.server.enable_internet() - os.environ['MAPS_HOST'] = 'http://localhost:5000' + os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}' self.sm = messaging.SubMaster(['mapRenderState']) self.pm = messaging.PubMaster(['liveLocationKalman']) @@ -97,15 +102,11 @@ class TestMapRenderer(unittest.TestCase): if os.path.exists(CACHE_PATH): os.remove(CACHE_PATH) - def tearDown(self): - managed_processes['mapsd'].stop() - def _setup_test(self): - # start + sync up - managed_processes['mapsd'].start() - assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10) + time.sleep(0.5) + assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, } assert self.vipc.connect(False) self.vipc.recv() @@ -164,17 +165,23 @@ class TestMapRenderer(unittest.TestCase): assert self.vipc.timestamp_sof == llk.logMonoTime assert self.vipc.frame_id == self.sm['mapRenderState'].frameId + assert frames_since_test_start >= RENDER_FRAMES + return render_times + @with_processes(["mapsd"]) def test_with_internet(self): self._setup_test() self._run_test(True) + @with_processes(["mapsd"]) def test_with_no_internet(self): self.server.disable_internet() self._setup_test() self._run_test(False) + @with_processes(["mapsd"]) + @pytest.mark.skip(reason="slow, flaky, and unlikely to break") def test_recover_from_no_internet(self): self._setup_test() self._run_test(True) @@ -187,8 +194,7 @@ class TestMapRenderer(unittest.TestCase): self.server.enable_internet() self._run_test(True, LOCATION2_REPEATED) - self._run_test(True, LOCATION2_REPEATED) - + @with_processes(["mapsd"]) @pytest.mark.tici def test_render_time_distribution(self): self._setup_test() diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py new file mode 100755 index 0000000000..e2a5944c2b --- /dev/null +++ b/selfdrive/navd/tests/test_navd.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +import json +import random +import unittest +import numpy as np + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes + + +class TestNavd(unittest.TestCase): + def setUp(self): + self.params = Params() + self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) + + def tearDown(self): + managed_processes['navd'].stop() + + def _check_route(self, start, end, check_coords=True): + self.params.put("NavDestination", json.dumps(end)) + self.params.put("LastGPSPosition", json.dumps(start)) + + managed_processes['navd'].start() + for _ in range(30): + self.sm.update(1000) + if all(f > 0 for f in self.sm.rcv_frame.values()): + break + else: + raise Exception("didn't get a route") + + assert managed_processes['navd'].proc.is_alive() + managed_processes['navd'].stop() + + # ensure start and end match up + if check_coords: + coords = self.sm['navRoute'].coordinates + assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], + [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], + rtol=1e-3) + + def test_simple(self): + start = { + "latitude": 32.7427228, + "longitude": -117.2321177, + } + end = { + "latitude": 32.7557004, + "longitude": -117.268002, + } + self._check_route(start, end) + + def test_random(self): + for _ in range(10): + start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + self._check_route(start, end, check_coords=False) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index b8bc8eff12..f4bb1fbce8 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -6,7 +6,7 @@ from sentry_sdk.integrations.threading import ThreadingIntegration from openpilot.common.params import Params from openpilot.selfdrive.athena.registration import is_registered_device from openpilot.system.hardware import HARDWARE, PC -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 8acf406515..94572b82c7 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -9,11 +9,12 @@ from typing import NoReturn, Union, List, Dict from openpilot.common.params import Params from cereal.messaging import SubMaster -from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware.hw import Paths +from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE from openpilot.common.file_helpers import atomic_write_in_dir from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: @@ -80,6 +81,8 @@ def main() -> NoReturn: sock = ctx.socket(zmq.PULL) sock.bind(STATS_SOCKET) + STATS_DIR = Paths.stats_root() + # initialize stats directory Path(STATS_DIR).mkdir(parents=True, exist_ok=True) diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py new file mode 100755 index 0000000000..f9d3e681a5 --- /dev/null +++ b/selfdrive/test/cpp_harness.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python3 +import subprocess +import sys + +from openpilot.common.prefix import OpenpilotPrefix + + +with OpenpilotPrefix(): + ret = subprocess.call(sys.argv[1:]) + +exit(ret) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index e0ba54f058..5f77ceb10d 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,7 +17,7 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 552070f024..a8b7ca0c4d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -11,7 +11,6 @@ from openpilot.system.version import training_version, terms_version def set_params_enabled(): - os.environ['PASSIVE'] = "0" os.environ['REPLAY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['LOGPRINT'] = "debug" @@ -20,7 +19,6 @@ def set_params_enabled(): params.put("HasAcceptedTerms", terms_version) params.put("CompletedTrainingVersion", training_version) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("Passive", False) # valid calib msg = messaging.new_message('liveCalibration') @@ -71,4 +69,11 @@ def with_processes(processes, init_time=0, ignore_stopped=None): def noop(*args, **kwargs): - pass \ No newline at end of file + pass + + +def read_segment_list(segment_list_path): + with open(segment_list_path, "r") as f: + seg_list = f.read().splitlines() + + return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index a3b307ccba..713b7801f8 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,10 +1,8 @@ #!/usr/bin/env python3 import itertools -import os -from parameterized import parameterized_class import unittest +from parameterized import parameterized_class -from openpilot.common.params import Params from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver @@ -150,17 +148,6 @@ class LongitudinalControl(unittest.TestCase): e2e: bool force_decel: bool - @classmethod - def setUpClass(cls): - os.environ['SIMULATION'] = "1" - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['NO_CAN_TIMEOUT'] = "1" - - params = Params() - params.clear_all() - params.put_bool("Passive", bool(os.getenv("PASSIVE"))) - params.put_bool("OpenpilotEnabledToggle", True) - def test_maneuver(self): for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}): with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py deleted file mode 100755 index f590b66e54..0000000000 --- a/selfdrive/test/openpilotci.py +++ /dev/null @@ -1,64 +0,0 @@ -#!/usr/bin/env python3 -import os -from datetime import datetime, timedelta -from functools import lru_cache -from pathlib import Path -from typing import IO, Union - -DATA_CI_ACCOUNT = "commadataci" -DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net" -DATA_CI_CONTAINER = "openpilotci" -BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{DATA_CI_CONTAINER}/" - -TOKEN_PATH = Path("/data/azure_token") - - -def get_url(route_name: str, segment_num, log_type="rlog") -> str: - ext = "hevc" if log_type.endswith('camera') else "bz2" - return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" - - -@lru_cache -def get_azure_credential(): - if "AZURE_TOKEN" in os.environ: - return os.environ["AZURE_TOKEN"] - elif TOKEN_PATH.is_file(): - return TOKEN_PATH.read_text().strip() - else: - from azure.identity import AzureCliCredential - return AzureCliCredential() - - -@lru_cache -def get_container_sas(account_name: str, container_name: str): - from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas - start_time = datetime.utcnow() - expiry_time = start_time + timedelta(hours=1) - blob_service = BlobServiceClient( - account_url=f"https://{account_name}.blob.core.windows.net", - credential=get_azure_credential(), - ) - return generate_container_sas( - account_name, - container_name, - user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), - permission=ContainerSasPermissions(read=True, write=True, list=True), - expiry=expiry_time, - ) - - -def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: - from azure.storage.blob import BlobClient - blob = BlobClient( - account_url=DATA_CI_ACCOUNT_URL, - container_name=DATA_CI_CONTAINER, - blob_name=blob_name, - credential=get_azure_credential(), - ) - blob.upload_blob(data) - return BASE_URL + blob_name - - -def upload_file(path: Union[str, os.PathLike], blob_name: str) -> str: - with open(path, "rb") as f: - return upload_bytes(f, blob_name) diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index bec3eb9016..008a901010 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -31,7 +31,7 @@ optional arguments: --blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd) --blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA) --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events) - --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. carEvents) + --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents) --update-refs Updates reference logs using current commit --upload-only Skips testing processes and uploads logs from previous test run ``` diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index ad5192dbba..ef74314172 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -40,7 +40,7 @@ def migrate_pandaStates(lr): # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE, + "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR, "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } @@ -85,6 +85,7 @@ def migrate_peripheralState(lr): continue new_msg = messaging.new_message("peripheralState") + new_msg.valid = msg.valid new_msg.logMonoTime = msg.logMonoTime all_msg.append(new_msg.as_reader()) @@ -149,6 +150,7 @@ def migrate_carParams(lr, old_logtime=False): for msg in lr: if msg.which() == 'carParams': CP = messaging.new_message('carParams') + CP.valid = True CP.carParams = msg.carParams.as_builder() for car_fw in CP.carParams.carFw: car_fw.brand = CP.carParams.carName diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 2841386bf4..97b7c7c46c 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -9,7 +9,7 @@ import cereal.messaging as messaging from openpilot.common.params import Params from openpilot.system.hardware import PC from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.tools.lib.openpilotci import BASE_URL, get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process from openpilot.system.version import get_commit @@ -105,11 +105,11 @@ def nav_model_replay(lr): def model_replay(lr, frs): # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"}) - dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"}) + modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}) + dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) if not SEND_EXTRA_INPUTS: - modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] - dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]] + modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration",]] + dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration",]] # initial calibration cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder() cal_msg.logMonoTime = lr[0].logMonoTime @@ -143,7 +143,7 @@ if __name__ == "__main__": import requests import threading import http.server - from openpilot.selfdrive.test.openpilotci import upload_bytes + from openpilot.tools.lib.openpilotci import upload_bytes os.environ['MAPS_HOST'] = 'http://localhost:5000' class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): @@ -229,7 +229,7 @@ if __name__ == "__main__": # upload new refs if (update or failed) and not PC: - from openpilot.selfdrive.test.openpilotci import upload_file + from openpilot.tools.lib.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 977f19e7bc..2e78b1e608 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -35a05ff1b68062c9478b2adfe96f1c294bee1b6c +4b983afeba5ec953f0d37e7b3499bde5209728eb diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index a26e964550..a6b2771668 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -442,8 +442,8 @@ def controlsd_config_callback(params, cfg, lr): controlsState = msg.controlsState if initialized: break - elif msg.which() == "carEvents": - initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] + elif msg.which() == "onroadEvents": + initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents] assert controlsState is not None and initialized, "controlsState never initialized" params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) @@ -461,12 +461,12 @@ CONFIGS = [ proc_name="controlsd", pubs=[ "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState", + "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope" ], - subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], - ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], + subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"], + ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"], config_callback=controlsd_config_callback, init_callback=controlsd_fingerprint_callback, should_recv_callback=controlsd_rcv_callback, @@ -478,7 +478,7 @@ CONFIGS = [ proc_name="radard", pubs=["can", "carState", "modelV2"], subs=["radarState", "liveTracks"], - ignore=["logMonoTime", "valid", "radarState.cumLagMs"], + ignore=["logMonoTime", "radarState.cumLagMs"], init_callback=get_car_params_callback, should_recv_callback=MessageBasedRcvCallback("can"), main_pub="can", @@ -486,8 +486,8 @@ CONFIGS = [ ProcessConfig( proc_name="plannerd", pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], - subs=["lateralPlan", "longitudinalPlan", "uiPlan"], - ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"], + subs=["longitudinalPlan", "uiPlan"], + ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("modelV2"), tolerance=NUMPY_TOLERANCE, @@ -496,14 +496,14 @@ CONFIGS = [ proc_name="calibrationd", pubs=["carState", "cameraOdometry", "carParams"], subs=["liveCalibration"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], should_recv_callback=calibration_rcv_callback, ), ProcessConfig( proc_name="dmonitoringd", pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"], subs=["driverMonitoringState"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), tolerance=NUMPY_TOLERANCE, ), @@ -514,7 +514,7 @@ CONFIGS = [ "liveCalibration", "carState", "carParams", "gpsLocation" ], subs=["liveLocationKalman"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, ), @@ -522,7 +522,7 @@ CONFIGS = [ proc_name="paramsd", pubs=["liveLocationKalman", "carState"], subs=["liveParameters"], - ignore=["logMonoTime", "valid"], + ignore=["logMonoTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"), tolerance=NUMPY_TOLERANCE, @@ -545,7 +545,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], + pubs=["roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], subs=["modelV2", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), @@ -555,6 +555,7 @@ CONFIGS = [ main_pub_drained=False, vision_pubs=["roadCameraState", "wideRoadCameraState"], ignore_alive_pubs=["wideRoadCameraState"], + init_callback=get_car_params_callback, ), ProcessConfig( proc_name="dmonitoringmodeld", @@ -725,7 +726,6 @@ def _replay_multi_process( def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]: params_dict = { "OpenpilotEnabledToggle": True, - "Passive": False, "DisengageOnAccelerator": True, "DisableLogging": False, } @@ -749,6 +749,9 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non if CP.openpilotLongitudinalControl: params_dict["ExperimentalLongitudinalEnabled"] = True + if CP.notCar: + params_dict["JoystickDebugMode"] = True + return params_dict diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 40ac91ee70..a8d0976b57 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dbea36698ba48429b201b138846165eb4c329b92 \ No newline at end of file +0dffa4e5634108f41d140c74052c38059038abd0 diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index a6e6955dbf..bea1b1fb00 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -8,14 +8,13 @@ import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta from openpilot.system.hardware import PC, TICI from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.tools.lib.openpilotci import BASE_URL from openpilot.system.version import get_commit from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.filereader import FileReader -TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" -SEGMENT = 0 +TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0" FRAME_WIDTH = 1928 FRAME_HEIGHT = 1208 @@ -116,7 +115,7 @@ if __name__ == "__main__": ref_commit_fn = os.path.join(replay_dir, "debayer_replay_ref_commit") # load logs - lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) + lr = list(LogReader(TEST_ROUTE)) # run replay frames = debayer_replay(lr) @@ -172,7 +171,7 @@ if __name__ == "__main__": # upload new refs if update or (failed and TICI): - from openpilot.selfdrive.test.openpilotci import upload_file + from openpilot.tools.lib.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 4b8629fc7d..adff06f88a 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -14,13 +14,15 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] + TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] class TestFuzzProcesses(unittest.TestCase): + # TODO: make this faster and increase examples @parameterized.expand(TEST_CASES) @given(st.data()) - @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) + @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) def test_fuzz_process(self, proc_name, cfg, data): msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) lr = [log.Event.new_message(**m).as_reader() for m in msgs] diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5429c9b63e..46fa93ba4d 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -8,7 +8,7 @@ from tqdm import tqdm from typing import Any, DefaultDict, Dict from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.tools.lib.openpilotci import get_url, upload_file from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process from openpilot.system.version import get_commit diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index f352205564..41d67ea376 100755 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -6,7 +6,7 @@ from parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.framereader import FrameReader diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index c34e097f73..5c85312f1a 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -29,7 +29,6 @@ sudo abctl --set_success # patch sshd config sudo mount -o rw,remount / -echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$//') | sudo tee /etc/hostname sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config sudo systemctl daemon-reload sudo systemctl restart ssh @@ -80,9 +79,7 @@ safe_checkout() { echo "git checkout done, t=$SECONDS" du -hs $SOURCE_DIR $SOURCE_DIR/.git - if [ -z "SKIP_COPY" ]; then - rsync -a --delete $SOURCE_DIR $TEST_DIR - fi + rsync -a --delete $SOURCE_DIR $TEST_DIR } unsafe_checkout() { diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh new file mode 100755 index 0000000000..a6601d0a61 --- /dev/null +++ b/selfdrive/test/setup_vsound.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +{ + #start pulseaudio daemon + sudo pulseaudio -D + + # create a virtual null audio and set it to default device + sudo pactl load-module module-null-sink sink_name=virtual_audio + sudo pactl set-default-sink virtual_audio +} > /dev/null 2>&1 diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh new file mode 100755 index 0000000000..806515b0f9 --- /dev/null +++ b/selfdrive/test/setup_xvfb.sh @@ -0,0 +1,15 @@ +#!/usr/bin/env bash + +# Sets up a virtual display for running map renderer and simulator without an X11 display + +DISP_ID=99 +export DISPLAY=:$DISP_ID + +sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null & + +# check for x11 socket for the specified display ID +while [ ! -S /tmp/.X11-unix/X$DISP_ID ] +do + echo "Waiting for Xvfb..." + sleep 1 +done \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0e9d207da3..335da73232 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,9 +34,9 @@ PROCS = { "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, - "./mapsd": 1.5, - "selfdrive.controls.plannerd": 16.5, - "./_ui": 18.0, + "./mapsd": (0.5, 10.0), + "selfdrive.controls.plannerd": 11.0, + "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, "./sensord": 7.0, "selfdrive.controls.radard": 4.5, @@ -46,18 +46,18 @@ PROCS = { "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, - "./_soundd": (1.0, 65.0), + "selfdrive.ui.soundd": 3.5, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, "selfdrive.tombstoned": 0, "./logcatd": 0, - "system.micd": 10.0, - "system.timezoned": 0, + "system.micd": 6.0, + "system.timed": 0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, "selfdrive.navd.navd": 0.4, - "system.loggerd.uploader": 3.0, + "system.loggerd.uploader": (0.5, 10.0), "system.loggerd.deleter": 0.1, } @@ -69,7 +69,7 @@ PROCS.update({ }, "tizi": { "./boardd": 19.0, - "system.sensord.rawgps.rawgpsd": 1.0, + "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) @@ -82,7 +82,6 @@ TIMINGS = { "carState": [2.5, 0.35], "carControl": [2.5, 0.35], "controlsState": [2.5, 0.35], - "lateralPlan": [2.5, 0.5], "longitudinalPlan": [2.5, 0.5], "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], @@ -168,6 +167,15 @@ class TestOnroad(unittest.TestCase): cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog"))) cls.log_path = cls.segments[1] + cls.log_sizes = {} + for f in cls.log_path.iterdir(): + assert f.is_file() + cls.log_sizes[f] = f.stat().st_size / 1e6 + if f.name in ("qlog", "rlog"): + with open(f, 'rb') as ff: + cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6 + + @cached_property def service_msgs(self): msgs = defaultdict(list) @@ -198,14 +206,7 @@ class TestOnroad(unittest.TestCase): self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}") def test_log_sizes(self): - for f in self.log_path.iterdir(): - assert f.is_file() - - sz = f.stat().st_size / 1e6 - if f.name in ("qlog", "rlog"): - with open(f, 'rb') as ff: - sz = len(bz2.compress(ff.read())) / 1e6 - + for f, sz in self.log_sizes.items(): if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": @@ -303,7 +304,7 @@ class TestOnroad(unittest.TestCase): self.assertLessEqual(max(mems) - min(mems), 3.0) def test_gpu_usage(self): - self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"}) + self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}) def test_camera_processing_time(self): result = "\n" @@ -342,7 +343,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- MPC Timing ------------------\n" result += "------------------------------------------------\n" - cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] + cfgs = [("longitudinalPlan", 0.05, 0.05),] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") @@ -408,7 +409,7 @@ class TestOnroad(unittest.TestCase): def test_startup(self): startup_alert = None for msg in self.lrs[0]: - # can't use carEvents because the first msg can be dropped while loggerd is starting up + # can't use onroadEvents because the first msg can be dropped while loggerd is starting up if msg.which() == "controlsState": startup_alert = msg.controlsState.alertText1 break @@ -417,8 +418,8 @@ class TestOnroad(unittest.TestCase): def test_engagable(self): no_entries = Counter() - for m in self.service_msgs['carEvents']: - for evt in m.carEvents: + for m in self.service_msgs['onroadEvents']: + for evt in m.onroadEvents: if evt.noEntry: no_entries[evt.name] += 1 diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index cc2cc6514e..aec49cb13a 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -18,7 +18,7 @@ def test_time_to_onroad(): proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() - sm = messaging.SubMaster(['controlsState', 'deviceState', 'carEvents']) + sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents']) try: # wait for onroad with Timeout(20, "timed out waiting to go onroad"): @@ -40,7 +40,7 @@ def test_time_to_onroad(): # once we're enageable, must be for the next few seconds for _ in range(500): sm.update(100) - assert sm['controlsState'].engageable, f"events: {sm['carEvents']}" + assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" finally: proc.terminate() if proc.wait(60) is None: diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index a8a3463104..75520df91b 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -15,7 +15,7 @@ else: import cereal.messaging as messaging from collections import namedtuple from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url from openpilot.common.basedir import BASEDIR ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 326cb4fa56..5ab5042b2b 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,56 +1,39 @@ #!/usr/bin/env python3 +import os +import re import subprocess import sys -from functools import lru_cache -from typing import Iterable, Optional +from typing import Iterable, List, Optional -from azure.storage.blob import ContainerClient from tqdm import tqdm from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, - get_azure_credential, get_container_sas) +from openpilot.tools.lib.azure_container import AzureContainer +from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer -DATA_PROD_ACCOUNT = "commadata2" -DATA_PROD_CONTAINER = "commadata2" - -SOURCES = [ - (DATA_PROD_ACCOUNT, DATA_PROD_CONTAINER), - (DATA_CI_ACCOUNT, DATA_CI_CONTAINER), +SOURCES: List[AzureContainer] = [ + DataProdContainer, + DataCIContainer ] - -@lru_cache -def get_azure_keys(): - dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, credential=get_azure_credential()) - dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) - source_keys = [get_container_sas(*s) for s in SOURCES] - return dest_container, dest_key, source_keys - +DEST = OpenpilotCIContainer def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: - # TODO: use azure-storage-blob instead of azcopy, simplifies auth - dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) if exclude_patterns is None: - exclude_patterns = ['*/dcamera.hevc'] + exclude_patterns = [r'dcamera\.hevc'] r, n = path.rsplit("--", 1) r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path destpath = f"{r}/{n}" - cmd = [ - "azcopy", - "copy", - f"{path}/*", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{destpath}?{dest_key}", - "--recursive=false", - "--overwrite=false", - ] + [f"--exclude-pattern={p}" for p in exclude_patterns] - subprocess.check_call(cmd) + for file in os.listdir(path): + if any(re.search(pattern, file) for pattern in exclude_patterns): + continue + DEST.upload_file(os.path.join(path, file), f"{destpath}/{file}") def sync_to_ci_public(route: str) -> bool: - dest_container, dest_key, source_keys = get_azure_keys() + dest_container, dest_key = DEST.get_client_and_key() key_prefix = route.replace('|', '/') dongle_id = key_prefix.split('/')[0] @@ -58,14 +41,15 @@ def sync_to_ci_public(route: str) -> bool: return True print(f"Uploading {route}") - for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True): + for source_container in SOURCES: # assumes az login has been run - print(f"Trying {source_account}/{source_bucket}") + print(f"Trying {source_container.ACCOUNT}/{source_container.CONTAINER}") + _, source_key = source_container.get_client_and_key() cmd = [ "azcopy", "copy", - f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{dongle_id}?{dest_key}", + f"{source_container.BASE_URL}{key_prefix}?{source_key}", + f"{DEST.BASE_URL}{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index 64cd4c78ee..19c3292ce2 100755 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -3,7 +3,7 @@ from abc import ABC, abstractmethod from openpilot.common.realtime import DT_TRML from openpilot.common.numpy_fast import interp -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index e8c8d24891..d10d642f0b 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -3,9 +3,9 @@ import threading from typing import Optional from openpilot.common.numpy_fast import interp -from openpilot.common.params import Params, put_nonblocking +from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) @@ -60,7 +60,7 @@ class PowerMonitoring: self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0) self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh) if now - self.last_save_time >= 10: - put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) + self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh))) self.last_save_time = now # First measurement, set integration time diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index f8d43737cd..c3a890f068 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -3,7 +3,6 @@ import unittest from unittest.mock import patch from openpilot.common.params import Params -from openpilot.selfdrive.test.helpers import noop from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S @@ -26,7 +25,6 @@ def pm_patch(name, value, constant=False): @patch("time.monotonic", new=mock_time_monotonic) -@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=noop) # TODO: Remove this once nonblocking params are safer class TestPowerMonitoring(unittest.TestCase): def setUp(self): self.params = Params() diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 3ccb9349e1..ab30b1579f 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import datetime import os import json import queue @@ -15,7 +14,6 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.dict_helpers import strip_deprecated_keys -from openpilot.common.time import MIN_DATE from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_TRML @@ -23,7 +21,7 @@ from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.loggerd.config import get_available_percent from openpilot.selfdrive.statsd import statlog -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring from openpilot.selfdrive.thermald.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version @@ -81,7 +79,7 @@ def read_tz(x): def read_thermal(thermal_config): - dat = messaging.new_message('deviceState') + dat = messaging.new_message('deviceState', valid=True) dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]] dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]] dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1] @@ -293,25 +291,22 @@ def thermald_thread(end_event, hw_queue) -> None: # **** starting logic **** - # Ensure date/time are valid - now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = now > MIN_DATE - set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present) - startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 - startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \ - params.get_bool("Passive") + startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") # must be at an engageable thermal band to go onroad startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + # ensure device is fully booted + startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted() + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger extra_text = f"{offroad_comp_temp:.1f}C" @@ -444,6 +439,8 @@ def thermald_thread(end_event, hw_queue) -> None: except Exception: cloudlog.exception("failed to save offroad status") + params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered) + count += 1 should_start_prev = should_start diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 3f2fb28d23..5a81e93b28 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -9,10 +9,9 @@ import time import glob from typing import NoReturn -from openpilot.common.file_helpers import mkdirs_exists_ok import openpilot.selfdrive.sentry as sentry from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_commit MAX_SIZE = 1_000_000 * 100 # allow up to 100M @@ -128,7 +127,7 @@ def report_tombstone_apport(fn): new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] crashlog_dir = os.path.join(Paths.log_root(), "crash") - mkdirs_exists_ok(crashlog_dir) + os.makedirs(crashlog_dir, exist_ok=True) # Files could be on different filesystems, copy, then delete shutil.copy(fn, os.path.join(crashlog_dir, new_fn)) diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index cb95652191..99f9097905 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,7 +3,7 @@ moc_* translations/main_test_en.* -_mui +ui watch3 installer/installers/* qt/text diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 036164d6cc..a3cba124fe 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -19,6 +19,9 @@ if arch == "Darwin": del base_libs[base_libs.index('OpenCL')] qt_env['FRAMEWORKS'] += ['OpenCL'] +# FIXME: remove this once we're on 5.15 (24.04) +qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", @@ -70,12 +73,6 @@ qt_env.Command(assets, [assets_src, translations_assets_src], f"rcc $SOURCES -o qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, translations_assets_src, "#selfdrive/assets/assets.o"]) + [lrelease]) asset_obj = qt_env.Object("assets", assets) -# build soundd -qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) -if GetOption('extras'): - qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs) - qt_env.Program('tests/test_sound', ['tests/test_runner.cc', 'soundd/sound.cc', 'tests/test_sound.cc'], LIBS=qt_libs) - qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) # spinner and text window @@ -83,7 +80,7 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs) qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) # build main UI -qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) +qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('extras'): qt_src.remove("main.cc") # replaced by test_runner qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) @@ -99,31 +96,22 @@ if GetOption('extras') and arch != "Darwin": # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) - # build mui - qt_env.Program("_mui", ["mui.cc"], LIBS=qt_libs) - # build installers senv = qt_env.Clone() senv['LINKFLAGS'].append('-Wl,-strip-debug') release = "release3" - dashcam = "dashcam3" installers = [ ("openpilot", release), ("openpilot_test", f"{release}-staging"), ("openpilot_nightly", "nightly"), ("openpilot_internal", "master"), - ("dashcam", dashcam), - ("dashcam_test", f"{dashcam}-staging"), ] - cont = {} - for brand in ("openpilot", "dashcam"): - cont[brand] = senv.Command(f"installer/continue_{brand}.o", f"installer/continue_{brand}.sh", - "ld -r -b binary -o $TARGET $SOURCE") + cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh", + "ld -r -b binary -o $TARGET $SOURCE") for name, branch in installers: - brand = "dashcam" if "dashcam" in branch else "openpilot" - d = {'BRANCH': f"'\"{branch}\"'", 'BRAND': f"'\"{brand}\"'"} + d = {'BRANCH': f"'\"{branch}\"'"} if "internal" in name: d['INTERNAL'] = "1" @@ -132,9 +120,9 @@ if GetOption('extras') and arch != "Darwin": r.raise_for_status() d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"' obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) - f = senv.Program(f"installer/installers/installer_{name}", [obj, cont[brand]], LIBS=qt_libs) + f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs) # keep installers small - assert f[0].get_size() < 300*1e3 + assert f[0].get_size() < 350*1e3 # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): diff --git a/common/kalman/__init__.py b/selfdrive/ui/__init__.py similarity index 100% rename from common/kalman/__init__.py rename to selfdrive/ui/__init__.py diff --git a/selfdrive/ui/installer/continue_dashcam.sh b/selfdrive/ui/installer/continue_dashcam.sh deleted file mode 100755 index 25233fff11..0000000000 --- a/selfdrive/ui/installer/continue_dashcam.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/bash - -cd /data/openpilot -exec ./launch_chffrplus.sh diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 179ce60c63..d43ed37ae8 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -33,8 +33,8 @@ const QString CACHE_PATH = "/data/openpilot.cache"; #define INSTALL_PATH "/data/openpilot" #define TMP_INSTALL_PATH "/data/tmppilot" -extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_start"); -extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_" BRAND "_sh_end"); +extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start"); +extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end"); bool time_valid() { time_t rawtime; diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc deleted file mode 100644 index e2b4358b65..0000000000 --- a/selfdrive/ui/mui.cc +++ /dev/null @@ -1,132 +0,0 @@ -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/qt_window.h" - -class StatusBar : public QGraphicsRectItem { - private: - QLinearGradient linear_gradient; - QRadialGradient radial_gradient; - QTimer animation_timer; - const int animation_length = 10; - int animation_index = 0; - - public: - StatusBar(double x, double y, double width, double height) : QGraphicsRectItem {x, y, width, height} { - linear_gradient = QLinearGradient(0, 0, 0, height/2); - linear_gradient.setSpread(QGradient::ReflectSpread); - - radial_gradient = QRadialGradient(width/2, height/2, width/8); - QObject::connect(&animation_timer, &QTimer::timeout, [=]() { - animation_index++; - animation_index %= animation_length; - }); - animation_timer.start(50); - } - - void solidColor(QColor color) { - QColor dark_color = QColor(color); - dark_color.setAlphaF(0.5); - - linear_gradient.setColorAt(0, dark_color); - linear_gradient.setColorAt(1, color); - setBrush(QBrush(linear_gradient)); - } - - // these need to be called continuously for the animations to work. - // can probably clean that up with some more abstractions - void blinkingColor(QColor color) { - QColor dark_color = QColor(color); - dark_color.setAlphaF(0.1); - - int radius = (rect().width() / animation_length) * animation_index; - QPoint center = QPoint(rect().width()/2, rect().height()/2); - radial_gradient.setCenter(center); - radial_gradient.setFocalPoint(center); - radial_gradient.setRadius(radius); - - radial_gradient.setColorAt(1, dark_color); - radial_gradient.setColorAt(0, color); - setBrush(QBrush(radial_gradient)); - } - - void laneChange(cereal::LateralPlan::LaneChangeDirection direction) { - QColor dark_color = QColor(bg_colors[STATUS_ENGAGED]); - dark_color.setAlphaF(0.1); - - int x = (rect().width() / animation_length) * animation_index; - QPoint center = QPoint(((direction == cereal::LateralPlan::LaneChangeDirection::RIGHT) ? x : (rect().width() - x)), rect().height()/2); - radial_gradient.setCenter(center); - radial_gradient.setFocalPoint(center); - radial_gradient.setRadius(rect().width()/5); - - radial_gradient.setColorAt(1, dark_color); - radial_gradient.setColorAt(0, bg_colors[STATUS_ENGAGED]); - setBrush(QBrush(radial_gradient)); - } - - void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override { - painter->setPen(QPen()); - painter->setBrush(brush()); - - double rounding_radius = rect().height()/2; - painter->drawRoundedRect(rect(), rounding_radius, rounding_radius); - } -}; - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - w.setStyleSheet("background-color: black;"); - - // our beautiful UI - QVBoxLayout *layout = new QVBoxLayout(&w); - - QGraphicsScene *scene = new QGraphicsScene(); - StatusBar *status_bar = new StatusBar(0, 0, 1000, 50); - scene->addItem(status_bar); - - QGraphicsView *graphics_view = new QGraphicsView(scene); - layout->insertSpacing(0, 400); - layout->addWidget(graphics_view, 0, Qt::AlignCenter); - - QTimer timer; - QObject::connect(&timer, &QTimer::timeout, [=]() { - static SubMaster sm({"deviceState", "controlsState", "lateralPlan"}); - - bool onroad_prev = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - sm.update(0); - - bool onroad = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - - if (onroad) { - auto cs = sm["controlsState"].getControlsState(); - UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; - auto lp = sm["lateralPlan"].getLateralPlan(); - if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) { - status_bar->blinkingColor(bg_colors[status]); - } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING || - lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) { - status_bar->laneChange(lp.getLaneChangeDirection()); - } else { - status_bar->solidColor(bg_colors[status]); - } - } - - if ((onroad != onroad_prev) || sm.frame < 2) { - Hardware::set_brightness(50); - Hardware::set_display_power(onroad); - } - }); - timer.start(50); - - return a.exec(); -} diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc index 322861ed15..161844c618 100644 --- a/selfdrive/ui/qt/maps/map_eta.cc +++ b/selfdrive/ui/qt/maps/map_eta.cc @@ -20,7 +20,7 @@ void MapETA::paintEvent(QPaintEvent *event) { QPainter p(this); p.setRenderHint(QPainter::Antialiasing); p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 150)); + p.setBrush(QColor(0, 0, 0, 255)); QSizeF txt_size = eta_doc.size(); p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25); p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2); diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 090b9b578c..5354a01fa0 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -48,6 +48,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { an = new AdvancedNetworking(this, wifi); connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); }); + connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); }); main_layout->addWidget(an); QPalette pal = palette(); @@ -181,6 +182,25 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid }); list->addItem(meteredToggle); + // Hidden Network + hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT")); + connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() { + QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1); + if (!ssid.isEmpty()) { + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1); + Network hidden_network; + hidden_network.ssid = ssid.toUtf8(); + if (!pass.isEmpty()) { + hidden_network.security_type = SecurityType::WPA; + wifi->connect(hidden_network, pass); + } else { + wifi->connect(hidden_network); + } + emit requestWifiScreen(); + } + }); + list->addItem(hiddenNetworkButton); + // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 4ff7380f42..9b6af005ea 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -62,12 +62,14 @@ private: ToggleControl* tetheringToggle; ToggleControl* roamingToggle; ButtonControl* editApnButton; + ButtonControl* hiddenNetworkButton; ToggleControl* meteredToggle; WifiManager* wifi = nullptr; Params params; signals: void backPress(); + void requestWifiScreen(); public slots: void toggleTethering(bool enabled); diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index 03c6896f7a..ebb5cb8736 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -59,6 +59,8 @@ WifiManager::WifiManager(QObject *parent) : QObject(parent) { } timer.callOnTimeout(this, &WifiManager::requestScan); + + initConnections(); } void WifiManager::setup() { @@ -72,7 +74,6 @@ void WifiManager::setup() { raw_adapter_state = call(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "State"); activeAp = call(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE_WIRELESS, "ActiveAccessPoint").path(); - initConnections(); requestScan(); } diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 693a0253b4..df9bb24651 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -3,62 +3,39 @@ #include #include -#include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - layout = new QStackedLayout(this); - layout->setStackingMode(QStackedLayout::StackAll); - - cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); - layout->addWidget(cameraView); - - scene = new DriverViewScene(this); - connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); - layout->addWidget(scene); - layout->setCurrentWidget(scene); - - QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView); -} - -void DriverViewWindow::closeView() { - if (isVisible()) { - cameraView->stopVipcThread(); - emit done(); - } -} - -void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { - closeView(); -} - -DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); + QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); + QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { + if (isVisible()) { + emit done(); + } + }); } -void DriverViewScene::showEvent(QShowEvent* event) { - frame_updated = false; +void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); + CameraWidget::showEvent(event); } -void DriverViewScene::hideEvent(QHideEvent* event) { +void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); + stopVipcThread(); + CameraWidget::hideEvent(event); } -void DriverViewScene::frameUpdated() { - frame_updated = true; - update(); -} +void DriverViewWindow::paintGL() { + CameraWidget::paintGL(); -void DriverViewScene::paintEvent(QPaintEvent* event) { + std::lock_guard lk(frame_lock); QPainter p(this); - // startup msg - if (!frame_updated) { + if (frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -68,10 +45,8 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { const auto &sm = *(uiState()->sm); cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); - cereal::DriverStateV2::DriverData::Reader driver_data; - - is_rhd = driver_state.getWheelOnRightProb() > 0.5; - driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; + auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 8bfc7a4b7b..155e4ede32 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,31 +1,8 @@ #pragma once -#include - #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewScene : public QWidget { - Q_OBJECT - -public: - explicit DriverViewScene(QWidget *parent); - -public slots: - void frameUpdated(); - -protected: - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; - void paintEvent(QPaintEvent *event) override; - -private: - Params params; - QPixmap face_img; - bool is_rhd = false; - bool frame_updated = false; -}; - -class DriverViewWindow : public QWidget { +class DriverViewWindow : public CameraWidget { Q_OBJECT public: @@ -35,10 +12,10 @@ signals: void done(); protected: - void mouseReleaseEvent(QMouseEvent* e) override; - void closeView(); + void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; + void paintGL() override; - CameraWidget *cameraView; - DriverViewScene *scene; - QStackedLayout *layout; + Params params; + QPixmap face_img; }; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index c7c22f0ea3..d4fcee55ce 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -183,7 +183,7 @@ void DeclinePage::showEvent(QShowEvent *event) { void OnboardingWindow::updateActiveScreen() { if (!accepted_terms) { setCurrentIndex(0); - } else if (!training_done && !params.getBool("Passive")) { + } else if (!training_done) { setCurrentIndex(1); } else { emit onboardingDone(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index dc6765b4cd..4308caaade 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -220,15 +220,13 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(resetCalibBtn); - if (!params.getBool("Passive")) { - auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); - connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { - emit reviewTrainingGuide(); - } - }); - addItem(retrainingBtn); - } + auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); + connect(retrainingBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { + emit reviewTrainingGuide(); + } + }); + addItem(retrainingBtn); if (Hardware::TICI()) { auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); @@ -361,7 +359,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QPushButton { font-size: 140px; padding-bottom: 20px; - border 1px grey solid; border-radius: 100px; background-color: #292929; font-weight: 400; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index a9e8d7f20d..3b10cdd5c3 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -10,6 +10,7 @@ #include #include +#include "common/swaglog.h" #include "common/timing.h" #include "selfdrive/ui/qt/util.h" #ifdef ENABLE_MAPS @@ -670,7 +671,6 @@ void AnnotatedCameraWidget::paintGL() { SubMaster &sm = *(s->sm); const double start_draw_t = millis_since_boot(); const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); - const cereal::RadarState::Reader &radar_state = sm["radarState"].getRadarState(); // draw camera frame { @@ -719,17 +719,13 @@ void AnnotatedCameraWidget::paintGL() { painter.setRenderHint(QPainter::Antialiasing); painter.setPen(Qt::NoPen); - if (s->worldObjectsVisible()) { - if (sm.rcv_frame("modelV2") > s->scene.started_frame) { - update_model(s, model, sm["uiPlan"].getUiPlan()); - if (sm.rcv_frame("radarState") > s->scene.started_frame) { - update_leads(s, radar_state, model.getPosition()); - } - } - + if (s->scene.world_objects_visible) { + update_model(s, model, sm["uiPlan"].getUiPlan()); drawLaneLines(painter, s); - if (s->scene.longitudinal_control) { + if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) { + auto radar_state = sm["radarState"].getRadarState(); + update_leads(s, radar_state, model.getPosition()); auto lead_one = radar_state.getLeadOne(); auto lead_two = radar_state.getLeadTwo(); if (lead_one.getStatus()) { diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 3b3666b19a..4f2e4f48cb 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -20,7 +20,7 @@ #include "selfdrive/ui/qt/widgets/input.h" const std::string USER_AGENT = "AGNOSSetup-"; -const QString DASHCAM_URL = "https://dashcam.comma.ai"; +const QString TEST_URL = "https://openpilot.comma.ai"; bool is_elf(char *fname) { FILE *fp = fopen(fname, "rb"); @@ -34,6 +34,11 @@ bool is_elf(char *fname) { } void Setup::download(QString url) { + // autocomplete incomplete urls + if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) { + url.prepend("https://installer.comma.ai/"); + } + CURL *curl = curl_easy_init(); if (!curl) { emit finished(url, tr("Something went wrong. Reboot the device.")); @@ -224,11 +229,11 @@ QWidget * Setup::network_setup() { } repaint(); }); - request->sendRequest(DASHCAM_URL); + request->sendRequest(TEST_URL); QTimer *timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, [=]() { if (!request->active() && cont->isVisible()) { - request->sendRequest(DASHCAM_URL); + request->sendRequest(TEST_URL); } }); timer->start(1000); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index fb70f46727..02001fcc23 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -25,7 +25,7 @@ QString getVersion() { } QString getBrand() { - return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("sunnypilot"); + return QObject::tr("sunnypilot"); } QString getUserAgent() { @@ -112,6 +112,8 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { #endif } + qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); + setQtSurfaceFormat(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 6a5064e8ca..7b1f2f1d24 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -31,8 +31,8 @@ const char frame_vertex_shader[] = " vTexCoord = aTexCoord;\n" "}\n"; -#ifdef QCOM2 const char frame_fragment_shader[] = +#ifdef QCOM2 "#version 300 es\n" "#extension GL_OES_EGL_image_external_essl3 : enable\n" "precision mediump float;\n" @@ -43,7 +43,6 @@ const char frame_fragment_shader[] = " colorOut = texture(uTexture, vTexCoord);\n" "}\n"; #else -const char frame_fragment_shader[] = #ifdef __APPLE__ "#version 330 core\n" #else @@ -188,12 +187,23 @@ void CameraWidget::showEvent(QShowEvent *event) { } void CameraWidget::stopVipcThread() { + makeCurrent(); if (vipc_thread) { vipc_thread->requestInterruption(); vipc_thread->quit(); vipc_thread->wait(); vipc_thread = nullptr; } + +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + assert(eglGetError() == EGL_SUCCESS); + } + egl_images.clear(); +#endif } void CameraWidget::availableStreamsUpdated(std::set streams) { @@ -324,8 +334,8 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { stream_stride = vipc_client->buffers[0].stride; #ifdef QCOM2 - egl_display = eglGetCurrentDisplay(); - + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); for (auto &pair : egl_images) { eglDestroyImageKHR(egl_display, pair.second); } @@ -416,13 +426,6 @@ void CameraWidget::vipcThread() { } } } - -#ifdef QCOM2 - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); -#endif } void CameraWidget::clearFrames() { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index fcd5b1b18f..c97038cf43 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -70,7 +70,6 @@ protected: QColor bg = QColor("#000000"); #ifdef QCOM2 - EGLDisplay egl_display; std::map egl_images; #endif diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 87304a4585..40dda971f5 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -12,13 +12,14 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->setSpacing(20); // left icon - icon_label = new QLabel(); + icon_label = new QLabel(this); + hlayout->addWidget(icon_label); if (!icon.isEmpty()) { icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); icon_label->setPixmap(icon_pixmap); icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - hlayout->addWidget(icon_label); } + icon_label->setVisible(!icon.isEmpty()); // title title_label = new QPushButton(title); @@ -113,3 +114,28 @@ void ElidedLabel::paintEvent(QPaintEvent *event) { opt.initFrom(this); style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole()); } + +// ParamControl + +ParamControl::ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent) + : ToggleControl(title, desc, icon, false, parent) { + key = param.toStdString(); + QObject::connect(this, &ParamControl::toggleFlipped, this, &ParamControl::toggleClicked); +} + +void ParamControl::toggleClicked(bool state) { + auto do_confirm = [this]() { + QString content("

" + title_label->text() + "


" + "

" + getDescription() + "

"); + return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec(); + }; + + bool confirmed = store_confirm && params.getBool(key + "Confirmed"); + if (!confirm || confirmed || !state || do_confirm()) { + if (store_confirm && state) params.putBool(key + "Confirmed", true); + params.putBool(key, state); + setIcon(state); + } else { + toggle.togglePosition(); + } +} diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 811595726d..e4630c6590 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -144,24 +144,7 @@ class ParamControl : public ToggleControl { Q_OBJECT public: - ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { - key = param.toStdString(); - QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { - QString content("

" + title + "


" - "

" + getDescription() + "

"); - ConfirmationDialog dialog(content, tr("Enable"), tr("Cancel"), true, this); - - bool confirmed = store_confirm && params.getBool(key + "Confirmed"); - if (!confirm || confirmed || !state || dialog.exec()) { - if (store_confirm && state) params.putBool(key + "Confirmed", true); - params.putBool(key, state); - setIcon(state); - } else { - toggle.togglePosition(); - } - }); - } - + ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr); void setConfirmation(bool _confirm, bool _store_confirm) { confirm = _confirm; store_confirm = _store_confirm; @@ -184,6 +167,7 @@ public: } private: + void toggleClicked(bool state); void setIcon(bool state) { if (state && !active_icon_pixmap.isNull()) { icon_label->setPixmap(active_icon_pixmap); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 52d0c5cd6e..4ff0de29f9 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -129,7 +129,8 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s line->setEchoMode(QLineEdit::Normal); } }); - eye_btn->setChecked(true); + eye_btn->toggle(); + eye_btn->setChecked(false); textbox_layout->addWidget(eye_btn); } diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py new file mode 100644 index 0000000000..01148ec199 --- /dev/null +++ b/selfdrive/ui/soundd.py @@ -0,0 +1,166 @@ +import math +import numpy as np +import time +import wave + +from typing import Dict, Optional, Tuple + +from cereal import car, messaging +from openpilot.common.basedir import BASEDIR +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.common.retry import retry +from openpilot.common.swaglog import cloudlog + +from openpilot.system import micd + +SAMPLE_RATE = 48000 +SAMPLE_BUFFER = 4096 # (approx 100ms) +MAX_VOLUME = 1.0 +MIN_VOLUME = 0.1 +CONTROLS_TIMEOUT = 5 # 5 seconds +FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES) + +AMBIENT_DB = 30 # DB where MIN_VOLUME is applied +DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied + +AudibleAlert = car.CarControl.HUDControl.AudibleAlert + + +sound_list: Dict[int, Tuple[str, Optional[int], float]] = { + # AudibleAlert, file name, play count (none for infinite) + AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME), + AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME), + AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME), + + AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME), + AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME), + AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME), + + AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME), + AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), +} + +def check_controls_timeout_alert(sm): + controls_missing = time.monotonic() - sm.rcv_time['controlsState'] + + if controls_missing > CONTROLS_TIMEOUT: + if sm['controlsState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10: + return True + + return False + + +class Soundd: + def __init__(self): + self.load_sounds() + + self.current_alert = AudibleAlert.none + self.current_volume = MIN_VOLUME + self.current_sound_frame = 0 + + self.controls_timeout_alert = False + + self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) + + def load_sounds(self): + self.loaded_sounds: Dict[int, np.ndarray] = {} + + # Load all sounds + for sound in sound_list: + filename, play_count, volume = sound_list[sound] + + wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') + + assert wavefile.getnchannels() == 1 + assert wavefile.getsampwidth() == 2 + assert wavefile.getframerate() == SAMPLE_RATE + + length = wavefile.getnframes() + self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2) + + def get_sound_data(self, frames): # get "frames" worth of data from the current alert sound, looping when required + + ret = np.zeros(frames, dtype=np.float32) + + if self.current_alert != AudibleAlert.none: + num_loops = sound_list[self.current_alert][1] + sound_data = self.loaded_sounds[self.current_alert] + written_frames = 0 + + current_sound_frame = self.current_sound_frame % len(sound_data) + loops = self.current_sound_frame // len(sound_data) + + while written_frames < frames and (num_loops is None or loops < num_loops): + available_frames = sound_data.shape[0] - current_sound_frame + frames_to_write = min(available_frames, frames - written_frames) + ret[written_frames:written_frames+frames_to_write] = sound_data[current_sound_frame:current_sound_frame+frames_to_write] + written_frames += frames_to_write + self.current_sound_frame += frames_to_write + + return ret * self.current_volume + + def callback(self, data_out: np.ndarray, frames: int, time, status) -> None: + if status: + cloudlog.warning(f"soundd stream over/underflow: {status}") + data_out[:frames, 0] = self.get_sound_data(frames) + + def update_alert(self, new_alert): + current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert]) + if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once): + self.current_alert = new_alert + self.current_sound_frame = 0 + + def get_audible_alert(self, sm): + if sm.updated['controlsState']: + new_alert = sm['controlsState'].alertSound.raw + self.update_alert(new_alert) + elif check_controls_timeout_alert(sm): + self.update_alert(AudibleAlert.warningImmediate) + self.controls_timeout_alert = True + elif self.controls_timeout_alert: + self.update_alert(AudibleAlert.none) + self.controls_timeout_alert = False + + def calculate_volume(self, weighted_db): + volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME + return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1)) + + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + + def soundd_thread(self): + # sounddevice must be imported after forking processes + import sounddevice as sd + + sm = messaging.SubMaster(['controlsState', 'microphone']) + + with self.get_stream(sd) as stream: + rk = Ratekeeper(20) + + cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") + while True: + sm.update(0) + + if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert + self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb) + self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) + + self.get_audible_alert(sm) + + rk.keep_time() + + assert stream.active + + +def main(): + s = Soundd() + s.soundd_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/soundd/.gitignore b/selfdrive/ui/soundd/.gitignore deleted file mode 100644 index c47f949d37..0000000000 --- a/selfdrive/ui/soundd/.gitignore +++ /dev/null @@ -1 +0,0 @@ -_soundd diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc deleted file mode 100644 index c6c7434ca4..0000000000 --- a/selfdrive/ui/soundd/main.cc +++ /dev/null @@ -1,18 +0,0 @@ -#include - -#include - -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/soundd/sound.h" - -int main(int argc, char **argv) { - qInstallMessageHandler(swagLogMessageHandler); - setpriority(PRIO_PROCESS, 0, -20); - - QApplication a(argc, argv); - std::signal(SIGINT, sigTermHandler); - std::signal(SIGTERM, sigTermHandler); - - Sound sound; - return a.exec(); -} diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc deleted file mode 100644 index a5884f113f..0000000000 --- a/selfdrive/ui/soundd/sound.cc +++ /dev/null @@ -1,67 +0,0 @@ -#include "selfdrive/ui/soundd/sound.h" - -#include - -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/util.h" - -// TODO: detect when we can't play sounds -// TODO: detect when we can't display the UI - -Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { - qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); - - for (auto &[alert, fn, loops, volume] : sound_list) { - QSoundEffect *s = new QSoundEffect(this); - QObject::connect(s, &QSoundEffect::statusChanged, [=]() { - assert(s->status() != QSoundEffect::Error); - }); - s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); - s->setVolume(volume); - sounds[alert] = {s, loops}; - } - - QTimer *timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, this, &Sound::update); - timer->start(1000 / UI_FREQ); -} - -void Sound::update() { - sm.update(0); - - // scale volume using ambient noise level - if (sm.updated("microphone")) { - float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 60.f, 0.f, 1.f); - volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); - // set volume on changes - if (std::exchange(current_volume, std::nearbyint(volume * 10)) != current_volume) { - Hardware::set_volume(volume); - } - } - - setAlert(Alert::get(sm, 0)); -} - -void Sound::setAlert(const Alert &alert) { - if (!current_alert.equal(alert)) { - current_alert = alert; - // stop sounds - for (auto &[s, loops] : sounds) { - // Only stop repeating sounds - if (s->loopsRemaining() > 1 || s->loopsRemaining() == QSoundEffect::Infinite) { - s->stop(); - } - } - - // play sound - if (alert.sound != AudibleAlert::NONE) { - auto &[s, loops] = sounds[alert.sound]; - s->setLoopCount(loops); - s->play(); - } - } -} diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h deleted file mode 100644 index 4fcb2e1bce..0000000000 --- a/selfdrive/ui/soundd/sound.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include - -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/ui.h" - - -const float MAX_VOLUME = 1.0; - -const std::tuple sound_list[] = { - // AudibleAlert, file name, loop count - {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME}, - {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME}, - {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME}, - - {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME}, - - {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME}, -}; - -class Sound : public QObject { -public: - explicit Sound(QObject *parent = 0); - -protected: - void update(); - void setAlert(const Alert &alert); - - SubMaster sm; - Alert current_alert = {}; - QMap> sounds; - int current_volume = -1; -}; diff --git a/selfdrive/ui/soundd/soundd b/selfdrive/ui/soundd/soundd deleted file mode 100755 index 9b7a32fec9..0000000000 --- a/selfdrive/ui/soundd/soundd +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export QT_QPA_PLATFORM="offscreen" -exec ./_soundd diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 94ba9a3a97..6c624b66d3 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -3,3 +3,4 @@ playsound test_sound test_translations ui_snapshot +test_ui/report \ No newline at end of file diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc deleted file mode 100644 index d9cb5c0a7f..0000000000 --- a/selfdrive/ui/tests/test_sound.cc +++ /dev/null @@ -1,75 +0,0 @@ -#include -#include -#include - -#include "catch2/catch.hpp" -#include "selfdrive/ui/soundd/sound.h" - -class TestSound : public Sound { -public: - TestSound() : Sound() { - for (auto i = sounds.constBegin(); i != sounds.constEnd(); ++i) { - sound_stats[i.key()] = {0, 0}; - QObject::connect(i.value().first, &QSoundEffect::playingChanged, [=, s = i.value().first, a = i.key()]() { - if (s->isPlaying()) { - sound_stats[a].first++; - } else { - sound_stats[a].second++; - } - }); - } - } - - QMap> sound_stats; -}; - -void controls_thread(int loop_cnt) { - PubMaster pm({"controlsState", "deviceState"}); - MessageBuilder deviceStateMsg; - auto deviceState = deviceStateMsg.initEvent().initDeviceState(); - deviceState.setStarted(true); - - const int DT_CTRL = 10; // ms - for (int i = 0; i < loop_cnt; ++i) { - for (auto &[alert, fn, loops, volume] : sound_list) { - printf("testing %s\n", qPrintable(fn)); - for (int j = 0; j < 1000 / DT_CTRL; ++j) { - MessageBuilder msg; - auto cs = msg.initEvent().initControlsState(); - cs.setAlertSound(alert); - cs.setAlertType(fn.toStdString()); - pm.send("controlsState", msg); - pm.send("deviceState", deviceStateMsg); - QThread::msleep(DT_CTRL); - } - } - } - - // send no alert sound - for (int j = 0; j < 1000 / DT_CTRL; ++j) { - MessageBuilder msg; - msg.initEvent().initControlsState(); - pm.send("controlsState", msg); - QThread::msleep(DT_CTRL); - } - - QThread::currentThread()->quit(); -} - -TEST_CASE("test soundd") { - QEventLoop loop; - TestSound test_sound; - const int test_loop_cnt = 2; - - QThread t; - QObject::connect(&t, &QThread::started, [=]() { controls_thread(test_loop_cnt); }); - QObject::connect(&t, &QThread::finished, [&]() { loop.quit(); }); - t.start(); - loop.exec(); - - for (const AudibleAlert alert : test_sound.sound_stats.keys()) { - auto [play, stop] = test_sound.sound_stats[alert]; - REQUIRE(play == test_loop_cnt); - REQUIRE(stop == test_loop_cnt); - } -} diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index 80a261e6d9..94ce26eb47 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -1,75 +1,41 @@ #!/usr/bin/env python3 -import subprocess -import time import unittest -from cereal import log, car -import cereal.messaging as messaging -from openpilot.selfdrive.test.helpers import phone_only, with_processes -# TODO: rewrite for unittest -from openpilot.common.realtime import DT_CTRL -from openpilot.system.hardware import HARDWARE +from cereal import car +from cereal import messaging +from cereal.messaging import SubMaster, PubMaster +from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert + +import time AudibleAlert = car.CarControl.HUDControl.AudibleAlert -SOUNDS = { - # sound: total writes - AudibleAlert.none: 0, - AudibleAlert.engage: 184, - AudibleAlert.disengage: 186, - AudibleAlert.refuse: 194, - AudibleAlert.prompt: 184, - AudibleAlert.promptRepeat: 487, - AudibleAlert.promptDistracted: 508, - AudibleAlert.warningSoft: 471, - AudibleAlert.warningImmediate: 470, -} - -def get_total_writes(): - audio_flinger = subprocess.check_output('dumpsys media.audio_flinger', shell=True, encoding='utf-8').strip() - write_lines = [l for l in audio_flinger.split('\n') if l.strip().startswith('Total writes')] - return sum(int(l.split(':')[1]) for l in write_lines) class TestSoundd(unittest.TestCase): - def test_sound_card_init(self): - assert HARDWARE.get_sound_card_online() + def test_check_controls_timeout_alert(self): + sm = SubMaster(['controlsState']) + pm = PubMaster(['controlsState']) - @phone_only - @with_processes(['soundd']) - def test_alert_sounds(self): - pm = messaging.PubMaster(['deviceState', 'controlsState']) + for _ in range(100): + cs = messaging.new_message('controlsState') + cs.controlsState.enabled = True - # make sure they're all defined - alert_sounds = {v: k for k, v in car.CarControl.HUDControl.AudibleAlert.schema.enumerants.items()} - diff = set(SOUNDS.keys()).symmetric_difference(alert_sounds.keys()) - assert len(diff) == 0, f"not all sounds defined in test: {diff}" + pm.send("controlsState", cs) - # wait for procs to init - time.sleep(1) + time.sleep(0.01) - for sound, expected_writes in SOUNDS.items(): - print(f"testing {alert_sounds[sound]}") - start_writes = get_total_writes() + sm.update(0) - for i in range(int(10 / DT_CTRL)): - msg = messaging.new_message('deviceState') - msg.deviceState.started = True - pm.send('deviceState', msg) + self.assertFalse(check_controls_timeout_alert(sm)) - msg = messaging.new_message('controlsState') - if i < int(6 / DT_CTRL): - msg.controlsState.alertSound = sound - msg.controlsState.alertType = str(sound) - msg.controlsState.alertText1 = "Testing Sounds" - msg.controlsState.alertText2 = f"playing {alert_sounds[sound]}" - msg.controlsState.alertSize = log.ControlsState.AlertSize.mid - pm.send('controlsState', msg) - time.sleep(DT_CTRL) + for _ in range(CONTROLS_TIMEOUT * 110): + sm.update(0) + time.sleep(0.01) + + self.assertTrue(check_controls_timeout_alert(sm)) + + # TODO: add test with micd for checking that soundd actually outputs sounds - tolerance = expected_writes / 8 - actual_writes = get_total_writes() - start_writes - print(f" expected {expected_writes} writes, got {actual_writes}") - assert abs(expected_writes - actual_writes) <= tolerance, f"{alert_sounds[sound]}: expected {expected_writes} writes, got {actual_writes}" if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 622d198f7d..9ba9054ea1 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -2,30 +2,28 @@ import json import os import re -import shutil import unittest +import shutil +import tempfile import xml.etree.ElementTree as ET +import string +import requests +from parameterized import parameterized_class from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations -TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f) + UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, - f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + self.assertTrue("" not in cur_translations, + f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") def test_finished_translations(self): """ @@ -78,48 +66,68 @@ class TestTranslations(unittest.TestCase): - that translation is not empty - that translation format arguments are consistent """ - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) + tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")) - for context in tr_xml.getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - source_text = message.find("source").text + for context in tr_xml.getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + source_text = message.find("source").text - # Do not test unfinished translations - if translation.get("type") == "unfinished": - continue + # Do not test unfinished translations + if translation.get("type") == "unfinished": + continue - if message.get("numerus") == "yes": - numerusform = [t.text for t in translation.findall("numerusform")] + if message.get("numerus") == "yes": + numerusform = [t.text for t in translation.findall("numerusform")] - for nf in numerusform: - self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") - self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") - self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) + for nf in numerusform: + self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") + self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") + self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) - else: - self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + else: + self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") - source_args = FORMAT_ARG.findall(source_text) - translation_args = FORMAT_ARG.findall(translation.text) - self.assertEqual(sorted(source_args), sorted(translation_args), - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") + source_args = FORMAT_ARG.findall(source_text) + translation_args = FORMAT_ARG.findall(translation.text) + self.assertEqual(sorted(source_args), sorted(translation_args), + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") def test_no_locations(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines(): - self.assertFalse(line.strip().startswith(LOCATION_TAG), - f"Line contains location tag: {line.strip()}, remove all line numbers.") + for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): + self.assertFalse(line.strip().startswith(LOCATION_TAG), + f"Line contains location tag: {line.strip()}, remove all line numbers.") def test_entities_error(self): - for name, file in self.translation_files.items(): - with self.subTest(name=name, file=file): - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) - matches = re.findall(r'@(\w+);', cur_translations) - self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) + matches = re.findall(r'@(\w+);', cur_translations) + self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + + def test_bad_language(self): + IGNORED_WORDS = {'pédale'} + + match = re.search(r'_([a-zA-Z]{2,3})', self.file) + assert match, f"{self.name} - could not parse language" + + response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") + response.raise_for_status() + + banned_words = {line.strip() for line in response.text.splitlines()} + + for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot(): + for message in context.iterfind("message"): + translation = message.find("translation") + if translation.get("type") == "unfinished": + continue + + translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text + + if not translation_text: + continue + + words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) + bad_words_found = words & (banned_words - IGNORED_WORDS) + assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" if __name__ == "__main__": diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py new file mode 100644 index 0000000000..48223d3fe8 --- /dev/null +++ b/selfdrive/ui/tests/test_ui/run.py @@ -0,0 +1,185 @@ +import pathlib +import shutil +import jinja2 +import matplotlib.pyplot as plt +import numpy as np +import os +import pyautogui +import pywinctl +import time +import unittest + +from parameterized import parameterized +from cereal import messaging, car, log +from cereal.visionipc import VisionIpcServer, VisionStreamType + +from cereal.messaging import SubMaster, PubMaster +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.common.transformations.camera import tici_f_frame_size +from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state +from openpilot.tools.webcam.camera import Camera + +UI_DELAY = 0.5 # may be slower on CI? + +NetworkType = log.DeviceState.NetworkType +NetworkStrength = log.DeviceState.NetworkStrength + +EventName = car.CarEvent.EventName +EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()} + + +def setup_common(click, pm: PubMaster): + Params().put("DongleId", "123456789012345") + dat = messaging.new_message('deviceState') + dat.deviceState.started = True + dat.deviceState.networkType = NetworkType.cell4G + dat.deviceState.networkStrength = NetworkStrength.moderate + dat.deviceState.freeSpacePercent = 80 + dat.deviceState.memoryUsagePercent = 2 + dat.deviceState.cpuTempC = [2,]*3 + dat.deviceState.gpuTempC = [2,]*3 + dat.deviceState.cpuUsagePercent = [2,]*8 + + pm.send("deviceState", dat) + + time.sleep(UI_DELAY) + +def setup_homescreen(click, pm: PubMaster): + setup_common(click, pm) + +def setup_settings_device(click, pm: PubMaster): + setup_common(click, pm) + + click(100, 100) + time.sleep(UI_DELAY) + +def setup_settings_network(click, pm: PubMaster): + setup_common(click, pm) + + setup_settings_device(click, pm) + click(300, 600) + time.sleep(UI_DELAY) + +def setup_onroad(click, pm: PubMaster): + setup_common(click, pm) + + dat = messaging.new_message('pandaStates', 1) + dat.pandaStates[0].ignitionLine = True + dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno + + pm.send("pandaStates", dat) + + server = VisionIpcServer("camerad") + server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size) + server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size) + server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size) + server.start_listener() + + time.sleep(UI_DELAY) + + IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8)) + IMG_BYTES = IMG.flatten().tobytes() + + cams = ('roadCameraState', 'wideRoadCameraState') + + frame_id = 0 + for cam in cams: + msg = messaging.new_message(cam) + cs = getattr(msg, cam) + cs.frameId = frame_id + cs.timestampSof = int((frame_id * DT_MDL) * 1e9) + cs.timestampEof = int((frame_id * DT_MDL) * 1e9) + cam_meta = meta_from_camera_state(cam) + + pm.send(msg.which(), msg) + server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof) + + time.sleep(UI_DELAY) + +def setup_onroad_map(click, pm: PubMaster): + setup_onroad(click, pm) + click(500, 500) + time.sleep(UI_DELAY) + +def setup_onroad_sidebar(click, pm: PubMaster): + setup_onroad_map(click, pm) + click(500, 500) + time.sleep(UI_DELAY) + +CASES = { + "homescreen": setup_homescreen, + "settings_device": setup_settings_device, + "settings_network": setup_settings_network, + "onroad": setup_onroad, + "onroad_map": setup_onroad_map, + "onroad_map_sidebar": setup_onroad_sidebar +} + +TEST_DIR = pathlib.Path(__file__).parent + +TEST_OUTPUT_DIR = TEST_DIR / "report" +SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" + + +class TestUI(unittest.TestCase): + @classmethod + def setUpClass(cls): + os.environ["SCALE"] = "1" + + def setup(self): + self.sm = SubMaster(["uiDebug"]) + self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState']) + while not self.sm.valid["uiDebug"]: + self.sm.update(1) + time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering + self.ui = pywinctl.getWindowsWithTitle("ui")[0] + + def screenshot(self): + im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) + self.assertEqual(im.width, 2160) + self.assertEqual(im.height, 1080) + img = np.array(im) + im.close() + return img + + def click(self, x, y, *args, **kwargs): + pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) + + @parameterized.expand(CASES.items()) + @with_processes(["ui"]) + def test_ui(self, name, setup_case): + self.setup() + + setup_case(self.click, self.pm) + + im = self.screenshot() + plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) + + +def create_html_report(): + OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html" + + with open(TEST_DIR / "template.html") as f: + template = jinja2.Template(f.read()) + + cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")} + cases = dict(sorted(cases.items())) + + with open(OUTPUT_FILE, "w") as f: + f.write(template.render(cases=cases)) + +def create_screenshots(): + if TEST_OUTPUT_DIR.exists(): + shutil.rmtree(TEST_OUTPUT_DIR) + + SCREENSHOTS_DIR.mkdir(parents=True) + unittest.main(exit=False) + +if __name__ == "__main__": + print("creating test screenshots") + create_screenshots() + + print("creating html report") + create_html_report() diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html new file mode 100644 index 0000000000..68df5879e6 --- /dev/null +++ b/selfdrive/ui/tests/test_ui/template.html @@ -0,0 +1,34 @@ + + + + +{% for name, (image, ref_image) in cases.items() %} + +

{{name}}

+
+
+ +
+
+ +
+ +{% endfor %} + \ No newline at end of file diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py new file mode 100755 index 0000000000..8613feb245 --- /dev/null +++ b/selfdrive/ui/translations/auto_translate.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 + +import argparse +import json +import os +import pathlib +import xml.etree.ElementTree as ET +from typing import cast + +import requests + +TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent +TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json" + +OPENAI_MODEL = "gpt-4" +OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY") +OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \ + "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." + + +def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: + files = {} + + with open(TRANSLATIONS_LANGUAGES) as fp: + language_dict = json.load(fp) + + for filename in language_dict.values(): + path = TRANSLATIONS_DIR / f"{filename}.ts" + language = path.stem.split("main_")[1] + + if languages is None or language in languages: + files[language] = path + + return files + + +def translate_phrase(text: str, language: str) -> str: + response = requests.post( + "https://api.openai.com/v1/chat/completions", + json={ + "model": OPENAI_MODEL, + "messages": [ + { + "role": "system", + "content": OPENAI_PROMPT.format(language=language), + }, + { + "role": "user", + "content": text, + }, + ], + "temperature": 0.8, + "max_tokens": 1024, + "top_p": 1, + }, + headers={ + "Authorization": f"Bearer {OPENAI_API_KEY}", + "Content-Type": "application/json", + }, + ) + + if 400 <= response.status_code < 600: + raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response) + + data = response.json() + + return cast(str, data["choices"][0]["message"]["content"]) + + +def translate_file(path: pathlib.Path, language: str, all_: bool) -> None: + tree = ET.parse(path) + + root = tree.getroot() + + for context in root.findall("./context"): + name = context.find("name") + if name is None: + raise ValueError("name not found") + + print(f"Context: {name.text}") + + for message in context.findall("./message"): + source = message.find("source") + translation = message.find("translation") + + if source is None or translation is None: + raise ValueError("source or translation not found") + + if not all_ and translation.attrib.get("type") != "unfinished": + continue + + llm_translation = translate_phrase(cast(str, source.text), language) + + print(f"Source: {source.text}\n" + + f"Current translation: {translation.text}\n" + + f"LLM translation: {llm_translation}") + + translation.text = llm_translation + + with path.open("w", encoding="utf-8") as fp: + fp.write('\n' + + '\n' + + ET.tostring(root, encoding="utf-8").decode()) + + +def main(): + arg_parser = argparse.ArgumentParser("Auto translate") + + group = arg_parser.add_mutually_exclusive_group(required=True) + group.add_argument("-a", "--all-files", action="store_true", help="Translate all files") + group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)") + + arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)") + + args = arg_parser.parse_args() + + if OPENAI_API_KEY is None: + print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" + + "If you don't have one go to: https://beta.openai.com/account/api-keys.") + exit(1) + + files = get_language_files(None if args.all_files else args.file) + + if args.file: + missing_files = set(args.file) - set(files) + if len(missing_files): + print(f"No language files found: {missing_files}") + exit(1) + + print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}") + + for lang, path in files.items(): + print(f"Translate {lang} ({path})") + translate_file(path, lang, args.all_translations) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index a1b2ecb289..f6c8aae448 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -54,8 +54,8 @@ if __name__ == "__main__": badge_svg.extend([f'', content_svg, ""]) - badge_svg.insert(0, f'') + badge_svg.insert(0, '') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 4159f28c31..b7e35d7b6c 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً + + Hidden Network + شبكة مخفية + + + CONNECT + الاتصال + + + Enter SSID + أدخل SSID + + + Enter password + أدخل كلمة المرور + + + for "%1" + من أجل "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting بدء تشغيل الكاميرا @@ -542,10 +562,6 @@ Exit إغلاق - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index e2e5771905..deab47e2cf 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting Kamera startet @@ -537,10 +557,6 @@ Exit Verlassen - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 456efe6366..8cd5a4ea28 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Éviter les transferts de données importants sur une connexion limitée + + Hidden Network + Réseau Caché + + + CONNECT + CONNECTER + + + Enter SSID + Entrer le SSID + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting démarrage de la caméra @@ -538,10 +558,6 @@ Exit Quitter - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 63de8f0471..27cd7246d0 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 大量のデータのアップロードを防止します。 + + Hidden Network + + + + CONNECT + 接続 + + + Enter SSID + SSID を入力 + + + Enter password + パスワードを入力 + + + for "%1" + ﾈｯﾄﾜｰｸ名：%1 + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting ｶﾒﾗを起動しています @@ -536,10 +556,6 @@ Exit 閉じる - - dashcam - ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index bc0c5f2b0e..725e3c2f7b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 + + Hidden Network + 숨겨진 네트워크 + + + CONNECT + 연결됨 + + + Enter SSID + SSID 입력 + + + Enter password + 비밀번호를 입력하세요 + + + for "%1" + "%1"에 접속하려면 비밀번호가 필요합니다 + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting 카메라 시작 중 @@ -537,10 +557,6 @@ Exit 종료 - - dashcam - 블랙박스 - openpilot openpilot diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4cf37cc585..19e35b2c12 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Evite grandes uploads de dados quando estiver em uma conexão limitada + + Hidden Network + Rede Oculta + + + CONNECT + CONECTE + + + Enter SSID + Digite o SSID + + + Enter password + Insira a senha + + + for "%1" + para "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting câmera iniciando @@ -538,10 +558,6 @@ Exit Sair - - dashcam - dashcam - openpilot openpilot diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index a1748a6951..01d8a93ca1 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ + + Hidden Network + + + + CONNECT + เชื่อมต่อ + + + Enter SSID + ป้อนค่า SSID + + + Enter password + ใส่รหัสผ่าน + + + for "%1" + สำหรับ "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting กำลังเปิดกล้อง @@ -537,10 +557,6 @@ Exit ปิด - - dashcam - กล้องติดรถยนต์ - openpilot openpilot diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 51fdddd5ce..c4e661edfa 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection + + Hidden Network + + + + CONNECT + BAĞLANTI + + + Enter SSID + APN Gir + + + Enter password + Parolayı girin + + + for "%1" + için "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting kamera başlatılıyor @@ -536,10 +556,6 @@ Exit Çık - - dashcam - araç yol kamerası - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 7b682535ce..68211b4b32 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 当使用按流量计费的连接时，避免上传大流量数据 + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + 输入SSID + + + Enter password + 输入密码 + + + for "%1" + 网络名称："%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting 正在启动相机 @@ -537,10 +557,6 @@ Exit 退出 - - dashcam - 行车记录仪 - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1794cc78ac..1bdd2d52ea 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 防止使用行動網路上傳大量的數據 + + Hidden Network + + + + CONNECT + 雲端服務 + + + Enter SSID + 輸入 SSID + + + Enter password + 輸入密碼 + + + for "%1" + 給 "%1" + AnnotatedCameraWidget @@ -275,7 +295,7 @@ - DriverViewScene + DriverViewWindow camera starting 開啟相機中 @@ -537,10 +557,6 @@ Exit 離開 - - dashcam - 行車記錄器 - openpilot openpilot diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui deleted file mode 100755 index acb2a705a8..0000000000 --- a/selfdrive/ui/ui +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export QT_DBL_CLICK_DIST=150 -exec ./_ui diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 5b883c33e9..e882881bdb 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { const auto line_x = line.getX(); int max_idx = 0; - for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { + for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { max_idx = i; } return max_idx; @@ -84,10 +84,10 @@ void update_model(UIState *s, const cereal::UiPlan::Reader &plan) { UIScene &scene = s->scene; auto plan_position = plan.getPosition(); - if (plan_position.getX().size() < TRAJECTORY_SIZE){ + if (plan_position.getX().size() < model.getPosition().getX().size()) { plan_position = model.getPosition(); } - float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1], + float max_distance = std::clamp(*(plan_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines @@ -207,6 +207,12 @@ static void update_state(UIState *s) { scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; + + scene.world_objects_visible = scene.world_objects_visible || + (scene.started && + sm.rcv_frame("liveCalibration") > scene.started_frame && + sm.rcv_frame("modelV2") > scene.started_frame && + sm.rcv_frame("uiPlan") > scene.started_frame); } void ui_update_params(UIState *s) { @@ -237,13 +243,14 @@ void UIState::updateStatus() { scene.started_frame = sm->frame; } started_prev = scene.started; + scene.world_objects_visible = false; emit offroadTransition(!scene.started); } } UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ - "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", + "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "longitudinalPlanSP", "liveMapDataSP", }); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index df03c1e33e..85ba47aa58 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -13,9 +12,10 @@ #include #include "cereal/messaging/messaging.h" -#include "common/modeldata.h" +#include "common/mat.h" #include "common/params.h" #include "common/timing.h" +#include "system/hardware/hw.h" const int UI_BORDER_SIZE = 30; const int UI_HEADER_HEIGHT = 420; @@ -24,7 +24,18 @@ const int UI_FREQ = 20; // Hz const int BACKLIGHT_OFFROAD = 50; typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; -const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +const float MIN_DRAW_DISTANCE = 10.0; +const float MAX_DRAW_DISTANCE = 100.0; +constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; +// tici ecam focal probably wrong? magnification is not consistent across frame +// Need to retrain model before this can be changed +constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, + 0.0, 567.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + constexpr vec3 default_face_kpts_3d[] = { {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, @@ -108,6 +119,7 @@ enum PrimeType { LITE = 2, BLUE = 3, MAGENTA_NEW = 4, + PURPLE = 5, }; const QColor bg_colors [] = { @@ -168,6 +180,7 @@ typedef struct UIScene { float light_sensor; bool started, ignition, is_metric, map_on_left, longitudinal_control; + bool world_objects_visible = false; uint64_t started_frame; } UIScene; @@ -177,9 +190,6 @@ class UIState : public QObject { public: UIState(QObject* parent = 0); void updateStatus(); - inline bool worldObjectsVisible() const { - return sm->rcv_frame("liveCalibration") > scene.started_frame; - } inline bool engaged() const { return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); } diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 004c6425dc..e988a13b7f 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -9,6 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") +PLURAL_ONLY = ["main_en"] # base language, only create entries for strings with plural forms def generate_translations_include(): @@ -22,21 +23,20 @@ def generate_translations_include(): with open(TRANSLATIONS_INCLUDE_FILE, "w") as f: f.write(content) -def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): + +def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR): generate_translations_include() - if plural_only is None: - plural_only = [] + if translation_files is None: + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f).values() - with open(LANGUAGES_FILE, "r") as f: - translation_files = json.load(f) - - for file in translation_files.values(): + for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" - if file in plural_only: + if file in PLURAL_ONLY: args += " -pluralonly" ret = os.system(args) assert ret == 0 @@ -46,8 +46,6 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], - help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() - update_translations(args.vanish, args.plural_only) + update_translations(args.vanish) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 86a4071c19..4ac21eb292 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -18,7 +18,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.time import system_time_valid from openpilot.system.hardware import AGNOS, HARDWARE -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.version import is_tested_branch @@ -35,26 +35,42 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days +class UserRequest: + NONE = 0 + CHECK = 1 + FETCH = 2 + class WaitTimeHelper: def __init__(self): self.ready_event = threading.Event() - self.only_check_for_update = False + self.user_request = UserRequest.NONE signal.signal(signal.SIGHUP, self.update_now) signal.signal(signal.SIGUSR1, self.check_now) def update_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGHUP, attempting to downloading update") - self.only_check_for_update = False + self.user_request = UserRequest.FETCH self.ready_event.set() def check_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGUSR1, checking for updates") - self.only_check_for_update = True + self.user_request = UserRequest.CHECK self.ready_event.set() def sleep(self, t: float) -> None: self.ready_event.wait(timeout=t) +def write_time_to_param(params, param) -> None: + t = datetime.datetime.utcnow() + params.put(param, t.isoformat().encode('utf8')) + +def read_time_from_param(params, param) -> Optional[datetime.datetime]: + t = params.get(param, encoding='utf8') + try: + return datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass + return None def run(cmd: List[str], cwd: Optional[str] = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -230,7 +246,6 @@ class Updater: b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') if b is None: b = self.get_branch(BASEDIR) - self.params.put("UpdaterTargetBranch", b) return b @property @@ -245,7 +260,7 @@ class Updater: @property def update_available(self) -> bool: - if os.path.isdir(OVERLAY_MERGED): + if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch return hash_mismatch or branch_mismatch @@ -259,20 +274,19 @@ class Updater: def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: self.params.put("UpdateFailedCount", str(failed_count)) + self.params.put("UpdaterTargetBranch", self.target_branch) self.params.put_bool("UpdaterFetchAvailable", self.update_available) - self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + if len(self.branches): + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) last_update = datetime.datetime.utcnow() if update_success: - t = last_update.isoformat() - self.params.put("LastUpdateTime", t.encode('utf8')) + write_time_to_param(self.params, "LastUpdateTime") else: - try: - t = self.params.get("LastUpdateTime", encoding='utf8') - last_update = datetime.datetime.fromisoformat(t) - except (TypeError, ValueError): - pass + t = read_time_from_param(self.params, "LastUpdateTime") + if t is not None: + last_update = t if exception is None: self.params.remove("LastUpdateException") @@ -328,7 +342,7 @@ class Updater: def check_for_update(self) -> None: cloudlog.info("checking for updates") - excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + excluded_branches = ('release2', 'release2-staging') try: run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) @@ -420,15 +434,16 @@ def main() -> None: updater = Updater() update_failed_count = 0 # TODO: Load from param? - - # no fetch on the first time wait_helper = WaitTimeHelper() - wait_helper.only_check_for_update = True # invalidate old finalized update set_consistent_flag(False) + # set initial state + params.put("UpdaterState", "idle") + # Run the update loop + first_run = True while True: wait_helper.ready_event.clear() @@ -441,7 +456,8 @@ def main() -> None: # ensure we have some params written soon after startup updater.set_params(False, update_failed_count, exception) - if not system_time_valid(): + if not system_time_valid() or first_run: + first_run = False wait_helper.sleep(60) continue @@ -452,10 +468,16 @@ def main() -> None: updater.check_for_update() # download update - if wait_helper.only_check_for_update: - cloudlog.info("skipping fetch this cycle") + last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") + timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3)) + user_requested_fetch = wait_helper.user_request == UserRequest.FETCH + if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: + cloudlog.info("skipping fetch, connection metered") + elif wait_helper.user_request == UserRequest.CHECK: + cloudlog.info("skipping fetch, only checking") else: updater.fetch_update() + write_time_to_param(params, "UpdaterLastFetchTime") update_failed_count = 0 except subprocess.CalledProcessError as e: cloudlog.event( @@ -479,7 +501,7 @@ def main() -> None: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") # infrequent attempts if we successfully updated recently - wait_helper.only_check_for_update = False + wait_helper.user_request = UserRequest.NONE wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index ffd7278bbb..8f19e7ee19 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -2,13 +2,9 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] -camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc']) -env.Program('camerad', [ - 'main.cc', - camera_obj, - ], LIBS=libs) +camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', + 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) +env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": - env.Program('test/ae_gray_test', - ['test/ae_gray_test.cc', camera_obj], - LIBS=libs) + env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 23b28357da..91c6d44f84 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -1,22 +1,14 @@ #include "system/camerad/cameras/camera_common.h" -#include - #include -#include -#include #include -#include #include "third_party/libyuv/include/libyuv.h" #include -#include "system/camerad/imgproc/utils.h" #include "common/clutil.h" -#include "common/modeldata.h" #include "common/swaglog.h" #include "common/util.h" -#include "system/hardware/hw.h" #include "third_party/linux/include/msm_media_info.h" #include "system/camerad/cameras/camera_qcom2.h" @@ -30,15 +22,15 @@ class Debayer { public: Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) { char args[4096]; - const CameraInfo *ci = &s->ci; + const SensorInfo *ci = s->ci.get(); snprintf(args, sizeof(args), "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " - "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " + "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " "-DIS_OX=%d -DCAM_NUM=%d%s", ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset, - b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset, - s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); + b->rgb_width, b->rgb_height, buf_width, uv_offset, + ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); const char *cl_file = "cameras/real_debayer.cl"; cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err)); @@ -63,12 +55,12 @@ private: cl_kernel krnl_; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; - this->yuv_type = init_yuv_type; + stream_type = type; frame_buf_count = frame_cnt; - const CameraInfo *ci = &s->ci; + const SensorInfo *ci = s->ci.get(); // RAW frame const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride; camera_bufs = std::make_unique(frame_buf_count); @@ -89,17 +81,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height)); size_t nv12_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage size_t nv12_uv_offset = nv12_width * nv12_height; - vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset); -#ifdef __APPLE__ - q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); -#else const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); -#endif } CameraBuf::~CameraBuf() { @@ -119,7 +107,7 @@ bool CameraBuf::acquire() { } cur_frame_data = camera_bufs_metadata[cur_buf_idx]; - cur_yuv_buf = vipc_server->get_buffer(yuv_type); + cur_yuv_buf = vipc_server->get_buffer(stream_type); cur_camera_buf = &camera_bufs[cur_buf_idx]; double start_time = millis_since_boot(); @@ -148,6 +136,7 @@ void CameraBuf::queue(size_t buf_idx) { void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { framed.setFrameId(frame_data.frame_id); + framed.setRequestId(frame_data.request_id); framed.setTimestampEof(frame_data.timestamp_eof); framed.setTimestampSof(frame_data.timestamp_sof); framed.setIntegLines(frame_data.integ_lines); @@ -158,14 +147,9 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setProcessingTime(frame_data.processing_time); const float ev = c->cur_ev[frame_data.frame_id % 3]; - const float perc = util::map_val(ev, c->min_ev, c->max_ev, 0.0f, 100.0f); + const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f); framed.setExposureValPercent(perc); - - if (c->camera_id == CAMERA_ID_AR0231) { - framed.setSensor(cereal::FrameData::ImageSensor::AR0231); - } else if (c->camera_id == CAMERA_ID_OX03C10) { - framed.setSensor(cereal::FrameData::ImageSensor::OX03C10); - } + framed.setSensor(c->ci->image_sensor); } kj::Array get_raw_frame_image(const CameraBuf *b) { @@ -282,7 +266,6 @@ float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip } } - // Find mean lumimance value unsigned int lum_cur = 0; for (lum_med = 255; lum_med >= 0; lum_med--) { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 0f69aa3774..f98691ef00 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -1,30 +1,12 @@ #pragma once -#include -#include +#include #include #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionbuf.h" -#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" -#include "common/mat.h" #include "common/queue.h" -#include "common/swaglog.h" -#include "system/hardware/hw.h" - -#define CAMERA_ID_IMX298 0 -#define CAMERA_ID_IMX179 1 -#define CAMERA_ID_S5K3P8SP 2 -#define CAMERA_ID_OV8865 3 -#define CAMERA_ID_IMX298_FLIPPED 4 -#define CAMERA_ID_OV10640 5 -#define CAMERA_ID_LGC920 6 -#define CAMERA_ID_LGC615 7 -#define CAMERA_ID_AR0231 8 -#define CAMERA_ID_OX03C10 9 -#define CAMERA_ID_MAX 10 const int YUV_BUFFER_COUNT = 20; @@ -42,20 +24,12 @@ const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; -typedef struct CameraInfo { - uint32_t frame_width, frame_height; - uint32_t frame_stride; - uint32_t frame_offset = 0; - uint32_t extra_height = 0; - int registers_offset = -1; - int stats_offset = -1; -} CameraInfo; - typedef struct FrameMetadata { uint32_t frame_id; + uint32_t request_id; // Timestamps - uint64_t timestamp_sof; // only set on tici + uint64_t timestamp_sof; uint64_t timestamp_eof; // Exposure @@ -76,7 +50,7 @@ class CameraBuf { private: VisionIpcServer *vipc_server; Debayer *debayer = nullptr; - VisionStreamType yuv_type; + VisionStreamType stream_type; int cur_buf_idx; SafeQueue safe_queue; int frame_buf_count; @@ -88,11 +62,11 @@ public: VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs; std::unique_ptr camera_bufs_metadata; - int rgb_width, rgb_height, rgb_stride; + int rgb_width, rgb_height; CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type); bool acquire(); void queue(size_t buf_idx); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 3a9ecb467b..e17203a7dd 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1,17 +1,12 @@ #include "system/camerad/cameras/camera_qcom2.h" -#include #include #include -#include -#include #include -#include #include #include #include -#include #include #include #include @@ -19,105 +14,18 @@ #include "media/cam_defs.h" #include "media/cam_isp.h" #include "media/cam_isp_ife.h" -#include "media/cam_sensor.h" +#include "media/cam_req_mgr.h" #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" #include "common/swaglog.h" -#include "system/camerad/cameras/sensor2_i2c.h" + +const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl extern ExitHandler do_exit; -const size_t FRAME_WIDTH = 1928; -const size_t FRAME_HEIGHT = 1208; -const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) - -const size_t AR0231_REGISTERS_HEIGHT = 2; -// TODO: this extra height is universal and doesn't apply per camera -const size_t AR0231_STATS_HEIGHT = 2+8; - -const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py - -CameraInfo cameras_supported[CAMERA_ID_MAX] = { - [CAMERA_ID_AR0231] = { - .frame_width = FRAME_WIDTH, - .frame_height = FRAME_HEIGHT, - .frame_stride = FRAME_STRIDE, - .extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT, - - .registers_offset = 0, - .frame_offset = AR0231_REGISTERS_HEIGHT, - .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT, - }, - [CAMERA_ID_OX03C10] = { - .frame_width = FRAME_WIDTH, - .frame_height = FRAME_HEIGHT, - .frame_stride = FRAME_STRIDE, // (0xa80*12//8) - .extra_height = 16, // top 2 + bot 14 - .frame_offset = 2, - }, -}; - -const float DC_GAIN_AR0231 = 2.5; -const float DC_GAIN_OX03C10 = 7.32; - -const float DC_GAIN_ON_GREY_AR0231 = 0.2; -const float DC_GAIN_OFF_GREY_AR0231 = 0.3; -const float DC_GAIN_ON_GREY_OX03C10 = 0.9; -const float DC_GAIN_OFF_GREY_OX03C10 = 1.0; - -const int DC_GAIN_MIN_WEIGHT_AR0231 = 0; -const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; -const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine -const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1; - -const float TARGET_GREY_FACTOR_AR0231 = 1.0; -const float TARGET_GREY_FACTOR_OX03C10 = 0.01; - -const float sensor_analog_gains_AR0231[] = { - 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 - 3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7 - 5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11 - 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass - -const float sensor_analog_gains_OX03C10[] = { - 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, - 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, - 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, - 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, - 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; - -const uint32_t ox03c10_analog_gains_reg[] = { - 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, - 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, - 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, - 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, - 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; - -const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x -const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x -const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x -const int ANALOG_GAIN_COST_DELTA_AR0231 = 0; -const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1; -const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0; - -const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x -const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; -const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; -const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4; -const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4; - -const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss -const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms - -const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x -const int EXPOSURE_TIME_MAX_OX03C10 = 2016; -const uint32_t VS_TIME_MIN_OX03C10 = 1; -const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 - int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; req_mgr_flush_request.session_hdl = session_handle; @@ -134,13 +42,7 @@ int CameraState::clear_req_queue() { void CameraState::sensors_start() { if (!enabled) return; LOGD("starting sensor %d", camera_num); - if (camera_id == CAMERA_ID_AR0231) { - sensors_i2c(start_reg_array_ar0231, std::size(start_reg_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_OX03C10) { - sensors_i2c(start_reg_array_ox03c10, std::size(start_reg_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); - } else { - assert(false); - } + sensors_i2c(ci->start_reg_array.data(), ci->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); } void CameraState::sensors_poke(int request_id) { @@ -161,7 +63,7 @@ void CameraState::sensors_poke(int request_id) { } } -void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { +void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { // LOGD("sensors_i2c: %d", len); uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; @@ -215,21 +117,7 @@ int CameraState::sensors_init() { auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); probe->camera_id = camera_num; - switch (camera_num) { - case 0: - // port 0 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2 - break; - case 1: - // port 1 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20; - break; - case 2: - // port 2 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; - break; - } - + i2c_info->slave_addr = ci->getSlaveAddress(camera_num); // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE; i2c_info->i2c_freq_mode = I2C_FAST_MODE; @@ -239,22 +127,14 @@ int CameraState::sensors_init() { probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; probe->op_code = 3; // don't care? probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE; - if (camera_id == CAMERA_ID_AR0231) { - probe->reg_addr = 0x3000; - probe->expected_data = 0x354; - } else if (camera_id == CAMERA_ID_OX03C10) { - probe->reg_addr = 0x300a; - probe->expected_data = 0x5803; - } else { - assert(false); - } + probe->reg_addr = ci->probe_reg_addr; + probe->expected_data = ci->probe_expected_data; probe->data_mask = 0; //buf_desc[1].size = buf_desc[1].length = 148; buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].type = CAM_CMD_BUF_I2C; auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memset(power_settings.get(), 0, buf_desc[1].size); // power on struct cam_cmd_power *power = power_settings.get(); @@ -270,7 +150,7 @@ int CameraState::sensors_init() { power->count = 1; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = (camera_id == CAMERA_ID_AR0231) ? 19200000 : 24000000; //Hz + power->power_settings[0].config_val_low = ci->mclk_frequency; power = power_set_wait(power, 1); // reset high @@ -423,10 +303,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (io_mem_handle != 0) { io_cfg[0].mem_handle[0] = io_mem_handle; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = ci.frame_width, - .height = ci.frame_height + ci.extra_height, - .plane_stride = ci.frame_stride, - .slice_height = ci.frame_height + ci.extra_height, + .width = ci->frame_width, + .height = ci->frame_height + ci->extra_height, + .plane_stride = ci->frame_stride, + .slice_height = ci->frame_height + ci->extra_height, .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) .meta_size = 0x0, .meta_offset = 0x0, @@ -436,10 +316,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b .h_init = 0x0, .v_init = 0x0, }; - io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12; // CAM_FORMAT_UBWC_TP10 for YUV + io_cfg[0].format = ci->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = 0xc; + io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV io_cfg[0].fence = fence; io_cfg[0].direction = CAM_BUF_OUTPUT; @@ -516,57 +396,14 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { // ******************* camera ******************* -void CameraState::camera_set_parameters() { - if (camera_id == CAMERA_ID_AR0231) { - dc_gain_factor = DC_GAIN_AR0231; - dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231; - dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231; - dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231; - dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231; - exposure_time_min = EXPOSURE_TIME_MIN_AR0231; - exposure_time_max = EXPOSURE_TIME_MAX_AR0231; - analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231; - analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; - analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; - analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231; - analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231; - analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231; - for (int i=0; i<=analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; - } - min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; - target_grey_factor = TARGET_GREY_FACTOR_AR0231; - } else if (camera_id == CAMERA_ID_OX03C10) { - dc_gain_factor = DC_GAIN_OX03C10; - dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10; - dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10; - dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10; - dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10; - exposure_time_min = EXPOSURE_TIME_MIN_OX03C10; - exposure_time_max = EXPOSURE_TIME_MAX_OX03C10; - analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10; - analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; - analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; - analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10; - analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10; - analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10; - for (int i=0; i<=analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; - } - min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; - target_grey_factor = TARGET_GREY_FACTOR_OX03C10; - } else { - assert(false); - } - - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; +void CameraState::sensor_set_parameters() { target_grey_fraction = 0.3; dc_gain_enabled = false; - dc_gain_weight = dc_gain_min_weight; - gain_idx = analog_gain_rec_idx; + dc_gain_weight = ci->dc_gain_min_weight; + gain_idx = ci->analog_gain_rec_idx; exposure_time = 5; - cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time; + cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; } void CameraState::camera_map_bufs(MultiCameraState *s) { @@ -584,20 +421,13 @@ void CameraState::camera_map_bufs(MultiCameraState *s) { enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } -void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { +void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { if (!enabled) return; - camera_id = camera_id_; LOGD("camera init %d", camera_num); - assert(camera_id < std::size(cameras_supported)); - ci = cameras_supported[camera_id]; - assert(ci.frame_width != 0); - request_id_last = 0; skipped = true; - camera_set_parameters(); - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); camera_map_bufs(s); } @@ -616,22 +446,26 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num // init memorymanager for this camera mm.init(multi_cam_state->video0_fd); - // probe the sensor LOGD("-- Probing sensor %d", camera_num); - camera_id = CAMERA_ID_AR0231; - ret = sensors_init(); - if (ret != 0) { - // TODO: use build flag instead? - LOGD("AR0231 init failed, trying OX03C10"); - camera_id = CAMERA_ID_OX03C10; - ret = sensors_init(); - } - LOGD("-- Probing sensor %d done with %d", camera_num, ret); - if (ret != 0) { + + auto init_sensor_lambda = [this](SensorInfo *sensor) { + ci.reset(sensor); + int ret = sensors_init(); + if (ret == 0) { + sensor_set_parameters(); + } + return ret == 0; + }; + + // Try different sensors one by one until it success. + if (!init_sensor_lambda(new AR0231) && + !init_sensor_lambda(new OX03C10) && + !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", camera_num); enabled = false; return; } + LOGD("-- Probing sensor %d success", camera_num); // create session struct cam_req_mgr_session_info session_info = {}; @@ -647,69 +481,58 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num LOGD("acquire sensor dev"); LOG("-- Configuring sensor"); - uint32_t dt; - if (camera_id == CAMERA_ID_AR0231) { - sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - dt = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - } else if (camera_id == CAMERA_ID_OX03C10) { - sensors_i2c(init_array_ox03c10, std::size(init_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); - // one is 0x2a, two are 0x2b - dt = 0x2c; - } else { - assert(false); - } - printf("dt is %x\n", dt); + sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) if (!enabled) return; struct cam_isp_in_port_info in_port_info = { - .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num], + .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num], - .lane_type = CAM_ISP_LANE_TYPE_DPHY, - .lane_num = 4, - .lane_cfg = 0x3210, + .lane_type = CAM_ISP_LANE_TYPE_DPHY, + .lane_num = 4, + .lane_cfg = 0x3210, - .vc = 0x0, - .dt = dt, - .format = CAM_FORMAT_MIPI_RAW_12, + .vc = 0x0, + .dt = ci->frame_data_type, + .format = ci->mipi_format, - .test_pattern = 0x2, // 0x3? - .usage_type = 0x0, + .test_pattern = 0x2, // 0x3? + .usage_type = 0x0, - .left_start = 0, - .left_stop = ci.frame_width - 1, - .left_width = ci.frame_width, + .left_start = 0, + .left_stop = ci->frame_width - 1, + .left_width = ci->frame_width, - .right_start = 0, - .right_stop = ci.frame_width - 1, - .right_width = ci.frame_width, + .right_start = 0, + .right_stop = ci->frame_width - 1, + .right_width = ci->frame_width, - .line_start = 0, - .line_stop = ci.frame_height + ci.extra_height - 1, - .height = ci.frame_height + ci.extra_height, + .line_start = 0, + .line_stop = ci->frame_height + ci->extra_height - 1, + .height = ci->frame_height + ci->extra_height, - .pixel_clk = 0x0, - .batch_size = 0x0, - .dsp_mode = CAM_ISP_DSP_MODE_NONE, - .hbi_cnt = 0x0, - .custom_csid = 0x0, + .pixel_clk = 0x0, + .batch_size = 0x0, + .dsp_mode = CAM_ISP_DSP_MODE_NONE, + .hbi_cnt = 0x0, + .custom_csid = 0x0, - .num_out_res = 0x1, - .data[0] = (struct cam_isp_out_port_info){ - .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = CAM_FORMAT_MIPI_RAW_12, - .width = ci.frame_width, - .height = ci.frame_height + ci.extra_height, - .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, - }, + .num_out_res = 0x1, + .data[0] = (struct cam_isp_out_port_info){ + .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, + .format = ci->mipi_format, + .width = ci->frame_width, + .height = ci->frame_height + ci->extra_height, + .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, + }, }; struct cam_isp_resource isp_resource = { - .resource_id = CAM_ISP_RES_ID_PORT, - .handle_type = CAM_HANDLE_USER_POINTER, - .res_hdl = (uint64_t)&in_port_info, - .length = sizeof(in_port_info), + .resource_id = CAM_ISP_RES_ID_PORT, + .handle_type = CAM_HANDLE_USER_POINTER, + .res_hdl = (uint64_t)&in_port_info, + .length = sizeof(in_port_info), }; auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource); @@ -790,9 +613,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER); - s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD); - s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD); + s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER); + s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD); + s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -907,70 +730,6 @@ void cameras_close(MultiCameraState *s) { delete s->pm; } -std::map> CameraState::ar0231_build_register_lut(uint8_t *data) { - // This function builds a lookup table from register address, to a pair of indices in the - // buffer where to read this address. The buffer contains padding bytes, - // as well as markers to indicate the type of the next byte. - // - // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. - // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional - // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. - - int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; - auto get_next_idx = [](int cur_idx) { - return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding - }; - - std::map> registers; - for (int register_row = 0; register_row < 2; register_row++) { - uint8_t *registers_raw = data + ci.frame_stride * register_row; - assert(registers_raw[0] == 0x0a); // Start of line - - int value_tag_count = 0; - int first_val_idx = 0; - uint16_t cur_addr = 0; - - for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { - int val_idx = get_next_idx(i); - - uint8_t tag = registers_raw[i]; - uint16_t val = registers_raw[val_idx]; - - if (tag == 0xAA) { // Register MSB tag - cur_addr = val << 8; - } else if (tag == 0xA5) { // Register LSB tag - cur_addr |= val; - cur_addr -= 2; // Next value tag will increment address again - } else if (tag == 0x5A) { // Value tag - - // First tag - if (value_tag_count % 2 == 0) { - cur_addr += 2; - first_val_idx = val_idx; - } else { - registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row); - } - - value_tag_count++; - } - } - } - return registers; -} - -std::map CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list addrs) { - if (ar0231_register_lut.empty()) { - ar0231_register_lut = ar0231_build_register_lut(data); - } - - std::map registers; - for (uint16_t addr : addrs) { - auto offset = ar0231_register_lut[addr]; - registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; - } - return registers; -} - void CameraState::handle_camera_event(void *evdat) { if (!enabled) return; struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat; @@ -1007,9 +766,10 @@ void CameraState::handle_camera_event(void *evdat) { auto &meta_data = buf.camera_bufs_metadata[buf_idx]; meta_data.frame_id = main_id - idx_offset; + meta_data.request_id = real_id; meta_data.timestamp_sof = timestamp; exp_lock.lock(); - meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); + meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); meta_data.high_conversion_gain = dc_gain_enabled; meta_data.integ_lines = exposure_time; meta_data.measured_grey_fraction = measured_grey_fraction; @@ -1030,22 +790,7 @@ void CameraState::handle_camera_event(void *evdat) { } void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) { - float score = 1e6; - if (camera_id == CAMERA_ID_AR0231) { - // Cost of ev diff - score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; - // Cost of absolute gain - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - // Cost of changing gain - score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; - } else if (camera_id == CAMERA_ID_OX03C10) { - score = std::abs(desired_ev - (exp_t * exp_gain)); - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(exp_g_idx - gain_idx) * 5.0; - } - + float score = ci->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx); if (score < best_ev_score) { new_exp_t = exp_t; new_exp_g = exp_g_idx; @@ -1071,10 +816,10 @@ void CameraState::set_camera_exposure(float grey_frac) { const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; // Scale target grey between 0.1 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); + float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + ci->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey; - float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev); + float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, ci->min_ev, ci->max_ev); float k = (1.0 - k_ev) / 3.0; desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev); @@ -1085,21 +830,21 @@ void CameraState::set_camera_exposure(float grey_frac) { // Hysteresis around high conversion gain // We usually want this on since it results in lower noise, but turn off in very bright day scenes bool enable_dc_gain = dc_gain_enabled; - if (!enable_dc_gain && target_grey < dc_gain_on_grey) { + if (!enable_dc_gain && target_grey < ci->dc_gain_on_grey) { enable_dc_gain = true; - dc_gain_weight = dc_gain_min_weight; - } else if (enable_dc_gain && target_grey > dc_gain_off_grey) { + dc_gain_weight = ci->dc_gain_min_weight; + } else if (enable_dc_gain && target_grey > ci->dc_gain_off_grey) { enable_dc_gain = false; - dc_gain_weight = dc_gain_max_weight; + dc_gain_weight = ci->dc_gain_max_weight; } - if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;} - if (!enable_dc_gain && dc_gain_weight > dc_gain_min_weight) {dc_gain_weight -= 1;} + if (enable_dc_gain && dc_gain_weight < ci->dc_gain_max_weight) {dc_gain_weight += 1;} + if (!enable_dc_gain && dc_gain_weight > ci->dc_gain_min_weight) {dc_gain_weight -= 1;} std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { - gain_bytes = Params().get("CameraDebugExpGain"); - time_bytes = Params().get("CameraDebugExpTime"); + gain_bytes = params.get("CameraDebugExpGain"); + time_bytes = params.get("CameraDebugExpTime"); } if (gain_bytes.size() > 0 && time_bytes.size() > 0) { @@ -1113,14 +858,14 @@ void CameraState::set_camera_exposure(float grey_frac) { } else { // Simple brute force optimizer to choose sensor parameters // to reach desired EV - for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) { - float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); + for (int g = std::max((int)ci->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)ci->analog_gain_max_idx, gain_idx + 1); g++) { + float gain = ci->sensor_analog_gains[g] * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max); + int t = std::clamp(int(std::round(desired_ev / gain)), ci->exposure_time_min, ci->exposure_time_max); // Only go below recommended gain when absolutely necessary to not overexpose - if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) { + if (g < ci->analog_gain_rec_idx && t > 20 && g < gain_idx) { continue; } @@ -1133,12 +878,12 @@ void CameraState::set_camera_exposure(float grey_frac) { measured_grey_fraction = grey_frac; target_grey_fraction = target_grey; - analog_gain_frac = sensor_analog_gains[new_exp_g]; + analog_gain_frac = ci->sensor_analog_gains[new_exp_g]; gain_idx = new_exp_g; exposure_time = new_exp_t; dc_gain_enabled = enable_dc_gain; - float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); + float gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain; exp_lock.unlock(); @@ -1151,59 +896,8 @@ void CameraState::set_camera_exposure(float grey_frac) { } // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof)); - if (camera_id == CAMERA_ID_AR0231) { - uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; - struct i2c_random_wr_payload exp_reg_array[] = { - {0x3366, analog_gain_reg}, - {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, - {0x3012, (uint16_t)exposure_time}, - }; - sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_OX03C10) { - // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD - uint32_t hcg_time = exposure_time; - uint32_t lcg_time = hcg_time; - uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); - uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); - - uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; - - struct i2c_random_wr_payload exp_reg_array[] = { - {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, - {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, - {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, - {0x35c2, vs_time&0xFF}, - - {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - }; - sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); - } -} - -static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { - // See AR0231 Developer Guide - page 36 - float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); - float t0 = 55.0 - slope * (float)calib2; - return t0 + slope * (float)data_reg; -} - -static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){ - const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; - uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset; - - if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0){ - LOGE("unexpected register data found"); - return; - } - - auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}); - - uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; - framed.setFrameIdSensor(frame_id); - - float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); - float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); - framed.setTemperaturesC({temp_0, temp_1}); + auto exp_reg_array = ci->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled); + sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); } static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { @@ -1214,9 +908,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) framed.setFrameType(cereal::FrameData::FrameType::FRONT); fill_frame_data(framed, c->buf.cur_frame_data, c); - if (c->camera_id == CAMERA_ID_AR0231) { - ar0231_process_registers(s, c, framed); - } + c->ci->processRegisters(c, framed); s->pm->send("driverCameraState", msg); } @@ -1231,10 +923,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { } LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); - if (c->camera_id == CAMERA_ID_AR0231) { - ar0231_process_registers(s, c, framed); - } - + c->ci->processRegisters(c, framed); s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg); const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986); @@ -1282,6 +971,9 @@ void cameras_run(MultiCameraState *s) { event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); } + // for debugging + //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20); + if (event_data->session_hdl == s->road_cam.session_handle) { s->road_cam.handle_camera_event(event_data); } else if (event_data->session_hdl == s->wide_road_cam.session_handle) { @@ -1292,6 +984,8 @@ void cameras_run(MultiCameraState *s) { LOGE("Unknown vidioc event source"); assert(false); } + } else { + LOGE("unhandled event %d\n", ev.type); } } else { LOGE("VIDIOC_DQEVENT failed, errno=%d", errno); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 9e0109ab20..47ca578b99 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -1,23 +1,20 @@ #pragma once -#include -#include +#include #include -#include - #include "system/camerad/cameras/camera_common.h" #include "system/camerad/cameras/camera_util.h" +#include "system/camerad/sensors/sensor.h" #include "common/params.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 -#define ANALOG_GAIN_MAX_CNT 55 class CameraState { public: MultiCameraState *multi_cam_state; - CameraInfo ci; + std::unique_ptr ci; bool enabled; std::mutex exp_lock; @@ -28,32 +25,13 @@ public: int gain_idx; float analog_gain_frac; - int exposure_time_min; - int exposure_time_max; - - float dc_gain_factor; - int dc_gain_min_weight; - int dc_gain_max_weight; - float dc_gain_on_grey; - float dc_gain_off_grey; - - float sensor_analog_gains[ANALOG_GAIN_MAX_CNT]; - int analog_gain_min_idx; - int analog_gain_max_idx; - int analog_gain_rec_idx; - int analog_gain_cost_delta; - float analog_gain_cost_low; - float analog_gain_cost_high; - float cur_ev[3]; - float min_ev, max_ev; float best_ev_score; int new_exp_g; int new_exp_t; float measured_grey_fraction; float target_grey_fraction; - float target_grey_factor; unique_fd sensor_fd; unique_fd csiphy_fd; @@ -67,13 +45,11 @@ public: void sensors_start(); void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); - void camera_set_parameters(); + void sensor_set_parameters(); void camera_map_bufs(MultiCameraState *s); - void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); + void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); void camera_close(); - std::map ar0231_parse_registers(uint8_t *data, std::initializer_list addrs); - int32_t session_handle; int32_t sensor_dev_handle; int32_t isp_dev_handle; @@ -89,12 +65,10 @@ public: int frame_id_last; int idx_offset; bool skipped; - int camera_id; CameraBuf buf; MemoryManager mm; -private: void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); void enqueue_req_multi(int start, int n, bool dp); void enqueue_buffer(int i, bool dp); @@ -102,11 +76,11 @@ private: int sensors_init(); void sensors_poke(int request_id); - void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); + void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); - // Register parsing - std::map> ar0231_register_lut; - std::map> ar0231_build_register_lut(uint8_t *data); +private: + // for debugging + Params params; }; typedef struct MultiCameraState { diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc index 74c81a878a..4fe38997ce 100644 --- a/system/camerad/cameras/camera_util.cc +++ b/system/camerad/cameras/camera_util.cc @@ -1,5 +1,7 @@ #include "system/camerad/cameras/camera_util.h" +#include + #include #include @@ -30,10 +32,10 @@ int do_cam_control(int fd, int op_code, void *handle, int size) { std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { struct cam_acquire_dev_cmd cmd = { - .session_handle = session_handle, - .handle_type = CAM_HANDLE_USER_POINTER, - .num_resources = (uint32_t)(data ? num_resources : 0), - .resource_hdl = (uint64_t)data, + .session_handle = session_handle, + .handle_type = CAM_HANDLE_USER_POINTER, + .num_resources = (uint32_t)(data ? num_resources : 0), + .resource_hdl = (uint64_t)data, }; int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; @@ -41,9 +43,9 @@ std::optional device_acquire(int fd, int32_t session_handle, void *data int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { struct cam_config_dev_cmd cmd = { - .session_handle = session_handle, - .dev_handle = dev_handle, - .packet_handle = packet_handle, + .session_handle = session_handle, + .dev_handle = dev_handle, + .packet_handle = packet_handle, }; return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); } @@ -111,6 +113,7 @@ void *MemoryManager::alloc_buf(int size, uint32_t *handle) { size_lookup[ptr] = size; } lock.unlock(); + memset(ptr, 0, size); return ptr; } diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h index b36f404c0f..891ce3e793 100644 --- a/system/camerad/cameras/camera_util.h +++ b/system/camerad/cameras/camera_util.h @@ -1,6 +1,6 @@ #pragma once - #include +#include #include #include #include diff --git a/system/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl deleted file mode 100644 index a7115ae76c..0000000000 --- a/system/camerad/imgproc/conv.cl +++ /dev/null @@ -1,110 +0,0 @@ -// const __constant float3 rgb_weights = (0.299, 0.587, 0.114); // opencv rgb2gray weights -// const __constant float3 bgr_weights = (0.114, 0.587, 0.299); // bgr2gray weights - -// convert input rgb image to single channel then conv -__kernel void rgb2gray_conv2d( - const __global uchar * input, - __global short * output, - __constant short * filter, - __local uchar3 * cached -) -{ - const int rowOffset = get_global_id(1) * IMAGE_W; - const int my = get_global_id(0) + rowOffset; - - const int localRowLen = TWICE_HALF_FILTER_SIZE + get_local_size(0); - const int localRowOffset = ( get_local_id(1) + HALF_FILTER_SIZE ) * localRowLen; - const int myLocal = localRowOffset + get_local_id(0) + HALF_FILTER_SIZE; - - // cache local pixels - cached[ myLocal ].x = input[ my * 3 ]; // r - cached[ myLocal ].y = input[ my * 3 + 1]; // g - cached[ myLocal ].z = input[ my * 3 + 2]; // b - - // pad - if ( - get_global_id(0) < HALF_FILTER_SIZE || - get_global_id(0) > IMAGE_W - HALF_FILTER_SIZE - 1 || - get_global_id(1) < HALF_FILTER_SIZE || - get_global_id(1) > IMAGE_H - HALF_FILTER_SIZE - 1 - ) - { - barrier(CLK_LOCAL_MEM_FENCE); - return; - } - else - { - int localColOffset = -1; - int globalColOffset = -1; - - // cache extra - if ( get_local_id(0) < HALF_FILTER_SIZE ) - { - localColOffset = get_local_id(0); - globalColOffset = -HALF_FILTER_SIZE; - - cached[ localRowOffset + get_local_id(0) ].x = input[ my * 3 - HALF_FILTER_SIZE * 3 ]; - cached[ localRowOffset + get_local_id(0) ].y = input[ my * 3 - HALF_FILTER_SIZE * 3 + 1]; - cached[ localRowOffset + get_local_id(0) ].z = input[ my * 3 - HALF_FILTER_SIZE * 3 + 2]; - } - else if ( get_local_id(0) >= get_local_size(0) - HALF_FILTER_SIZE ) - { - localColOffset = get_local_id(0) + TWICE_HALF_FILTER_SIZE; - globalColOffset = HALF_FILTER_SIZE; - - cached[ myLocal + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE * 3 ]; - cached[ myLocal + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE * 3 + 1]; - cached[ myLocal + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE * 3 + 2]; - } - - - if ( get_local_id(1) < HALF_FILTER_SIZE ) - { - cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 ]; - cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 1]; - cached[ get_local_id(1) * localRowLen + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + 2]; - if (localColOffset > 0) - { - cached[ get_local_id(1) * localRowLen + localColOffset ].x = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3]; - cached[ get_local_id(1) * localRowLen + localColOffset ].y = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1]; - cached[ get_local_id(1) * localRowLen + localColOffset ].z = input[ my * 3 - HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2]; - } - } - else if ( get_local_id(1) >= get_local_size(1) -HALF_FILTER_SIZE ) - { - int offset = ( get_local_id(1) + TWICE_HALF_FILTER_SIZE ) * localRowLen; - cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 ]; - cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 1]; - cached[ offset + get_local_id(0) + HALF_FILTER_SIZE ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + 2]; - if (localColOffset > 0) - { - cached[ offset + localColOffset ].x = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3]; - cached[ offset + localColOffset ].y = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 1]; - cached[ offset + localColOffset ].z = input[ my * 3 + HALF_FILTER_SIZE_IMAGE_W * 3 + globalColOffset * 3 + 2]; - } - } - - // sync - barrier(CLK_LOCAL_MEM_FENCE); - - // perform convolution - int fIndex = 0; - short sum = 0; - - for (int r = -HALF_FILTER_SIZE; r <= HALF_FILTER_SIZE; r++) - { - int curRow = r * localRowLen; - for (int c = -HALF_FILTER_SIZE; c <= HALF_FILTER_SIZE; c++, fIndex++) - { - if (!FLIP_RB){ - // sum += dot(rgb_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ]; - sum += (cached[ myLocal + curRow + c ].x / 3 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 9) * filter[ fIndex ]; - } else { - // sum += dot(bgr_weights, cached[ myLocal + curRow + c ]) * filter[ fIndex ]; - sum += (cached[ myLocal + curRow + c ].x / 9 + cached[ myLocal + curRow + c ].y / 2 + cached[ myLocal + curRow + c ].z / 3) * filter[ fIndex ]; - } - } - } - output[my] = sum; - } -} \ No newline at end of file diff --git a/system/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl deleted file mode 100644 index d674b5f363..0000000000 --- a/system/camerad/imgproc/pool.cl +++ /dev/null @@ -1,34 +0,0 @@ -// calculate variance in each subregion -__kernel void var_pool( - const __global char * input, - __global ushort * output // should not be larger than 128*128 so uint16 -) -{ - const int xidx = get_global_id(0) + ROI_X_MIN; - const int yidx = get_global_id(1) + ROI_Y_MIN; - - const int size = X_PITCH * Y_PITCH; - - float fsum = 0; - char mean, max; - - for (int i = 0; i < size; i++) { - int x_offset = i % X_PITCH; - int y_offset = i / X_PITCH; - fsum += input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]; - max = input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]>max ? input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X]:max; - } - - mean = convert_char_rte(fsum / size); - - float fvar = 0; - for (int i = 0; i < size; i++) { - int x_offset = i % X_PITCH; - int y_offset = i / X_PITCH; - fvar += (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean) * (input[xidx*X_PITCH + yidx*Y_PITCH*FULL_STRIDE_X + x_offset + y_offset*FULL_STRIDE_X] - mean); - } - - fvar = fvar / size; - - output[(xidx-ROI_X_MIN)+(yidx-ROI_Y_MIN)*(ROI_X_MAX-ROI_X_MIN+1)] = convert_ushort_rte(5 * fvar + convert_float_rte(max)); -} \ No newline at end of file diff --git a/system/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc deleted file mode 100644 index a7bbeb9e86..0000000000 --- a/system/camerad/imgproc/utils.cc +++ /dev/null @@ -1,106 +0,0 @@ -#include "system/camerad/imgproc/utils.h" - -#include -#include -#include -#include -#include - -const int16_t lapl_conv_krnl[9] = {0, 1, 0, - 1, -4, 1, - 0, 1, 0}; - -// calculate score based on laplacians in one area -uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) { - const int size = x_pitch * y_pitch; - // avg and max of roi - int16_t max = 0; - int sum = 0; - for (int i = 0; i < size; ++i) { - const int16_t v = lap[i]; - sum += v; - if (v > max) max = v; - } - - const int16_t mean = sum / size; - - // var of roi - int var = 0; - for (int i = 0; i < size; ++i) { - var += std::pow(lap[i] - mean, 2); - } - - const float fvar = (float)var / size; - return std::min(5 * fvar + max, (float)65535); -} - -bool is_blur(const uint16_t *lapmap, const size_t size) { - float bad_sum = 0; - for (int i = 0; i < size; i++) { - if (lapmap[i] < LM_THRESH) { - bad_sum += 1 / (float)size; - } - } - return (bad_sum > LM_PREC_THRESH); -} - -static cl_program build_conv_program(cl_device_id device_id, cl_context context, int image_w, int image_h, int filter_size) { - char args[4096]; - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero " - "-DIMAGE_W=%d -DIMAGE_H=%d -DFLIP_RB=%d " - "-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d", - image_w, image_h, 1, - filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w); - return cl_program_from_file(context, device_id, "imgproc/conv.cl", args); -} - -LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size) - : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), rgb_stride(rgb_stride), - roi_buf(width * height * 3), result_buf(width * height) { - - prg = build_conv_program(device_id, ctx, width, height, filter_size); - krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb2gray_conv2d", &err)); - // TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter - roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, roi_buf.size() * sizeof(roi_buf[0]), NULL, &err)); - result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, result_buf.size() * sizeof(result_buf[0]), NULL, &err)); - filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR, - 9 * sizeof(int16_t), (void *)&lapl_conv_krnl, &err)); -} - -LapConv::~LapConv() { - CL_CHECK(clReleaseMemObject(roi_cl)); - CL_CHECK(clReleaseMemObject(result_cl)); - CL_CHECK(clReleaseMemObject(filter_cl)); - CL_CHECK(clReleaseKernel(krnl)); - CL_CHECK(clReleaseProgram(prg)); -} - -uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id) { - // sharpness scores - const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1); - const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1); - - const uint8_t *rgb_offset = rgb_buf + y_offset * height * rgb_stride + x_offset * width * 3; - for (int i = 0; i < height; ++i) { - memcpy(&roi_buf[i * width * 3], &rgb_offset[i * rgb_stride], width * 3); - } - - constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t)); - const size_t global_work_size[] = {(size_t)width, (size_t)height}; - const size_t local_work_size[] = {CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE}; - - CL_CHECK(clEnqueueWriteBuffer(q, roi_cl, CL_TRUE, 0, roi_buf.size() * sizeof(roi_buf[0]), roi_buf.data(), 0, 0, 0)); - CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), (void *)&roi_cl)); - CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), (void *)&result_cl)); - CL_CHECK(clSetKernelArg(krnl, 2, sizeof(cl_mem), (void *)&filter_cl)); - CL_CHECK(clSetKernelArg(krnl, 3, local_mem_size, 0)); - cl_event conv_event; - CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, global_work_size, local_work_size, 0, 0, &conv_event)); - CL_CHECK(clWaitForEvents(1, &conv_event)); - CL_CHECK(clReleaseEvent(conv_event)); - CL_CHECK(clEnqueueReadBuffer(q, result_cl, CL_TRUE, 0, - result_buf.size() * sizeof(result_buf[0]), result_buf.data(), 0, 0, 0)); - - return get_lapmap_one(result_buf.data(), width, height); -} diff --git a/system/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h deleted file mode 100644 index 94323b15c5..0000000000 --- a/system/camerad/imgproc/utils.h +++ /dev/null @@ -1,37 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "common/clutil.h" - -#define NUM_SEGMENTS_X 8 -#define NUM_SEGMENTS_Y 6 - -#define ROI_X_MIN 1 -#define ROI_X_MAX 6 -#define ROI_Y_MIN 2 -#define ROI_Y_MAX 3 - -#define LM_THRESH 120 -#define LM_PREC_THRESH 0.9 // 90 perc is blur -#define CONV_LOCAL_WORKSIZE 16 - -class LapConv { -public: - LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size); - ~LapConv(); - uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id); - -private: - cl_mem roi_cl, result_cl, filter_cl; - cl_program prg; - cl_kernel krnl; - const int width, height; - const int rgb_stride; - std::vector roi_buf; - std::vector result_buf; -}; - -bool is_blur(const uint16_t *lapmap, const size_t size); diff --git a/system/camerad/main.cc b/system/camerad/main.cc index 35a3329f30..19de21c9bb 100644 --- a/system/camerad/main.cc +++ b/system/camerad/main.cc @@ -8,7 +8,7 @@ int main(int argc, char *argv[]) { if (Hardware::PC()) { - printf("camerad is not meant to run on PC\n"); + printf("exiting, camerad is not meant to run on PC\n"); return 0; } diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc new file mode 100644 index 0000000000..1ca4b3f1ad --- /dev/null +++ b/system/camerad/sensors/ar0231.cc @@ -0,0 +1,171 @@ +#include + +#include "common/swaglog.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_qcom2.h" +#include "system/camerad/sensors/sensor.h" + +namespace { + +const size_t AR0231_REGISTERS_HEIGHT = 2; +// TODO: this extra height is universal and doesn't apply per camera +const size_t AR0231_STATS_HEIGHT = 2 + 8; + +const float sensor_analog_gains_AR0231[] = { + 1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3 + 3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7 + 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 + 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass + +std::map> ar0231_build_register_lut(CameraState *c, uint8_t *data) { + // This function builds a lookup table from register address, to a pair of indices in the + // buffer where to read this address. The buffer contains padding bytes, + // as well as markers to indicate the type of the next byte. + // + // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. + // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional + // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. + + int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; + auto get_next_idx = [](int cur_idx) { + return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding + }; + + std::map> registers; + for (int register_row = 0; register_row < 2; register_row++) { + uint8_t *registers_raw = data + c->ci->frame_stride * register_row; + assert(registers_raw[0] == 0x0a); // Start of line + + int value_tag_count = 0; + int first_val_idx = 0; + uint16_t cur_addr = 0; + + for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { + int val_idx = get_next_idx(i); + + uint8_t tag = registers_raw[i]; + uint16_t val = registers_raw[val_idx]; + + if (tag == 0xAA) { // Register MSB tag + cur_addr = val << 8; + } else if (tag == 0xA5) { // Register LSB tag + cur_addr |= val; + cur_addr -= 2; // Next value tag will increment address again + } else if (tag == 0x5A) { // Value tag + + // First tag + if (value_tag_count % 2 == 0) { + cur_addr += 2; + first_val_idx = val_idx; + } else { + registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row); + } + + value_tag_count++; + } + } + } + return registers; +} + +float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { + // See AR0231 Developer Guide - page 36 + float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); + float t0 = 55.0 - slope * (float)calib2; + return t0 + slope * (float)data_reg; +} + +} // namespace + +AR0231::AR0231() { + image_sensor = cereal::FrameData::ImageSensor::AR0231; + data_word = true; + frame_width = FRAME_WIDTH; + frame_height = FRAME_HEIGHT; + frame_stride = FRAME_STRIDE; + extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT; + + registers_offset = 0; + frame_offset = AR0231_REGISTERS_HEIGHT; + stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT; + + start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231)); + init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); + probe_reg_addr = 0x3000; + probe_expected_data = 0x354; + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + mclk_frequency = 19200000; //Hz + + dc_gain_factor = 2.5; + dc_gain_min_weight = 0; + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.2; + dc_gain_off_grey = 0.3; + exposure_time_min = 2; // with HDR, fastest ss + exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms + analog_gain_min_idx = 0x1; // 0.25x + analog_gain_rec_idx = 0x6; // 0.8x + analog_gain_max_idx = 0xD; // 4.0x + analog_gain_cost_delta = 0; + analog_gain_cost_low = 0.1; + analog_gain_cost_high = 5.0; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; + } + min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 1.0; +} + +void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const { + const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; + uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset; + + if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { + LOGE("unexpected register data found"); + return; + } + + if (ar0231_register_lut.empty()) { + ar0231_register_lut = ar0231_build_register_lut(c, data); + } + std::map registers; + for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) { + auto offset = ar0231_register_lut[addr]; + registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; + } + + uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; + framed.setFrameIdSensor(frame_id); + + float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); + float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); + framed.setTemperaturesC({temp_0, temp_1}); +} + + +std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; + return { + {0x3366, analog_gain_reg}, + {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, + {0x3012, (uint16_t)exposure_time}, + }; +} + +int AR0231::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x20, 0x30, 0x20}[port]; +} + +float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + // Cost of ev diff + float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; + // Cost of absolute gain + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + // Cost of changing gain + score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; + return score; +} diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h new file mode 100644 index 0000000000..6c4c251e8e --- /dev/null +++ b/system/camerad/sensors/ar0231_registers.h @@ -0,0 +1,119 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; +const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; + +const struct i2c_random_wr_payload init_array_ar0231[] = { + {0x301A, 0x0018}, // RESET_REGISTER + + // CLOCK Settings + // input clock is 19.2 / 2 * 0x37 = 528 MHz + // pixclk is 528 / 6 = 88 MHz + // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms + // img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms + {0x302A, 0x0006}, // VT_PIX_CLK_DIV + {0x302C, 0x0001}, // VT_SYS_CLK_DIV + {0x302E, 0x0002}, // PRE_PLL_CLK_DIV + {0x3030, 0x0037}, // PLL_MULTIPLIER + {0x3036, 0x000C}, // OP_PIX_CLK_DIV + {0x3038, 0x0001}, // OP_SYS_CLK_DIV + + // FORMAT + {0x3040, 0xC000}, // READ_MODE + {0x3004, 0x0000}, // X_ADDR_START_ + {0x3008, 0x0787}, // X_ADDR_END_ + {0x3002, 0x0000}, // Y_ADDR_START_ + {0x3006, 0x04B7}, // Y_ADDR_END_ + {0x3032, 0x0000}, // SCALING_MODE + {0x30A2, 0x0001}, // X_ODD_INC_ + {0x30A6, 0x0001}, // Y_ODD_INC_ + {0x3402, 0x0788}, // X_OUTPUT_CONTROL + {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL + {0x3064, 0x1982}, // SMIA_TEST + {0x30BA, 0x11F2}, // DIGITAL_CTRL + + // Enable external trigger and disable GPIO outputs + {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE + {0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE + {0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2 + + // Readout timing + {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR) + {0x300A, 0x0855}, // FRAME_LENGTH_LINES + {0x3042, 0x0000}, // EXTRA_DELAY + + // Readout Settings + {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI + {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 + {0x3342, 0x1212}, // MIPI_F1_PDT_EDT + {0x3346, 0x1212}, // MIPI_F2_PDT_EDT + {0x334A, 0x1212}, // MIPI_F3_PDT_EDT + {0x334E, 0x1212}, // MIPI_F4_PDT_EDT + {0x3344, 0x0011}, // MIPI_F1_VDT_VC + {0x3348, 0x0111}, // MIPI_F2_VDT_VC + {0x334C, 0x0211}, // MIPI_F3_VDT_VC + {0x3350, 0x0311}, // MIPI_F4_VDT_VC + {0x31B0, 0x0053}, // FRAME_PREAMBLE + {0x31B2, 0x003B}, // LINE_PREAMBLE + {0x301A, 0x001C}, // RESET_REGISTER + + // Noise Corrections + {0x3092, 0x0C24}, // ROW_NOISE_CONTROL + {0x337A, 0x0C80}, // DBLC_SCALE0 + {0x3370, 0x03B1}, // DBLC + {0x3044, 0x0400}, // DARK_CONTROL + + // Enable temperature sensor + {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG + {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG + + // Enable dead pixel correction using + // the 1D line correction scheme + {0x31E0, 0x0003}, + + // HDR Settings + {0x3082, 0x0004}, // OPERATION_MODE_CTRL + {0x3238, 0x0444}, // EXPOSURE_RATIO + + {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN + {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN + {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN + {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN + + // TODO: do these have to be lower than LINE_LENGTH_PCK? + {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ + {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2 + + {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? + {0x33DA, 0x0000}, // COMPANDING + {0x318E, 0x0200}, // PRE_HDR_GAIN_EN + + // DLO Settings + {0x3100, 0x4000}, // DLO_CONTROL0 + {0x3280, 0x0CCC}, // T1 G1 + {0x3282, 0x0CCC}, // T1 R + {0x3284, 0x0CCC}, // T1 B + {0x3286, 0x0CCC}, // T1 G2 + {0x3288, 0x0FA0}, // T2 G1 + {0x328A, 0x0FA0}, // T2 R + {0x328C, 0x0FA0}, // T2 B + {0x328E, 0x0FA0}, // T2 G2 + + // Initial Gains + {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_ + {0x3366, 0xFF77}, // ANALOG_GAIN (1x) + + {0x3060, 0x3333}, // ANALOG_COLOR_GAIN + + {0x3362, 0x0000}, // DC GAIN + + {0x305A, 0x00F8}, // red gain + {0x3058, 0x0122}, // blue gain + {0x3056, 0x009A}, // g1 gain + {0x305C, 0x009A}, // g2 gain + + {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_ + + // Initial Integration Time + {0x3012, 0x0005}, +}; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc new file mode 100644 index 0000000000..449e06be83 --- /dev/null +++ b/system/camerad/sensors/os04c10.cc @@ -0,0 +1,105 @@ +#include "system/camerad/sensors/sensor.h" + +namespace { + +const float sensor_analog_gains_OS04C10[] = { + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; + +const uint32_t os04c10_analog_gains_reg[] = { + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + +const uint32_t VS_TIME_MIN_OS04C10 = 1; +//const uint32_t VS_TIME_MAX_OS04C10 = 34; // vs < 35 + +} // namespace + +OS04C10::OS04C10() { + image_sensor = cereal::FrameData::ImageSensor::OS04C10; + data_word = false; + + frame_width = 1920; + frame_height = 1080; + frame_stride = (1920*10/8); + + /* + frame_width = 0xa80; + frame_height = 0x5f0; + frame_stride = 0xd20; + */ + + extra_height = 0; + frame_offset = 0; + + start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10)); + init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); + probe_reg_addr = 0x300a; + probe_expected_data = 0x5304; + mipi_format = CAM_FORMAT_MIPI_RAW_10; + frame_data_type = 0x2b; + mclk_frequency = 24000000; // Hz + + dc_gain_factor = 7.32; + dc_gain_min_weight = 1; // always on is fine + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.9; + dc_gain_off_grey = 1.0; + exposure_time_min = 2; // 1x + exposure_time_max = 2016; + analog_gain_min_idx = 0x0; + analog_gain_rec_idx = 0x0; // 1x + analog_gain_max_idx = 0x36; + analog_gain_cost_delta = -1; + analog_gain_cost_low = 0.4; + analog_gain_cost_high = 6.4; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 0.01; +} + +std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + //uint32_t lcg_time = hcg_time; + //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10); + //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10); + + uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g]; + + hcg_time = 100; + real_gain = 0x320; + + return { + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + //{0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + }; +} + +int OS04C10::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x6C, 0x20, 0x6C}[port]; +} + +float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + float score = std::abs(desired_ev - (exp_t * exp_gain)); + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + score += ((1 - analog_gain_cost_delta) + + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * + std::abs(exp_g_idx - gain_idx) * 5.0; + return score; +} diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h new file mode 100644 index 0000000000..c92389d1e1 --- /dev/null +++ b/system/camerad/sensors/os04c10_registers.h @@ -0,0 +1,298 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x0103, 0x01}, + {0x0301, 0x84}, + {0x0303, 0x01}, + {0x0305, 0x5b}, + {0x0306, 0x01}, + {0x0307, 0x17}, + {0x0323, 0x04}, + {0x0324, 0x01}, + {0x0325, 0x62}, + {0x3012, 0x06}, + {0x3013, 0x02}, + {0x3016, 0x72}, + {0x3021, 0x03}, + {0x3106, 0x21}, + {0x3107, 0xa1}, + {0x3500, 0x00}, + {0x3501, 0x00}, + {0x3502, 0x40}, + {0x3503, 0x88}, + {0x3508, 0x07}, + {0x3509, 0xc0}, + {0x350a, 0x04}, + {0x350b, 0x00}, + {0x350c, 0x07}, + {0x350d, 0xc0}, + {0x350e, 0x04}, + {0x350f, 0x00}, + {0x3510, 0x00}, + {0x3511, 0x00}, + {0x3512, 0x20}, + {0x3624, 0x00}, + {0x3625, 0x4c}, + {0x3660, 0x00}, + {0x3666, 0xa5}, + {0x3667, 0xa5}, + {0x366a, 0x64}, + {0x3673, 0x0d}, + {0x3672, 0x0d}, + {0x3671, 0x0d}, + {0x3670, 0x0d}, + {0x3685, 0x00}, + {0x3694, 0x0d}, + {0x3693, 0x0d}, + {0x3692, 0x0d}, + {0x3691, 0x0d}, + {0x3696, 0x4c}, + {0x3697, 0x4c}, + {0x3698, 0x40}, + {0x3699, 0x80}, + {0x369a, 0x18}, + {0x369b, 0x1f}, + {0x369c, 0x14}, + {0x369d, 0x80}, + {0x369e, 0x40}, + {0x369f, 0x21}, + {0x36a0, 0x12}, + {0x36a1, 0x5d}, + {0x36a2, 0x66}, + {0x370a, 0x00}, + {0x370e, 0x0c}, + {0x3710, 0x00}, + {0x3713, 0x00}, + {0x3725, 0x02}, + {0x372a, 0x03}, + {0x3738, 0xce}, + {0x3748, 0x00}, + {0x374a, 0x00}, + {0x374c, 0x00}, + {0x374e, 0x00}, + {0x3756, 0x00}, + {0x3757, 0x0e}, + {0x3767, 0x00}, + {0x3771, 0x00}, + {0x377b, 0x20}, + {0x377c, 0x00}, + {0x377d, 0x0c}, + {0x3781, 0x03}, + {0x3782, 0x00}, + {0x3789, 0x14}, + {0x3795, 0x02}, + {0x379c, 0x00}, + {0x379d, 0x00}, + {0x37b8, 0x04}, + {0x37ba, 0x03}, + {0x37bb, 0x00}, + {0x37bc, 0x04}, + {0x37be, 0x08}, + {0x37c4, 0x11}, + {0x37c5, 0x80}, + {0x37c6, 0x14}, + {0x37c7, 0x08}, + {0x37da, 0x11}, + {0x381f, 0x08}, + {0x3829, 0x03}, + {0x3881, 0x00}, + {0x3888, 0x04}, + {0x388b, 0x00}, + {0x3c80, 0x10}, + {0x3c86, 0x00}, + {0x3c8c, 0x20}, + {0x3c9f, 0x01}, + {0x3d85, 0x1b}, + {0x3d8c, 0x71}, + {0x3d8d, 0xe2}, + {0x3f00, 0x0b}, + {0x3f06, 0x04}, + {0x400a, 0x01}, + {0x400b, 0x50}, + {0x400e, 0x08}, + {0x4043, 0x7e}, + {0x4045, 0x7e}, + {0x4047, 0x7e}, + {0x4049, 0x7e}, + {0x4090, 0x14}, + {0x40b0, 0x00}, + {0x40b1, 0x00}, + {0x40b2, 0x00}, + {0x40b3, 0x00}, + {0x40b4, 0x00}, + {0x40b5, 0x00}, + {0x40b7, 0x00}, + {0x40b8, 0x00}, + {0x40b9, 0x00}, + {0x40ba, 0x00}, + {0x4301, 0x00}, + {0x4303, 0x00}, + {0x4502, 0x04}, + {0x4503, 0x00}, + {0x4504, 0x06}, + {0x4506, 0x00}, + {0x4507, 0x64}, + {0x4803, 0x00}, + {0x480c, 0x32}, + {0x480e, 0x00}, + {0x4813, 0x00}, + {0x4819, 0x70}, + {0x481f, 0x30}, + {0x4823, 0x3f}, + {0x4825, 0x30}, + {0x4833, 0x10}, + {0x484b, 0x07}, + {0x488b, 0x00}, + {0x4d00, 0x04}, + {0x4d01, 0xad}, + {0x4d02, 0xbc}, + {0x4d03, 0xa1}, + {0x4d04, 0x1f}, + {0x4d05, 0x4c}, + {0x4d0b, 0x01}, + {0x4e00, 0x2a}, + {0x4e0d, 0x00}, + {0x5001, 0x09}, + {0x5004, 0x00}, + {0x5080, 0x04}, + {0x5036, 0x00}, + {0x5180, 0x70}, + {0x5181, 0x10}, + {0x520a, 0x03}, + {0x520b, 0x06}, + {0x520c, 0x0c}, + {0x580b, 0x0f}, + {0x580d, 0x00}, + {0x580f, 0x00}, + {0x5820, 0x00}, + {0x5821, 0x00}, + {0x301c, 0xf8}, + {0x301e, 0xb4}, + {0x301f, 0xd0}, + {0x3022, 0x01}, + {0x3109, 0xe7}, + {0x3600, 0x00}, + {0x3610, 0x65}, + {0x3611, 0x85}, + {0x3613, 0x3a}, + {0x3615, 0x60}, + {0x3621, 0x90}, + {0x3620, 0x0c}, + {0x3629, 0x00}, + {0x3661, 0x04}, + {0x3664, 0x70}, + {0x3665, 0x00}, + {0x3681, 0xa6}, + {0x3682, 0x53}, + {0x3683, 0x2a}, + {0x3684, 0x15}, + {0x3700, 0x2a}, + {0x3701, 0x12}, + {0x3703, 0x28}, + {0x3704, 0x0e}, + {0x3706, 0x4a}, + {0x3709, 0x4a}, + {0x370b, 0xa2}, + {0x370c, 0x01}, + {0x370f, 0x04}, + {0x3714, 0x24}, + {0x3716, 0x24}, + {0x3719, 0x11}, + {0x371a, 0x1e}, + {0x3720, 0x00}, + {0x3724, 0x13}, + {0x373f, 0xb0}, + {0x3741, 0x4a}, + {0x3743, 0x4a}, + {0x3745, 0x4a}, + {0x3747, 0x4a}, + {0x3749, 0xa2}, + {0x374b, 0xa2}, + {0x374d, 0xa2}, + {0x374f, 0xa2}, + {0x3755, 0x10}, + {0x376c, 0x00}, + {0x378d, 0x30}, + {0x3790, 0x4a}, + {0x3791, 0xa2}, + {0x3798, 0x40}, + {0x379e, 0x00}, + {0x379f, 0x04}, + {0x37a1, 0x10}, + {0x37a2, 0x1e}, + {0x37a8, 0x10}, + {0x37a9, 0x1e}, + {0x37ac, 0xa0}, + {0x37b9, 0x01}, + {0x37bd, 0x01}, + {0x37bf, 0x26}, + {0x37c0, 0x11}, + {0x37c2, 0x04}, + {0x37cd, 0x19}, + {0x37e0, 0x08}, + {0x37e6, 0x04}, + {0x37e5, 0x02}, + {0x37e1, 0x0c}, + {0x3737, 0x04}, + {0x37d8, 0x02}, + {0x37e2, 0x10}, + {0x3739, 0x10}, + {0x3662, 0x10}, + {0x37e4, 0x20}, + {0x37e3, 0x08}, + {0x37d9, 0x08}, + {0x4040, 0x00}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3800, 0x01}, + {0x3801, 0x80}, + {0x3802, 0x00}, + {0x3803, 0xdc}, + {0x3804, 0x09}, + {0x3805, 0x0f}, + {0x3806, 0x05}, + {0x3807, 0x23}, + {0x3808, 0x07}, + {0x3809, 0x80}, + {0x380a, 0x04}, + {0x380b, 0x38}, + {0x380c, 0x04}, + {0x380d, 0x2e}, + {0x380e, 0x12}, + {0x380f, 0x70}, + {0x3811, 0x08}, + {0x3813, 0x08}, + {0x3814, 0x01}, + {0x3815, 0x01}, + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x3820, 0x88}, + {0x3821, 0x00}, + {0x3880, 0x25}, + {0x3882, 0x20}, + {0x3c91, 0x0b}, + {0x3c94, 0x45}, + {0x3cad, 0x00}, + {0x3cae, 0x00}, + {0x4000, 0xf3}, + {0x4001, 0x60}, + {0x4003, 0x40}, + {0x4300, 0xff}, + {0x4302, 0x0f}, + {0x4305, 0x83}, + {0x4505, 0x84}, + {0x4809, 0x1e}, + {0x480a, 0x04}, + {0x4837, 0x15}, + {0x4c00, 0x08}, + {0x4c01, 0x08}, + {0x4c04, 0x00}, + {0x4c05, 0x00}, + {0x5000, 0xf9}, + {0x3c8c, 0x10}, +}; diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc new file mode 100644 index 0000000000..1f0609820b --- /dev/null +++ b/system/camerad/sensors/ox03c10.cc @@ -0,0 +1,94 @@ +#include "system/camerad/sensors/sensor.h" + +namespace { + +const float sensor_analog_gains_OX03C10[] = { + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; + +const uint32_t ox03c10_analog_gains_reg[] = { + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + +const uint32_t VS_TIME_MIN_OX03C10 = 1; +const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 + +} // namespace + +OX03C10::OX03C10() { + image_sensor = cereal::FrameData::ImageSensor::OX03C10; + data_word = false; + frame_width = FRAME_WIDTH; + frame_height = FRAME_HEIGHT; + frame_stride = FRAME_STRIDE; // (0xa80*12//8) + extra_height = 16; // top 2 + bot 14 + frame_offset = 2; + + start_reg_array.assign(std::begin(start_reg_array_ox03c10), std::end(start_reg_array_ox03c10)); + init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10)); + probe_reg_addr = 0x300a; + probe_expected_data = 0x5803; + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x2c; // one is 0x2a, two are 0x2b + mclk_frequency = 24000000; //Hz + + dc_gain_factor = 7.32; + dc_gain_min_weight = 1; // always on is fine + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.9; + dc_gain_off_grey = 1.0; + exposure_time_min = 2; // 1x + exposure_time_max = 2016; + analog_gain_min_idx = 0x0; + analog_gain_rec_idx = 0x0; // 1x + analog_gain_max_idx = 0x36; + analog_gain_cost_delta = -1; + analog_gain_cost_low = 0.4; + analog_gain_cost_high = 6.4; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 0.01; +} + +std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + uint32_t lcg_time = hcg_time; + uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); + uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + + uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; + + return { + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + {0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + }; +} + +int OX03C10::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x6C, 0x20, 0x6C}[port]; +} + +float OX03C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + float score = std::abs(desired_ev - (exp_t * exp_gain)); + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + score += ((1 - analog_gain_cost_delta) + + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * + std::abs(exp_g_idx - gain_idx) * 5.0; + return score; +} diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/sensors/ox03c10_registers.h similarity index 82% rename from system/camerad/cameras/sensor2_i2c.h rename to system/camerad/sensors/ox03c10_registers.h index 9170c5183a..575a2cb934 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/sensors/ox03c10_registers.h @@ -1,9 +1,9 @@ -struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; -struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; -struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}}; -struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}}; +#pragma once -struct i2c_random_wr_payload init_array_ox03c10[] = { +const struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_ox03c10[] = { {0x103, 1}, {0x107, 1}, @@ -759,118 +759,3 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3548, 0x0F}, {0x3549, 0x00}, {0x35c1, 0x00}, }; - -struct i2c_random_wr_payload init_array_ar0231[] = { - {0x301A, 0x0018}, // RESET_REGISTER - - // CLOCK Settings - // input clock is 19.2 / 2 * 0x37 = 528 MHz - // pixclk is 528 / 6 = 88 MHz - // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms - // img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms - {0x302A, 0x0006}, // VT_PIX_CLK_DIV - {0x302C, 0x0001}, // VT_SYS_CLK_DIV - {0x302E, 0x0002}, // PRE_PLL_CLK_DIV - {0x3030, 0x0037}, // PLL_MULTIPLIER - {0x3036, 0x000C}, // OP_PIX_CLK_DIV - {0x3038, 0x0001}, // OP_SYS_CLK_DIV - - // FORMAT - {0x3040, 0xC000}, // READ_MODE - {0x3004, 0x0000}, // X_ADDR_START_ - {0x3008, 0x0787}, // X_ADDR_END_ - {0x3002, 0x0000}, // Y_ADDR_START_ - {0x3006, 0x04B7}, // Y_ADDR_END_ - {0x3032, 0x0000}, // SCALING_MODE - {0x30A2, 0x0001}, // X_ODD_INC_ - {0x30A6, 0x0001}, // Y_ODD_INC_ - {0x3402, 0x0788}, // X_OUTPUT_CONTROL - {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL - {0x3064, 0x1982}, // SMIA_TEST - {0x30BA, 0x11F2}, // DIGITAL_CTRL - - // Enable external trigger and disable GPIO outputs - {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE - {0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE - {0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2 - - // Readout timing - {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR) - {0x300A, 0x0855}, // FRAME_LENGTH_LINES - {0x3042, 0x0000}, // EXTRA_DELAY - - // Readout Settings - {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI - {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 - {0x3342, 0x1212}, // MIPI_F1_PDT_EDT - {0x3346, 0x1212}, // MIPI_F2_PDT_EDT - {0x334A, 0x1212}, // MIPI_F3_PDT_EDT - {0x334E, 0x1212}, // MIPI_F4_PDT_EDT - {0x3344, 0x0011}, // MIPI_F1_VDT_VC - {0x3348, 0x0111}, // MIPI_F2_VDT_VC - {0x334C, 0x0211}, // MIPI_F3_VDT_VC - {0x3350, 0x0311}, // MIPI_F4_VDT_VC - {0x31B0, 0x0053}, // FRAME_PREAMBLE - {0x31B2, 0x003B}, // LINE_PREAMBLE - {0x301A, 0x001C}, // RESET_REGISTER - - // Noise Corrections - {0x3092, 0x0C24}, // ROW_NOISE_CONTROL - {0x337A, 0x0C80}, // DBLC_SCALE0 - {0x3370, 0x03B1}, // DBLC - {0x3044, 0x0400}, // DARK_CONTROL - - // Enable temperature sensor - {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG - {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG - - // Enable dead pixel correction using - // the 1D line correction scheme - {0x31E0, 0x0003}, - - // HDR Settings - {0x3082, 0x0004}, // OPERATION_MODE_CTRL - {0x3238, 0x0444}, // EXPOSURE_RATIO - - {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN - {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN - {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN - {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN - - // TODO: do these have to be lower than LINE_LENGTH_PCK? - {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ - {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2 - - {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? - {0x33DA, 0x0000}, // COMPANDING - {0x318E, 0x0200}, // PRE_HDR_GAIN_EN - - // DLO Settings - {0x3100, 0x4000}, // DLO_CONTROL0 - {0x3280, 0x0CCC}, // T1 G1 - {0x3282, 0x0CCC}, // T1 R - {0x3284, 0x0CCC}, // T1 B - {0x3286, 0x0CCC}, // T1 G2 - {0x3288, 0x0FA0}, // T2 G1 - {0x328A, 0x0FA0}, // T2 R - {0x328C, 0x0FA0}, // T2 B - {0x328E, 0x0FA0}, // T2 G2 - - // Initial Gains - {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_ - {0x3366, 0xFF77}, // ANALOG_GAIN (1x) - - {0x3060, 0x3333}, // ANALOG_COLOR_GAIN - - {0x3362, 0x0000}, // DC GAIN - - {0x305A, 0x00F8}, // red gain - {0x3058, 0x0122}, // blue gain - {0x3056, 0x009A}, // g1 gain - {0x305C, 0x009A}, // g2 gain - - {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_ - - // Initial Integration Time - {0x3012, 0x0005}, -}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h new file mode 100644 index 0000000000..4e2194d914 --- /dev/null +++ b/system/camerad/sensors/sensor.h @@ -0,0 +1,93 @@ +#pragma once + +#include +#include +#include +#include +#include +#include "media/cam_sensor.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/camerad/sensors/ar0231_registers.h" +#include "system/camerad/sensors/ox03c10_registers.h" +#include "system/camerad/sensors/os04c10_registers.h" + +#define ANALOG_GAIN_MAX_CNT 55 +const size_t FRAME_WIDTH = 1928; +const size_t FRAME_HEIGHT = 1208; +const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) + + +class SensorInfo { +public: + SensorInfo() = default; + virtual std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; } + virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; } + virtual int getSlaveAddress(int port) const { assert(0); } + virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {} + + cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN; + uint32_t frame_width, frame_height; + uint32_t frame_stride; + uint32_t frame_offset = 0; + uint32_t extra_height = 0; + int registers_offset = -1; + int stats_offset = -1; + + int exposure_time_min; + int exposure_time_max; + + float dc_gain_factor; + int dc_gain_min_weight; + int dc_gain_max_weight; + float dc_gain_on_grey; + float dc_gain_off_grey; + + float sensor_analog_gains[ANALOG_GAIN_MAX_CNT]; + int analog_gain_min_idx; + int analog_gain_max_idx; + int analog_gain_rec_idx; + int analog_gain_cost_delta; + float analog_gain_cost_low; + float analog_gain_cost_high; + float target_grey_factor; + float min_ev; + float max_ev; + + bool data_word; + uint32_t probe_reg_addr; + uint32_t probe_expected_data; + std::vector start_reg_array; + std::vector init_reg_array; + + uint32_t mipi_format; + uint32_t mclk_frequency; + uint32_t frame_data_type; +}; + +class AR0231 : public SensorInfo { +public: + AR0231(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; + void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override; + +private: + mutable std::map> ar0231_register_lut; +}; + +class OX03C10 : public SensorInfo { +public: + OX03C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; + +class OS04C10 : public SensorInfo { +public: + OS04C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index ede97d1a79..8c1b6084c7 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -13,7 +13,6 @@ from openpilot.system.hardware import PC from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.selfdrive.manager.process_config import managed_processes -LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h VISION_STREAMS = { "roadCameraState": VisionStreamType.VISION_STREAM_ROAD, diff --git a/system/camerad/test/.gitignore b/system/camerad/test/.gitignore index 44cd0b2730..d67473ebcd 100644 --- a/system/camerad/test/.gitignore +++ b/system/camerad/test/.gitignore @@ -1 +1,2 @@ jpegs/ +test_ae_gray diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h deleted file mode 100644 index 8953fb017f..0000000000 --- a/system/camerad/test/ae_gray_test.h +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once - -#define W 240 -#define H 160 - -#define TONE_SPLITS 3 - -float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { - 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, - 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, - 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000}; diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 97667ede86..21409f398d 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -1,27 +1,19 @@ #!/usr/bin/env python3 - +import argparse import os - from tqdm import tqdm -from openpilot.common.file_helpers import mkdirs_exists_ok from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import argparse if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("route", help="The route name") - parser.add_argument("segment", type=int, help="The index of the segment") args = parser.parse_args() - out_path = os.path.join("jpegs", f"{args.route.replace('|', '_')}_{args.segment}") - mkdirs_exists_ok(out_path) + out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") + os.makedirs(out_path, exist_ok=True) - r = Route(args.route) - path = r.log_paths()[args.segment] or r.qlog_paths()[args.segment] - lr = list(LogReader(path)) + lr = LogReader(args.route) for msg in tqdm(lr): if msg.which() == 'thumbnail': diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/test_ae_gray.cc similarity index 63% rename from system/camerad/test/ae_gray_test.cc rename to system/camerad/test/test_ae_gray.cc index 8d18f7e93b..06d784927a 100644 --- a/system/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/test_ae_gray.cc @@ -1,6 +1,5 @@ -// unittest for set_exposure_target - -#include "system/camerad/test/ae_gray_test.h" +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" #include @@ -10,7 +9,25 @@ #include "common/util.h" #include "system/camerad/cameras/camera_common.h" -int main() { +#define W 240 +#define H 160 + + +#define TONE_SPLITS 3 + +float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { + 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, + 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, + 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000}; + + +TEST_CASE("camera.test_set_exposure_target") { // set up fake camerabuf CameraBuf cb = {}; VisionBuf vb = {}; @@ -63,5 +80,4 @@ int main() { assert(passed); delete[] fb_y; - return 0; } diff --git a/system/hardware/base.h b/system/hardware/base.h index 43f5db023d..dc2282a93a 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -29,12 +29,11 @@ public: static void poweroff() {} static void set_brightness(int percent) {} static void set_display_power(bool on) {} - static void set_volume(float volume) {} static bool get_ssh_enabled() { return false; } static void set_ssh_enabled(bool enabled) {} - static void config_cpu_rendering(); + static void config_cpu_rendering(bool offscreen); static bool PC() { return false; } static bool TICI() { return false; } diff --git a/system/hardware/base.py b/system/hardware/base.py index 0b6ca44c3c..9c7a618337 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -23,6 +23,9 @@ class HardwareBase(ABC): except Exception: return default + def booted(self) -> bool: + return True + @abstractmethod def reboot(self, reason=None): pass @@ -51,10 +54,6 @@ class HardwareBase(ABC): def get_serial(self): pass - @abstractmethod - def get_subscriber_info(self): - pass - @abstractmethod def get_network_info(self): pass diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 2f6ccfffda..394807ccb5 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -30,13 +30,13 @@ namespace Path { } inline std::string params() { - return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params"; + return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params"); } inline std::string rsa_file() { return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; } - + inline std::string swaglog_ipc() { return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); } diff --git a/system/hardware/hw.py b/system/hardware/hw.py index 119ca48c86..694299d72e 100644 --- a/system/hardware/hw.py +++ b/system/hardware/hw.py @@ -3,6 +3,8 @@ from pathlib import Path from openpilot.system.hardware import PC +DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache" + class Paths: @staticmethod def comma_home() -> str: @@ -31,5 +33,26 @@ class Paths: @staticmethod def download_cache_root() -> str: if os.environ.get('COMMA_CACHE', False): - return os.environ['COMMA_CACHE'] - return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/" + return os.environ['COMMA_CACHE'] + "/" + return DEFAULT_DOWNLOAD_CACHE_ROOT + os.environ.get("OPENPILOT_PREFIX", "") + "/" + + @staticmethod + def persist_root() -> str: + if PC: + return os.path.join(Paths.comma_home(), "persist") + else: + return "/persist/" + + @staticmethod + def stats_root() -> str: + if PC: + return str(Path(Paths.comma_home()) / "stats") + else: + return "/data/stats/" + + @staticmethod + def config_root() -> str: + if PC: + return Paths.comma_home() + else: + return "/tmp/.comma" diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 7a7ddd60b7..5dea184ca6 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -13,16 +13,10 @@ public: static bool TICI() { return util::getenv("TICI", 0) == 1; } static bool AGNOS() { return util::getenv("TICI", 0) == 1; } - static void set_volume(float volume) { - volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); - - char volume_str[6]; - snprintf(volume_str, sizeof(volume_str), "%.3f", volume); - std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); - } - - static void config_cpu_rendering() { - setenv("QT_QPA_PLATFORM", "offscreen", 1); + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "offscreen", 1); + } setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1); setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU } diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 27c05f5904..4c2c104f94 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -29,9 +29,6 @@ class Pc(HardwareBase): def get_serial(self): return "cccccccc" - def get_subscriber_info(self): - return "" - def get_network_info(self): return None diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7e8cd480be..3fe3942305 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279.img.xz", - "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279", - "hash_raw": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279", + "url": "https://commadist.azureedge.net/agnosupdate/boot-fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275.img.xz", + "hash": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275", + "hash_raw": "fd30f580375279ff4605034ec13711890a2b227205571a087cdc5226a2710275", "size": 15636480, "sparse": false, "full_check": true, @@ -11,9 +11,9 @@ }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz", - "hash": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d", - "hash_raw": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d", + "url": "https://commadist.azureedge.net/agnosupdate/abl-bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a.img.xz", + "hash": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a", + "hash_raw": "bb234733816781b3d09266f91f741436e9bf17e1a7caf468cf7d09ee788cef4a", "size": 274432, "sparse": false, "full_check": true, @@ -21,9 +21,9 @@ }, { "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz", - "hash": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa", - "hash_raw": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5.img.xz", + "hash": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5", + "hash_raw": "bcef195b00a1ab685da601f4072722569773ab161e91c8753ad99ca4217a28f5", "size": 3282672, "sparse": false, "full_check": true, @@ -31,9 +31,9 @@ }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz", - "hash": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf", - "hash_raw": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", + "hash": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", + "hash_raw": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", "size": 98124, "sparse": false, "full_check": true, @@ -41,9 +41,9 @@ }, { "name": "devcfg", - "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz", - "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262", - "hash_raw": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27.img.xz", + "hash": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", + "hash_raw": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", "size": 40336, "sparse": false, "full_check": true, @@ -51,9 +51,9 @@ }, { "name": "aop", - "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz", - "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222", - "hash_raw": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222", + "url": "https://commadist.azureedge.net/agnosupdate/aop-5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f.img.xz", + "hash": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f", + "hash_raw": "5d764611a683d6a738cf06a1dcf8a926d0f47b5117ad40d3054167de6dd8bd0f", "size": 184364, "sparse": false, "full_check": true, @@ -61,16 +61,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz", - "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0", - "hash_raw": "e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432", + "url": "https://commadist.azureedge.net/agnosupdate/system-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz", + "hash": "3b6cdf9bd881a5e90b21dd02c6faa923b415e32ecae9bfdc96753d4208fb82fe", + "hash_raw": "e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98", "size": 10737418240, "sparse": true, "full_check": false, "has_ab": true, "alt": { - "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz" + "hash": "2fb81e58f4bc6c4e5e71c8e7ac7553f85082c430627d7a5cc54a6bbc82862500", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1952bb363688c0f5c0646e39bcdfb45be25b5e2baed37d1ba7801aa1a3a9c98.img.xz", + "size": 4543090376 } } -] +] \ No newline at end of file diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection new file mode 100644 index 0000000000..74f6f8e82c --- /dev/null +++ b/system/hardware/tici/esim.nmconnection @@ -0,0 +1,30 @@ +[connection] +id=esim +uuid=fff6553c-3284-4707-a6b1-acc021caaafb +type=gsm +permissions= +autoconnect=true +autoconnect-retries=100 +autoconnect-priority=2 +metered=1 + +[gsm] +apn= +home-only=false +auto-config=true +sim-id= + +[ipv4] +route-metric=1000 +dns-priority=1000 +dns-search= +method=auto + +[ipv6] +ddr-gen-mode=stable-privacy +dns-search= +route-metric=1000 +dns-priority=1000 +method=auto + +[proxy] diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index fe0a20ae58..f6ea86b002 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -67,14 +67,6 @@ public: bl_power_control.close(); } } - static void set_volume(float volume) { - volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); - - char volume_str[6]; - snprintf(volume_str, sizeof(volume_str), "%.3f", volume); - std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); - } - static std::map get_init_logs() { std::map ret = { @@ -104,8 +96,10 @@ public: static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } - static void config_cpu_rendering() { - setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + } setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU } }; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index d3375831ad..3431718e22 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -3,6 +3,7 @@ import math import os import subprocess import time +import tempfile from enum import IntEnum from functools import cached_property, lru_cache from pathlib import Path @@ -73,6 +74,11 @@ def sudo_write(val, path): # fallback for debugfs files os.system(f"sudo su -c 'echo {val} > {path}'") +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + except Exception: + return "" def affine_irq(val, action): irqs = get_irqs_for_action(action) @@ -104,7 +110,7 @@ class Tici(HardwareBase): def nm(self): return self.bus.get_object(NM, '/org/freedesktop/NetworkManager') - @cached_property + @property # this should not be cached, in case the modemmanager restarts def mm(self): return self.bus.get_object(MM, '/org/freedesktop/ModemManager1') @@ -200,9 +206,6 @@ class Tici(HardwareBase): 'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED, } - def get_subscriber_info(self): - return "" - def get_imei(self, slot): if slot != 0: return "" @@ -210,8 +213,8 @@ class Tici(HardwareBase): return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) def get_network_info(self): - modem = self.get_modem() try: + modem = self.get_modem() info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) @@ -292,67 +295,6 @@ class Tici(HardwareBase): return super().get_network_metered(network_type) - @staticmethod - def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None: - upload_speed_kbps = int(upload_speed_kbps) # Ensure integer value - download_speed_kbps = int(download_speed_kbps) # Ensure integer value - - adapter = "wwan0" - ifb = "ifb0" - - sudo = ["sudo"] - tc = sudo + ["tc"] - - # check, cmd - cleanup = [ - # Clean up old rules - (False, tc + ["qdisc", "del", "dev", adapter, "root"]), - (False, tc + ["qdisc", "del", "dev", ifb, "root"]), - (False, tc + ["qdisc", "del", "dev", adapter, "ingress"]), - (False, tc + ["qdisc", "del", "dev", ifb, "ingress"]), - - # Bring ifb0 down - (False, sudo + ["ip", "link", "set", "dev", ifb, "down"]), - ] - - upload = [ - # Create root Hierarchy Token Bucket that sends all traffic to 1:20 - (True, tc + ["qdisc", "add", "dev", adapter, "root", "handle", "1:", "htb", "default", "20"]), - - # Create class 1:20 with specified rate limit - (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]), - - # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class - (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \ - "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]), - ] - - download = [ - # Bring ifb0 up - (True, sudo + ["ip", "link", "set", "dev", ifb, "up"]), - - # Redirect ingress (incoming) to egress ifb0 - (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]), - (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \ - "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]), - - # Add class and rules for virtual interface - (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]), - (True, tc + ["class", "add", "dev", ifb, "parent", "2:", "classid", "2:1", "htb", "rate", f"{download_speed_kbps}kbit"]), - - # Add filter to rule for IP address - (True, tc + ["filter", "add", "dev", ifb, "protocol", "ip", "parent", "2:", "prio", "1", "u32", "match", "ip", "src", "0.0.0.0/0", "flowid", "2:1"]), - ] - - commands = cleanup - if upload_speed_kbps != -1: - commands += upload - if download_speed_kbps != -1: - commands += download - - for check, cmd in commands: - subprocess.run(cmd, check=check) - def get_modem_version(self): try: modem = self.get_modem() @@ -392,10 +334,6 @@ class Tici(HardwareBase): pass return ret - def get_usb_present(self): - # Not sure if relevant on tici, but the file exists - return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False) - def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) @@ -532,9 +470,23 @@ class Tici(HardwareBase): except Exception: pass - # blue prime config - if sim_id.startswith('8901410'): - os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"') + # blue prime + blue_prime = sim_id.startswith('8901410') + initial_apn = "Broadband" if blue_prime else "" + os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"') + + # eSIM prime + if sim_id.startswith('8985235'): + dest = "/etc/NetworkManager/system-connections/esim.nmconnection" + with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + dat = f.read() + dat = dat.replace("sim-id=", f"sim-id={sim_id}") + tf.write(dat) + tf.flush() + + # needs to be root + os.system(f"sudo cp {tf.name} {dest}") + os.system(f"sudo nmcli con load {dest}") def get_networks(self): r = {} @@ -600,8 +552,15 @@ class Tici(HardwareBase): time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) + def booted(self): + # this normally boots within 8s, but on rare occasions takes 30+s + encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info") + if "Core state: 0" in encoder_state and (time.monotonic() < 60*2): + return False + return True if __name__ == "__main__": t = Tici() + t.configure_modem() t.initialize_hardware() t.set_power_save(False) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index c61d67e79d..eed2ce231b 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,6 +10,7 @@ from typing import List import cereal.messaging as messaging from cereal.services import SERVICE_LIST +from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.selfdrive.manager.process_config import managed_processes @@ -51,6 +52,7 @@ class TestPowerDraw(unittest.TestCase): def setUp(self): HARDWARE.initialize_hardware() HARDWARE.set_power_save(False) + write_car_param() # wait a bit for power save to disable time.sleep(5) @@ -91,8 +93,8 @@ class TestPowerDraw(unittest.TestCase): msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs)) tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received]) with self.subTest(proc=proc.name): - np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol) np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2) + np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol) print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") diff --git a/system/loggerd/config.py b/system/loggerd/config.py index 664e78b378..5c2c89b73f 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -1,6 +1,4 @@ import os -from pathlib import Path -from openpilot.system.hardware import PC from openpilot.system.hardware.hw import Paths @@ -9,10 +7,6 @@ SEGMENT_LENGTH = 60 STATS_DIR_FILE_LIMIT = 10000 STATS_SOCKET = "ipc:///tmp/stats" -if PC: - STATS_DIR = str(Path.home() / ".comma" / "stats") -else: - STATS_DIR = "/data/stats/" STATS_FLUSH_TIME_S = 60 def get_available_percent(default=None): diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index b060232b6e..868340150a 100755 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -4,7 +4,7 @@ import shutil import threading from typing import List from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.loggerd.config import get_available_bytes, get_available_percent from openpilot.system.loggerd.uploader import listdir_by_creation from openpilot.system.loggerd.xattr_cache import getxattr diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 869b4617b3..0aba4b8b49 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -27,8 +27,11 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t edat.setData(dat); if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header); - auto words = new kj::Array(capnp::messageToFlatArray(msg)); - auto bytes = words->asBytes(); - e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size()); - delete words; + uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); + if (e->msg_cache.size() < bytes_size) { + e->msg_cache.resize(bytes_size); + } + kj::ArrayOutputStream output_stream(kj::ArrayPtr(e->msg_cache.data(), bytes_size)); + capnp::writeMessage(output_stream, msg); + e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index a8bfd5c054..9c23928cc6 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -4,6 +4,7 @@ #include #include #include +#include #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" @@ -23,7 +24,6 @@ public: static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - protected: int in_width, in_height; const EncoderInfo encoder_info; @@ -32,4 +32,5 @@ private: // total frames encoded int cnt = 0; std::unique_ptr pm; + std::vector msg_cache; }; diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 1474552a13..bc842f4a9a 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,21 +1,7 @@ #include "system/loggerd/logger.h" -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include #include -#include #include -#include -#include #include #include "common/params.h" @@ -57,7 +43,7 @@ kj::Array logger_build_init_data() { init.setGitCommit(params_map["GitCommit"]); init.setGitBranch(params_map["GitBranch"]); init.setGitRemote(params_map["GitRemote"]); - init.setPassive(params.getBool("Passive")); + init.setPassive(false); init.setDongleId(params_map["DongleId"]); auto lparams = init.initParams().initEntries(params_map.size()); @@ -108,159 +94,51 @@ std::string logger_get_route_name() { return route_name; } -void log_init_data(LoggerState *s) { - auto bytes = s->init_data.asBytes(); - logger_log(s, bytes.begin(), bytes.size(), s->has_qlog); -} - - -static void lh_log_sentinel(LoggerHandle *h, SentinelType type) { +static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) { MessageBuilder msg; auto sen = msg.initEvent().initSentinel(); sen.setType(type); - sen.setSignal(h->exit_signal); - auto bytes = msg.toBytes(); - - lh_log(h, bytes.begin(), bytes.size(), true); + sen.setSignal(eixt_signal); + log->write(msg.toBytes(), true); } -// ***** logging functions ***** - -void logger_init(LoggerState *s, bool has_qlog) { - pthread_mutex_init(&s->lock, NULL); - - s->part = -1; - s->has_qlog = has_qlog; - s->route_name = logger_get_route_name(); - s->init_data = logger_build_init_data(); +LoggerState::LoggerState(const std::string &log_root) { + route_name = logger_get_route_name(); + route_path = log_root + "/" + route_name; + init_data = logger_build_init_data(); } -static LoggerHandle* logger_open(LoggerState *s, const char* root_path) { - LoggerHandle *h = NULL; - for (int i=0; ihandles[i].refcnt == 0) { - h = &s->handles[i]; - break; - } +LoggerState::~LoggerState() { + if (rlog) { + log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal); + std::remove(lock_file.c_str()); } - assert(h); - - snprintf(h->segment_path, sizeof(h->segment_path), - "%s/%s--%d", root_path, s->route_name.c_str(), s->part); - - snprintf(h->log_path, sizeof(h->log_path), "%s/rlog", h->segment_path); - snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog", h->segment_path); - snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path); - h->end_sentinel_type = SentinelType::END_OF_SEGMENT; - h->exit_signal = 0; - - if (!util::create_directories(h->segment_path, 0775)) return nullptr; - - FILE* lock_file = fopen(h->lock_path, "wb"); - if (lock_file == NULL) return NULL; - fclose(lock_file); - - h->log = std::make_unique(h->log_path); - if (s->has_qlog) { - h->q_log = std::make_unique(h->qlog_path); - } - - pthread_mutex_init(&h->lock, NULL); - h->refcnt++; - return h; } -int logger_next(LoggerState *s, const char* root_path, - char* out_segment_path, size_t out_segment_path_len, - int* out_part) { - bool is_start_of_route = !s->cur_handle; - - pthread_mutex_lock(&s->lock); - s->part++; - - LoggerHandle* next_h = logger_open(s, root_path); - if (!next_h) { - pthread_mutex_unlock(&s->lock); - return -1; +bool LoggerState::next() { + if (rlog) { + log_sentinel(this, SentinelType::END_OF_SEGMENT); + std::remove(lock_file.c_str()); } - if (s->cur_handle) { - lh_close(s->cur_handle); - } - s->cur_handle = next_h; + segment_path = route_path + "--" + std::to_string(++part); + bool ret = util::create_directories(segment_path, 0775); + assert(ret == true); - if (out_segment_path) { - snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path); - } - if (out_part) { - *out_part = s->part; - } + const std::string rlog_path = segment_path + "/rlog"; + lock_file = rlog_path + ".lock"; + std::ofstream{lock_file}; - pthread_mutex_unlock(&s->lock); + rlog.reset(new RawFile(rlog_path)); + qlog.reset(new RawFile(segment_path + "/qlog")); - // write beginning of log metadata - log_init_data(s); - lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT); - return 0; + // log init data & sentinel type. + write(init_data.asBytes(), true); + log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE); + return true; } -LoggerHandle* logger_get_handle(LoggerState *s) { - pthread_mutex_lock(&s->lock); - LoggerHandle* h = s->cur_handle; - if (h) { - pthread_mutex_lock(&h->lock); - h->refcnt++; - pthread_mutex_unlock(&h->lock); - } - pthread_mutex_unlock(&s->lock); - return h; -} - -void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) { - pthread_mutex_lock(&s->lock); - if (s->cur_handle) { - lh_log(s->cur_handle, data, data_size, in_qlog); - } - pthread_mutex_unlock(&s->lock); -} - -void logger_close(LoggerState *s, ExitHandler *exit_handler) { - pthread_mutex_lock(&s->lock); - if (s->cur_handle) { - s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load(); - s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE; - lh_close(s->cur_handle); - } - pthread_mutex_unlock(&s->lock); -} - -void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) { - pthread_mutex_lock(&h->lock); - assert(h->refcnt > 0); - h->log->write(data, data_size); - if (in_qlog && h->q_log) { - h->q_log->write(data, data_size); - } - pthread_mutex_unlock(&h->lock); -} - -void lh_close(LoggerHandle* h) { - pthread_mutex_lock(&h->lock); - assert(h->refcnt > 0); - if (h->refcnt == 1) { - // a very ugly hack. only here can guarantee sentinel is the last msg - pthread_mutex_unlock(&h->lock); - lh_log_sentinel(h, h->end_sentinel_type); - pthread_mutex_lock(&h->lock); - } - h->refcnt--; - if (h->refcnt == 0) { - h->log.reset(nullptr); - h->q_log.reset(nullptr); - unlink(h->lock_path); - pthread_mutex_unlock(&h->lock); - pthread_mutex_destroy(&h->lock); - return; - } - pthread_mutex_unlock(&h->lock); +void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) { + rlog->write(data, size); + if (in_qlog) qlog->write(data, size); } diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 06b11e72f9..76a12b9e87 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -1,27 +1,17 @@ #pragma once -#include - #include -#include -#include #include #include -#include -#include - #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "common/swaglog.h" #include "system/hardware/hw.h" -#define LOGGER_MAX_HANDLES 16 - class RawFile { public: - RawFile(const char* path) { - file = util::safe_fopen(path, "wb"); + RawFile(const std::string &path) { + file = util::safe_fopen(path.c_str(), "wb"); assert(file != nullptr); } ~RawFile() { @@ -41,39 +31,25 @@ class RawFile { typedef cereal::Sentinel::SentinelType SentinelType; -typedef struct LoggerHandle { - pthread_mutex_t lock; - SentinelType end_sentinel_type; - int exit_signal; - int refcnt; - char segment_path[4096]; - char log_path[4096]; - char qlog_path[4096]; - char lock_path[4096]; - std::unique_ptr log, q_log; -} LoggerHandle; -typedef struct LoggerState { - pthread_mutex_t lock; - int part; +class LoggerState { +public: + LoggerState(const std::string& log_root = Path::log_root()); + ~LoggerState(); + bool next(); + void write(uint8_t* data, size_t size, bool in_qlog); + inline int segment() const { return part; } + inline const std::string& segmentPath() const { return segment_path; } + inline const std::string& routeName() const { return route_name; } + inline void write(kj::ArrayPtr bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); } + inline void setExitSignal(int signal) { exit_signal = signal; } + +protected: + int part = -1, exit_signal = 0; + std::string route_path, route_name, segment_path, lock_file; kj::Array init_data; - std::string route_name; - char log_name[64]; - bool has_qlog; - - LoggerHandle handles[LOGGER_MAX_HANDLES]; - LoggerHandle* cur_handle; -} LoggerState; + std::unique_ptr rlog, qlog; +}; kj::Array logger_build_init_data(); std::string logger_get_route_name(); -void logger_init(LoggerState *s, bool has_qlog); -int logger_next(LoggerState *s, const char* root_path, - char* out_segment_path, size_t out_segment_path_len, - int* out_part); -LoggerHandle* logger_get_handle(LoggerState *s); -void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr); -void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog); - -void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog); -void lh_close(LoggerHandle* h); diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index adb24c913c..27dfa187c4 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -6,6 +6,7 @@ #include #include +#include "common/params.h" #include "system/loggerd/encoder/encoder.h" #include "system/loggerd/loggerd.h" #include "system/loggerd/video_writer.h" @@ -13,9 +14,7 @@ ExitHandler do_exit; struct LoggerdState { - LoggerState logger = {}; - char segment_path[4096]; - std::atomic rotate_segment; + LoggerState logger; std::atomic last_camera_seen_tms; std::atomic ready_to_rotate; // count of encoders ready to rotate int max_waiting = 0; @@ -23,13 +22,11 @@ struct LoggerdState { }; void logger_rotate(LoggerdState *s) { - int segment = -1; - int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment); - assert(err == 0); - s->rotate_segment = segment; + bool ret =s->logger.next(); + assert(ret); s->ready_to_rotate = 0; s->last_rotate_tms = millis_since_boot(); - LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path); + LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str()); } void rotate_if_needed(LoggerdState *s) { @@ -85,16 +82,16 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset; - if (offset_segment_num == s->rotate_segment) { + if (offset_segment_num == s->logger.segment()) { // loggerd is now on the segment that matches this packet // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets - if (re.current_segment != s->rotate_segment) { + if (re.current_segment != s->logger.segment()) { if (re.recording) { re.writer.reset(); re.recording = false; } - re.current_segment = s->rotate_segment; + re.current_segment = s->logger.segment(); re.marked_ready_to_rotate = false; // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { @@ -117,7 +114,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // if we aren't actually recording, don't create the writer if (encoder_info.record) { assert(encoder_info.filename != NULL); - re.writer.reset(new VideoWriter(s->segment_path, + re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); // write the header @@ -149,28 +146,28 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct evt.setLogMonoTime(event.getLogMonoTime()); (evt.*(encoder_info.set_encode_idx_func))(idx); auto new_msg = bmsg.toBytes(); - logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? + s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? bytes_count += new_msg.size(); // free the message, we used it delete msg; - } else if (offset_segment_num > s->rotate_segment) { + } else if (offset_segment_num > s->logger.segment()) { // encoderd packet has a newer segment, this means encoderd has rolled over if (!re.marked_ready_to_rotate) { re.marked_ready_to_rotate = true; ++s->ready_to_rotate; LOGD("rotate %d -> %d ready %d/%d for %s", - s->rotate_segment.load(), offset_segment_num, + s->logger.segment(), offset_segment_num, s->ready_to_rotate.load(), s->max_waiting, name.c_str()); } // queue up all the new segment messages, they go in after the rotate re.q.push_back(msg); } else { - LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->rotate_segment:%d re.encoderd_segment_offset:%d", - name.c_str(), idx.getSegmentNum(), s->rotate_segment.load(), re.encoderd_segment_offset); + LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d", + name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset); // free the message, it's useless. this should never happen // actually, this can happen if you restart encoderd - re.encoderd_segment_offset = -s->rotate_segment.load(); + re.encoderd_segment_offset = -s->logger.segment(); delete msg; } @@ -179,19 +176,25 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct void handle_user_flag(LoggerdState *s) { static int prev_segment = -1; - if (s->rotate_segment == prev_segment) return; + if (s->logger.segment() == prev_segment) return; - LOGW("preserving %s", s->segment_path); + LOGW("preserving %s", s->logger.segmentPath().c_str()); #ifdef __APPLE__ - int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); + int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); #else - int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); + int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); #endif if (ret) { - LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno)); + LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno)); } - prev_segment = s->rotate_segment.load(); + + // mark route for uploading + Params params; + std::string routes = Params().get("AthenadRecentlyViewedRoutes"); + params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName()); + + prev_segment = s->logger.segment(); } void loggerd_thread() { @@ -228,9 +231,8 @@ void loggerd_thread() { LoggerdState s; // init logger - logger_init(&s.logger, true); logger_rotate(&s); - Params().put("CurrentRoute", s.logger.route_name); + Params().put("CurrentRoute", s.logger.routeName()); std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { @@ -261,7 +263,7 @@ void loggerd_thread() { s.last_camera_seen_tms = millis_since_boot(); bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); } else { - logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); + s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog); bytes_count += msg->getSize(); delete msg; } @@ -283,7 +285,7 @@ void loggerd_thread() { } LOGW("closing logger"); - logger_close(&s.logger, &do_exit); + s.logger.setExitSignal(do_exit.signal); if (do_exit.power_failure) { LOGE("power failure"); diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py deleted file mode 100755 index 5e6f887b12..0000000000 --- a/system/loggerd/tests/fill.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -"""Script to fill up storage with fake data""" - -from pathlib import Path - -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.config import get_available_percent -from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file - - -if __name__ == "__main__": - segment_idx = 0 - while True: - seg_name = f"1970-01-01--00-00-00--{segment_idx}" - seg_path = Path(Paths.log_root()) / seg_name - - print(seg_path) - - create_random_file(seg_path / "fcamera.hevc", 36) - create_random_file(seg_path / "rlog.bz2", 2) - - segment_idx += 1 - - # Fill up to 99 percent - available_percent = get_available_percent() - if available_percent < 1.0: - break diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 8bfb571861..3aa9e40531 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -3,10 +3,12 @@ import random import unittest from pathlib import Path from typing import Optional -from openpilot.system.hardware.hw import Paths + import openpilot.system.loggerd.deleter as deleter import openpilot.system.loggerd.uploader as uploader +from openpilot.common.params import Params +from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr @@ -53,25 +55,6 @@ class MockApiIgnore(): def get_token(self): return "fake-token" -class MockParams(): - def __init__(self): - self.params = { - "DongleId": b"0000000000000000", - "IsOffroad": b"1", - } - - def get(self, k, block=False, encoding=None): - val = self.params[k] - - if encoding is not None: - return val.decode(encoding) - else: - return val - - def get_bool(self, k): - val = self.params[k] - return (val == b'1') - class UploaderTestCase(unittest.TestCase): f_type = "UNKNOWN" @@ -86,7 +69,6 @@ class UploaderTestCase(unittest.TestCase): def setUp(self): uploader.Api = MockApi - uploader.Params = MockParams uploader.fake_upload = True uploader.force_wifi = True uploader.allow_sleep = False @@ -95,6 +77,10 @@ class UploaderTestCase(unittest.TestCase): self.seg_format2 = "2019-05-18--11-22-33--{}" self.seg_dir = self.seg_format.format(self.seg_num) + self.params = Params() + self.params.put("IsOffroad", "1") + self.params.put("DongleId", "0000000000000000") + def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc index 9f815c2189..2dae136e13 100644 --- a/system/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -1,16 +1,5 @@ -#include - -#include -#include -#include -#include -#include - #include "catch2/catch.hpp" -#include "cereal/messaging/messaging.h" -#include "common/util.h" #include "system/loggerd/logger.h" -#include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; @@ -57,91 +46,29 @@ void verify_segment(const std::string &route_path, int segment, int max_segment, } } -void write_msg(LoggerHandle *logger) { +void write_msg(LoggerState *logger) { MessageBuilder msg; msg.initEvent().initClocks(); - auto bytes = msg.toBytes(); - lh_log(logger, bytes.begin(), bytes.size(), true); + logger->write(msg.toBytes(), true); } TEST_CASE("logger") { + const int segment_cnt = 100; const std::string log_root = "/tmp/test_logger"; system(("rm " + log_root + " -rf").c_str()); - - ExitHandler do_exit; - - LoggerState logger = {}; - logger_init(&logger, true); - char segment_path[PATH_MAX] = {}; - int segment = -1; - - SECTION("single thread logging & rotation(100 segments, one thread)") { - const int segment_cnt = 100; + std::string route_name; + { + LoggerState logger(log_root); + route_name = logger.routeName(); for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); - REQUIRE(util::file_exists(std::string(segment_path) + "/rlog.lock")); - REQUIRE(segment == i); - write_msg(logger.cur_handle); - } - do_exit = true; - do_exit.signal = 1; - logger_close(&logger, &do_exit); - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, 1); + REQUIRE(logger.next()); + REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock")); + REQUIRE(logger.segment() == i); + write_msg(&logger); } + logger.setExitSignal(1); } - SECTION("multiple threads logging & rotation(100 segments, 10 threads") { - const int segment_cnt = 100, thread_cnt = 10; - std::atomic event_cnt[segment_cnt] = {}; - std::atomic main_segment = -1; - - auto logging_thread = [&]() -> void { - LoggerHandle *lh = logger_get_handle(&logger); - assert(lh != nullptr); - int segment = main_segment; - int delayed_cnt = 0; - while (!do_exit) { - // write 2 more messages in the current segment and then rotate to the new segment. - if (main_segment > segment && ++delayed_cnt == 2) { - lh_close(lh); - lh = logger_get_handle(&logger); - segment = main_segment; - delayed_cnt = 0; - } - write_msg(lh); - event_cnt[segment] += 1; - usleep(1); - } - lh_close(lh); - }; - - // start logging - std::vector threads; - for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); - REQUIRE(segment == i); - main_segment = segment; - if (i == 0) { - for (int j = 0; j < thread_cnt; ++j) { - threads.push_back(std::thread(logging_thread)); - } - } - for (int j = 0; j < 100; ++j) { - write_msg(logger.cur_handle); - usleep(1); - } - event_cnt[segment] += 100; - } - - // end logging - for (auto &t : threads) t.join(); - do_exit = true; - do_exit.signal = 1; - logger_close(&logger, &do_exit); - REQUIRE(logger.cur_handle->refcnt == 0); - - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, event_cnt[i]); - } + for (int i = 0; i < segment_cnt; ++i) { + verify_segment(log_root + "/" + route_name, i, segment_cnt, 1); } } diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 9d7d3fa7bd..dde12b646d 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -5,7 +5,6 @@ import random import string import subprocess import time -import unittest from collections import defaultdict from pathlib import Path from typing import Dict, List @@ -31,10 +30,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST and SERVICE_LIST[f].should_log and "encode" not in f.lower()] -class TestLoggerd(unittest.TestCase): - def setUp(self): - os.environ.pop("LOG_ROOT", None) - +class TestLoggerd: def _get_latest_log_dir(self): log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime) return log_dirs[-1] @@ -68,21 +64,21 @@ class TestLoggerd(unittest.TestCase): def _check_init_data(self, msgs): msg = msgs[0] - self.assertEqual(msg.which(), 'initData') + assert msg.which() == 'initData' def _check_sentinel(self, msgs, route): start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment - self.assertTrue(msgs[1].sentinel.type == start_type) + assert msgs[1].sentinel.type == start_type end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment - self.assertTrue(msgs[-1].sentinel.type == end_type) + assert msgs[-1].sentinel.type == end_type def _publish_random_messages(self, services: List[str]) -> Dict[str, list]: pm = messaging.PubMaster(services) managed_processes["loggerd"].start() for s in services: - self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + assert pm.wait_for_readers_to_update(s, timeout=5) sent_msgs = defaultdict(list) for _ in range(random.randint(2, 10) * 100): @@ -93,10 +89,9 @@ class TestLoggerd(unittest.TestCase): m = messaging.new_message(s, random.randint(2, 10)) pm.send(s, m) sent_msgs[s].append(m) - time.sleep(0.01) for s in services: - self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5)) + assert pm.wait_for_readers_to_update(s, timeout=5) managed_processes["loggerd"].stop() return sent_msgs @@ -116,31 +111,31 @@ class TestLoggerd(unittest.TestCase): params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemerisV3", "abc") + params.put("AccessToken", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData - self.assertTrue(initData.dirty != bool(os.environ["CLEAN"])) - self.assertEqual(initData.version, get_version()) + assert initData.dirty != bool(os.environ["CLEAN"]) + assert initData.version == get_version() if os.path.isfile("/proc/cmdline"): with open("/proc/cmdline") as f: - self.assertEqual(list(initData.kernelArgs), f.read().strip().split(" ")) + assert list(initData.kernelArgs) == f.read().strip().split(" ") with open("/proc/version") as f: - self.assertEqual(initData.kernelVersion, f.read()) + assert initData.kernelVersion == f.read() # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'} + expected_params = {k for k, _, __ in fake_params} | {'AccessToken'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" + assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}" for param_key, initData_key, v in fake_params: - self.assertEqual(getattr(initData, initData_key), v) - self.assertEqual(logged_params[param_key].decode(), v) + assert getattr(initData, initData_key) == v + assert logged_params[param_key].decode() == v - params.put("LaikadEphemerisV3", "") + params.put("AccessToken", "") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" @@ -162,11 +157,10 @@ class TestLoggerd(unittest.TestCase): os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) managed_processes["loggerd"].start() managed_processes["encoderd"].start() - time.sleep(1) + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) fps = 20.0 for n in range(1, int(num_segs*length*fps)+1): - time_start = time.monotonic() for stream_type, frame_spec, state in streams: dat = np.empty(frame_spec[2], dtype=np.uint8) vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) @@ -175,7 +169,9 @@ class TestLoggerd(unittest.TestCase): frame = getattr(camera_state, state) frame.frameId = n pm.send(state, camera_state) - time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0)) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) managed_processes["loggerd"].stop() managed_processes["encoderd"].stop() @@ -185,7 +181,7 @@ class TestLoggerd(unittest.TestCase): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") + assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -216,7 +212,7 @@ class TestLoggerd(unittest.TestCase): with open(path, "rb") as f: expected_val = f.read() bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0] - self.assertEqual(expected_val, bootlog_val) + assert expected_val == bootlog_val def test_qlog(self): qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None] @@ -242,11 +238,11 @@ class TestLoggerd(unittest.TestCase): if s in no_qlog_services: # check services with no specific decimation aren't in qlog - self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog") + assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog" else: # check logged message count matches decimation expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1 - self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}") + assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}" def test_rlog(self): services = random.sample(CEREAL_SERVICES, random.randint(5, 10)) @@ -263,22 +259,19 @@ class TestLoggerd(unittest.TestCase): for m in lr: sent = sent_msgs[m.which()].pop(0) sent.clear_write_flag() - self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes()) + assert sent.to_bytes() == m.as_builder().to_bytes() def test_preserving_flagged_segments(self): services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() - self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE) + assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE def test_not_preserving_unflagged_segments(self): services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} self._publish_random_messages(services) segment_dir = self._get_latest_log_dir() - self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME)) + assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None - -if __name__ == "__main__": - unittest.main() diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index a7349fc5e4..b674de5438 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -9,8 +9,8 @@ from pathlib import Path from typing import List, Optional from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog -from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.common.swaglog import cloudlog +from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase @@ -45,7 +45,7 @@ class TestUploader(UploaderTestCase): def start_thread(self): self.end_event = threading.Event() - self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event]) + self.up_thread = threading.Thread(target=main, args=[self.end_event]) self.up_thread.daemon = True self.up_thread.start() diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py deleted file mode 100644 index 0502184380..0000000000 --- a/system/loggerd/tools/mark_all_uploaded.py +++ /dev/null @@ -1,8 +0,0 @@ -import os -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE - -for folder in os.walk(Paths.log_root()): - for file1 in folder[2]: - full_path = os.path.join(folder[0], file1) - os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py deleted file mode 100755 index ef50280441..0000000000 --- a/system/loggerd/tools/mark_unuploaded.py +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME - -for fn in sys.argv[1:]: - print(f"unmarking {fn}") - os.removexattr(fn, UPLOAD_ATTR_NAME) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index b520adc94c..c5cfb9a7ae 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -8,24 +8,23 @@ import requests import threading import time import traceback -from pathlib import Path -from typing import BinaryIO, Iterator, List, Optional, Tuple, Union +import datetime +from typing import BinaryIO, Iterator, List, Optional, Tuple from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity -from openpilot.system.hardware import TICI from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' UPLOAD_ATTR_VALUE = b'1' -UPLOAD_QLOG_QCAM_MAX_SIZE = 100 * 1e6 # MB +UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -43,23 +42,24 @@ class FakeResponse: self.request = FakeRequest() -UploadResponse = Union[requests.Response, FakeResponse] - def get_directory_sort(d: str) -> List[str]: return [s.rjust(10, '0') for s in d.rsplit('--', 1)] def listdir_by_creation(d: str) -> List[str]: + if not os.path.isdir(d): + return [] + try: - paths = os.listdir(d) + paths = [f for f in os.listdir(d) if os.path.isdir(os.path.join(d, f))] paths = sorted(paths, key=get_directory_sort) return paths except OSError: cloudlog.exception("listdir_by_creation failed") - return list() + return [] def clear_locks(root: str) -> None: - for logname in os.listdir(root): - path = os.path.join(root, logname) + for logdir in os.listdir(root): + path = os.path.join(root, logdir) try: for fname in os.listdir(path): if fname.endswith(".lock"): @@ -74,34 +74,20 @@ class Uploader: self.api = Api(dongle_id) self.root = root - self.last_resp: Optional[UploadResponse] = None - self.last_exc: Optional[Tuple[Exception, str]] = None - - self.immediate_size = 0 - self.immediate_count = 0 + self.params = Params() # stats for last successfully uploaded file - self.last_time = 0.0 - self.last_speed = 0.0 self.last_filename = "" self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name: str) -> int: - if name in self.immediate_priority: - return self.immediate_priority[name] - return 1000 + def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]: + r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") + requested_routes = [] if r is None else r.split(",") - def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: - if not os.path.isdir(self.root): - return - - self.immediate_size = 0 - self.immediate_count = 0 - - for logname in listdir_by_creation(self.root): - path = os.path.join(self.root, logname) + for logdir in listdir_by_creation(self.root): + path = os.path.join(self.root, logdir) try: names = os.listdir(path) except OSError: @@ -110,29 +96,33 @@ class Uploader: if any(name.endswith(".lock") for name in names): continue - for name in sorted(names, key=self.get_upload_sort): - key = os.path.join(logname, name) + for name in sorted(names, key=lambda n: self.immediate_priority.get(n, 1000)): + key = os.path.join(logdir, name) fn = os.path.join(path, name) # skip files already uploaded try: + ctime = os.path.getctime(fn) is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE except OSError: - cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) - is_uploaded = True # deleter could have deleted + cloudlog.event("uploader_getxattr_failed", key=key, fn=fn) + # deleter could have deleted, so skip + continue if is_uploaded: continue - try: - if name in self.immediate_priority: - self.immediate_count += 1 - self.immediate_size += os.path.getsize(fn) - except OSError: - pass + # limit uploading on metered connections + if metered: + dt = datetime.timedelta(hours=12) + if logdir in self.immediate_folders and (datetime.datetime.now() - datetime.datetime.fromtimestamp(ctime)) < dt: + continue + + if name == "qcamera.ts" and not any(logdir.startswith(r.split('|')[-1]) for r in requested_routes): + continue yield name, key, fn - def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: - upload_files = list(self.list_upload_files()) + def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]: + upload_files = list(self.list_upload_files(metered)) for name, key, fn in upload_files: if any(f in fn for f in self.immediate_folders): @@ -144,45 +134,28 @@ class Uploader: return None - def do_upload(self, key: str, fn: str) -> None: - try: - url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) - if url_resp.status_code == 412: - self.last_resp = url_resp - return + def do_upload(self, key: str, fn: str): + url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) + if url_resp.status_code == 412: + return url_resp - url_resp_json = json.loads(url_resp.text) - url = url_resp_json['url'] - headers = url_resp_json['headers'] - cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) + url_resp_json = json.loads(url_resp.text) + url = url_resp_json['url'] + headers = url_resp_json['headers'] + cloudlog.debug("upload_url v1.4 %s %s", url, str(headers)) - if fake_upload: - cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") - self.last_resp = FakeResponse() + if fake_upload: + return FakeResponse() + + with open(fn, "rb") as f: + data: BinaryIO + if key.endswith('.bz2') and not fn.endswith('.bz2'): + compressed = bz2.compress(f.read()) + data = io.BytesIO(compressed) else: - with open(fn, "rb") as f: - data: BinaryIO - if key.endswith('.bz2') and not fn.endswith('.bz2'): - compressed = bz2.compress(f.read()) - data = io.BytesIO(compressed) - else: - data = f + data = f - self.last_resp = requests.put(url, data=data, headers=headers, timeout=10) - except Exception as e: - self.last_exc = (e, traceback.format_exc()) - raise - - def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]: - self.last_resp = None - self.last_exc = None - - try: - self.do_upload(key, fn) - except Exception: - pass - - return self.last_resp + return requests.put(url, data=data, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: @@ -201,44 +174,57 @@ class Uploader: success = True else: start_time = time.monotonic() - stat = self.normal_upload(key, fn) + + stat = None + last_exc = None + try: + stat = self.do_upload(key, fn) + except Exception as e: + last_exc = (e, traceback.format_exc()) + if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn - self.last_time = time.monotonic() - start_time + dt = time.monotonic() - start_time if stat.status_code == 412: - self.last_speed = 0 cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: content_length = int(stat.request.headers.get("Content-Length", 0)) - self.last_speed = (content_length / 1e6) / self.last_time + speed = (content_length / 1e6) / dt cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, - network_type=network_type, metered=metered, speed=self.last_speed) + network_type=network_type, metered=metered, speed=speed) success = True else: success = False - cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + cloudlog.event("upload_failed", stat=stat, exc=last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) if success: # tag file as uploaded try: setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) except OSError: - cloudlog.event("uploader_setxattr_failed", exc=self.last_exc, key=key, fn=fn, sz=sz) + cloudlog.event("uploader_setxattr_failed", exc=last_exc, key=key, fn=fn, sz=sz) return success - def get_msg(self): - msg = messaging.new_message("uploaderState") - us = msg.uploaderState - us.immediateQueueSize = int(self.immediate_size / 1e6) - us.immediateQueueCount = self.immediate_count - us.lastTime = self.last_time - us.lastSpeed = self.last_speed - us.lastFilename = self.last_filename - return msg + + def step(self, network_type: int, metered: bool) -> bool: + d = self.next_file_to_upload(metered) + if d is None: + return True + + name, key, fn = d + + # qlogs and bootlogs need to be compressed before uploading + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): + key += ".bz2" + + return self.upload(name, key, fn, network_type, metered) -def uploader_fn(exit_event: threading.Event) -> None: +def main(exit_event: Optional[threading.Event] = None) -> None: + if exit_event is None: + exit_event = threading.Event() + try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -257,11 +243,7 @@ def uploader_fn(exit_event: threading.Event) -> None: cloudlog.info("uploader missing dongle_id") raise Exception("uploader can't start without dongle id") - if TICI and not Path("/data/media").is_mount(): - cloudlog.warning("NVME not mounted") - sm = messaging.SubMaster(['deviceState']) - pm = messaging.PubMaster(['uploaderState']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 @@ -297,31 +279,13 @@ def uploader_fn(exit_event: threading.Event) -> None: time.sleep(60) continue - d = uploader.next_file_to_upload() - if d is None: # Nothing to upload - if allow_sleep: - time.sleep(60 if offroad else 5) - continue - - name, key, fn = d - - # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" - - success = uploader.upload(name, key, fn, sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) + success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) if success: backoff = 0.1 elif allow_sleep: cloudlog.info("upload backoff %r", backoff) - time.sleep(backoff + random.uniform(0, backoff)) backoff = min(backoff*2, 120) - - pm.send("uploaderState", uploader.get_msg()) - - -def main() -> None: - uploader_fn(threading.Event()) + time.sleep(backoff + random.uniform(0, backoff)) if __name__ == "__main__": diff --git a/system/logmessaged.py b/system/logmessaged.py index c53e20e483..46bf79b0b2 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -5,7 +5,7 @@ from typing import NoReturn import cereal.messaging as messaging from openpilot.common.logging_extra import SwagLogFileFormatter from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import get_file_handler +from openpilot.common.swaglog import get_file_handler def main() -> NoReturn: @@ -35,13 +35,11 @@ def main() -> NoReturn: continue # then we publish them - msg = messaging.new_message() - msg.logMessage = record + msg = messaging.new_message(None, valid=True, logMessage=record) log_message_sock.send(msg.to_bytes()) if level >= 40: # logging.ERROR - msg = messaging.new_message() - msg.errorLogMessage = record + msg = messaging.new_message(None, valid=True, errorLogMessage=record) error_log_message_sock.send(msg.to_bytes()) finally: sock.close() diff --git a/system/micd.py b/system/micd.py index 72f3b8b490..8b738ebe93 100755 --- a/system/micd.py +++ b/system/micd.py @@ -2,15 +2,15 @@ import numpy as np from cereal import messaging -from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import Ratekeeper -from openpilot.system.swaglog import cloudlog +from openpilot.common.retry import retry +from openpilot.common.swaglog import cloudlog RATE = 10 FFT_SAMPLES = 4096 REFERENCE_SPL = 2e-5 # newtons/m^2 SAMPLE_RATE = 44100 -FILTER_DT = 1. / (SAMPLE_RATE / FFT_SAMPLES) +SAMPLE_BUFFER = 4096 # (approx 100ms) def calculate_spl(measurements): @@ -50,15 +50,12 @@ class Mic: self.sound_pressure_weighted = 0 self.sound_pressure_level_weighted = 0 - self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) - def update(self): - msg = messaging.new_message('microphone') + msg = messaging.new_message('microphone', valid=True) msg.microphone.soundPressure = float(self.sound_pressure) msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted) msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted) - msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x) self.pm.send('microphone', msg) self.rk.keep_time() @@ -79,16 +76,22 @@ class Mic: self.sound_pressure, _ = calculate_spl(measurements) measurements_weighted = apply_a_weighting(measurements) self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) - self.spl_filter_weighted.update(self.sound_pressure_level_weighted) self.measurements = self.measurements[FFT_SAMPLES:] + @retry(attempts=7, delay=3) + def get_stream(self, sd): + # reload sounddevice to reinitialize portaudio + sd._terminate() + sd._initialize() + return sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback, blocksize=SAMPLE_BUFFER) + def micd_thread(self): # sounddevice must be imported after forking processes import sounddevice as sd - with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: - cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") + with self.get_stream(sd) as stream: + cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") while True: self.update() diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc index 20298cd3d8..b86229a499 100644 --- a/system/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -109,7 +109,7 @@ TEST_CASE("Parser::cmdline") { test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"}); } -TEST_CASE("buildProcLogerMessage") { +TEST_CASE("buildProcLoggerMessage") { MessageBuilder msg; buildProcLogMessage(msg); @@ -137,19 +137,6 @@ TEST_CASE("buildProcLogerMessage") { REQUIRE(p.getState() == 'R'); REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); - } else { - std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline"; - if (util::file_exists(cmd_path)) { - std::ifstream stream(cmd_path); - auto cmdline = Parser::cmdline(stream); - REQUIRE(cmdline.size() == p.getCmdline().size()); - // do not check the cmdline of pytest as it will change. - if (cmdline.size() > 0 && cmdline[0].find("[pytest") != 0) { - for (int i = 0; i < p.getCmdline().size(); ++i) { - REQUIRE(cmdline[i] == p.getCmdline()[i].cStr()); - } - } - } } } } diff --git a/system/sensord/rawgps/modemdiag.py b/system/qcomgpsd/modemdiag.py similarity index 100% rename from system/sensord/rawgps/modemdiag.py rename to system/qcomgpsd/modemdiag.py diff --git a/system/sensord/rawgps/nmeaport.py b/system/qcomgpsd/nmeaport.py similarity index 96% rename from system/sensord/rawgps/nmeaport.py rename to system/qcomgpsd/nmeaport.py index 01b9b179b9..231096fc5d 100644 --- a/system/sensord/rawgps/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -120,11 +120,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: def main() -> NoReturn: from openpilot.common.gpio import gpio_init, gpio_set from openpilot.system.hardware.tici.pins import GPIO - from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + from openpilot.system.qcomgpsd.qcomgpsd import at_cmd try: - check_output(["pidof", "rawgpsd"]) - print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "qcomgpsd"]) + print("qcomgpsd is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: if e.returncode != 1: # 1 == no process found (boardd not running) diff --git a/system/sensord/rawgps/rawgpsd.py b/system/qcomgpsd/qcomgpsd.py similarity index 83% rename from system/sensord/rawgps/rawgpsd.py rename to system/qcomgpsd/qcomgpsd.py index b947c54872..3f72350234 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -5,10 +5,10 @@ import signal import itertools import math import time -import pycurl +import requests import shutil import subprocess -from datetime import datetime +import datetime from multiprocessing import Process, Event from typing import NoReturn, Optional from struct import unpack_from, calcsize, pack @@ -16,13 +16,11 @@ from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging from openpilot.common.gpio import gpio_init, gpio_set -from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds -from laika.helpers import get_prn_from_nmea_id -from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK +from openpilot.common.retry import retry from openpilot.system.hardware.tici.pins import GPIO -from openpilot.system.swaglog import cloudlog -from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from openpilot.common.swaglog import cloudlog +from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, @@ -87,27 +85,13 @@ measurementStatusGlonassFields = { "glonassTimeMarkValid": 17 } +@retry(attempts=10, delay=1.0) +def try_setup_logs(diag, logs): + return setup_logs(diag, logs) -def try_setup_logs(diag, log_types): - for _ in range(10): - try: - setup_logs(diag, log_types) - break - except Exception: - cloudlog.exception("setup logs failed, trying again") - time.sleep(1.0) - else: - raise Exception(f"setup logs failed, {log_types=}") - +@retry(attempts=3, delay=1.0) def at_cmd(cmd: str) -> Optional[str]: - for _ in range(3): - try: - return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') - except subprocess.CalledProcessError: - cloudlog.exception("rawgps.mmcli_command_failed") - time.sleep(1.0) - raise Exception(f"failed to execute mmcli command {cmd=}") - + return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') def gps_enabled() -> bool: try: @@ -118,27 +102,18 @@ def gps_enabled() -> bool: def download_assistance(): try: - c = pycurl.Curl() - c.setopt(pycurl.URL, ASSISTANCE_URL) - c.setopt(pycurl.NOBODY, 1) - c.setopt(pycurl.CONNECTTIMEOUT, 2) - c.perform() - bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD) - c.close() - if bytes_n > 1e5: - cloudlog.error("Qcom assistance data larger than expected") - return + response = requests.get(ASSISTANCE_URL, timeout=5, stream=True) with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp: - c = pycurl.Curl() - c.setopt(pycurl.URL, ASSISTANCE_URL) - c.setopt(pycurl.CONNECTTIMEOUT, 5) + for chunk in response.iter_content(chunk_size=8192): + fp.write(chunk) + if fp.tell() > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return - c.setopt(pycurl.WRITEDATA, fp) - c.perform() - c.close() - os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) - except pycurl.error: + os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE) + + except requests.exceptions.RequestException: cloudlog.exception("Failed to download assistance file") return @@ -157,24 +132,13 @@ def downloader_loop(event): except KeyboardInterrupt: pass +@retry(attempts=5, delay=0.2, ignore_failure=True) def inject_assistance(): - for _ in range(5): - try: - cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" - subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) - cloudlog.info("successfully loaded assistance data") - return - except subprocess.CalledProcessError as e: - cloudlog.event( - "rawgps.assistance_loading_failed", - error=True, - cmd=e.cmd, - output=e.output, - returncode=e.returncode - ) - time.sleep(0.2) - cloudlog.error("failed to load assistance after retry") + cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}" + subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) + cloudlog.info("successfully loaded assistance data") +@retry(attempts=5, delay=1.0) def setup_quectel(diag: ModemDiag) -> bool: ret = False @@ -211,7 +175,7 @@ def setup_quectel(diag: ModemDiag) -> bool: inject_assistance() os.remove(ASSIST_DATA_FILE) #at_cmd("AT+QGPSXTRADATA?") - time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") @@ -293,7 +257,6 @@ def main() -> NoReturn: diag = ModemDiag() r = setup_quectel(diag) want_assistance = not r - current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) cloudlog.warning("quectel setup done") gpio_init(GPIO.GNSS_PWR_EN, True) gpio_set(GPIO.GNSS_PWR_EN, True) @@ -325,7 +288,7 @@ def main() -> NoReturn: print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload))) if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT: - msg = messaging.new_message('qcomGnss') + msg = messaging.new_message('qcomGnss', valid=True) gnss = msg.qcomGnss gnss.logTs = log_time @@ -366,8 +329,6 @@ def main() -> NoReturn: setattr(sv.measurementStatus, kk, bool(v & (1< NoReturn: vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]] vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]] - msg = messaging.new_message('gpsLocation') + msg = messaging.new_message('gpsLocation', valid=True) gps = msg.gpsLocation gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi gps.altitude = report["q_FltFinalPosAlt"] gps.speed = math.sqrt(sum([x**2 for x in vNED])) gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi - gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], - 1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3 + + # TODO needs update if there is another leap second, after june 2024? + dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) + + datetime.timedelta(weeks=report['w_GpsWeekNumber']) + + datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18))) + gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3 gps.source = log.GpsLocationData.SensorSource.qcomdiag gps.vNED = vNED gps.verticalAccuracy = report["q_FltVdop"] @@ -395,12 +360,10 @@ def main() -> NoReturn: if gps.flags: want_assistance = False stop_download_event.set() - - pm.send('gpsLocation', msg) elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT: - msg = messaging.new_message('qcomGnss') + msg = messaging.new_message('qcomGnss', valid=True) dat = unpack_svpoly(log_payload) dat = relist(dat) gnss = msg.qcomGnss @@ -415,6 +378,10 @@ def main() -> NoReturn: else: setattr(poly, k, v) + ''' + # Timestamp glonass polys with GPSTime + from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds + from laika.helpers import get_prn_from_nmea_id prn = get_prn_from_nmea_id(poly.svId) if prn[0] == 'R': epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time)) @@ -429,10 +396,11 @@ def main() -> NoReturn: poly.gpsWeek = epoch.week poly.gpsTow = epoch.tow + ''' pm.send('qcomGnss', msg) elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: - msg = messaging.new_message('qcomGnss') + msg = messaging.new_message('qcomGnss', valid=True) gnss = msg.qcomGnss gnss.logTs = log_time diff --git a/system/sensord/rawgps/structs.py b/system/qcomgpsd/structs.py similarity index 100% rename from system/sensord/rawgps/structs.py rename to system/qcomgpsd/structs.py diff --git a/system/sensord/rawgps/test_rawgps.py b/system/qcomgpsd/tests/test_qcomgpsd.py similarity index 84% rename from system/sensord/rawgps/test_rawgps.py rename to system/qcomgpsd/tests/test_qcomgpsd.py index 3642438132..8291f2cc32 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -8,7 +8,7 @@ import unittest import subprocess import cereal.messaging as messaging -from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem +from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem from openpilot.selfdrive.manager.process_config import managed_processes GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) @@ -24,7 +24,7 @@ class TestRawgpsd(unittest.TestCase): @classmethod def tearDownClass(cls): - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart ModemManager lte") @@ -33,7 +33,7 @@ class TestRawgpsd(unittest.TestCase): self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) def tearDown(self): - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") def _wait_for_output(self, t): @@ -51,7 +51,7 @@ class TestRawgpsd(unittest.TestCase): def test_wait_for_modem(self): os.system("sudo systemctl stop ModemManager") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert not self._wait_for_output(5) os.system("sudo systemctl restart ModemManager") @@ -62,15 +62,15 @@ class TestRawgpsd(unittest.TestCase): if not internet: os.system("sudo systemctl stop systemd-resolved") with self.subTest(internet=internet): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(7) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() def test_turns_off_gnss(self): for s in (0.1, 1, 5): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() time.sleep(s) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') loc_status = json.loads(ls) @@ -94,29 +94,29 @@ class TestRawgpsd(unittest.TestCase): assert valid_duration == '0' def test_assistance_loading(self): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(10) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(True) def test_no_assistance_loading(self): os.system("sudo systemctl stop systemd-resolved") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(10) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(False) def test_late_assistance_loading(self): os.system("sudo systemctl stop systemd-resolved") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() self._wait_for_output(17) assert self.sm.updated['qcomGnss'] os.system("sudo systemctl restart systemd-resolved") time.sleep(15) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(True) if __name__ == "__main__": diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index 2e8f151d17..78b3b07498 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -11,7 +11,7 @@ from typing import List, Optional, Tuple from cereal import messaging from openpilot.common.params import Params -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import TICI from openpilot.common.gpio import gpio_init, gpio_set from openpilot.system.hardware.tici.pins import GPIO @@ -291,7 +291,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0) continue # send out to socket - msg = messaging.new_message('ubloxRaw', len(dat)) + msg = messaging.new_message('ubloxRaw', len(dat), valid=True) msg.ubloxRaw = dat[:] pm.send('ubloxRaw', msg) else: diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py deleted file mode 100755 index e1daa7f918..0000000000 --- a/system/sensord/rawgps/compare.py +++ /dev/null @@ -1,66 +0,0 @@ -#!/usr/bin/env python3 -import cereal.messaging as messaging -from laika import constants - -if __name__ == "__main__": - sm = messaging.SubMaster(['ubloxGnss', 'qcomGnss']) - - meas = None - while 1: - sm.update() - if sm['ubloxGnss'].which() == "measurementReport": - meas = sm['ubloxGnss'].measurementReport.measurements - if not sm.updated['qcomGnss'] or meas is None: - continue - report = sm['qcomGnss'].measurementReport - if report.source not in [0, 1]: - continue - GLONASS = report.source == 1 - recv_time = report.milliseconds / 1000 - - car = [] - print("qcom has ", sorted([x.svId for x in report.sv])) - print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])) - for i in report.sv: - # match to ublox - tm = None - for m in meas: - if i.svId == m.svId and m.gnssId == 0 and m.sigId == 0 and not GLONASS: - tm = m - if (i.svId-64) == m.svId and m.gnssId == 6 and m.sigId == 0 and GLONASS: - tm = m - if tm is None: - continue - - if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown: - sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000 - ublox_psuedorange = tm.pseudorange - qcom_psuedorange = (recv_time - sat_time)*constants.SPEED_OF_LIGHT - if GLONASS: - glonass_freq = tm.glonassFrequencyIndex - 7 - ublox_speed = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq*constants.GLONASS_L1_DELTA)) * (tm.doppler) - else: - ublox_speed = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * tm.doppler - qcom_speed = i.unfilteredSpeed - car.append((i.svId, tm.pseudorange, ublox_speed, qcom_psuedorange, qcom_speed, tm.cno)) - - if len(car) == 0: - print("nothing to compare") - continue - - pr_err, speed_err = 0., 0. - for c in car: - ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed = c[1:5] - pr_err += ublox_psuedorange - qcom_psuedorange - speed_err += ublox_speed - qcom_speed - pr_err /= len(car) - speed_err /= len(car) - print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err)) - for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)): - svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c - print("svid: %3d pseudorange: %10.2f m speed: %8.2f m/s meas: %12.2f speed: %10.2f meas_err: %10.3f speed_err: %8.3f cno: %d" % - (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, - ublox_psuedorange - qcom_psuedorange - pr_err, ublox_speed - qcom_speed - speed_err, cno)) - - - diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 0905248071..3075c8a343 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -106,7 +106,7 @@ class TestSensord(unittest.TestCase): os.environ["LSM_SELF_TEST"] = "1" # read initial sensor values every test case can use - os.system("pkill -f ./sensord") + os.system("pkill -f \\\\./sensord") try: managed_processes["sensord"].start() cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 5d0e1bfc82..d27dae46ad 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -7,7 +7,7 @@ import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware.hw import Paths -from openpilot.system.swaglog import cloudlog, ipchandler +from openpilot.common.swaglog import cloudlog, ipchandler class TestLogmessaged(unittest.TestCase): diff --git a/system/timed.py b/system/timed.py new file mode 100755 index 0000000000..21fb47b680 --- /dev/null +++ b/system/timed.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +import datetime +import os +import subprocess +import time +from typing import NoReturn + +from timezonefinder import TimezoneFinder + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import AGNOS + + +def set_timezone(timezone): + valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') + if timezone not in valid_timezones: + cloudlog.error(f"Timezone not supported {timezone}") + return + + cloudlog.debug(f"Setting timezone to {timezone}") + try: + if AGNOS: + tzpath = os.path.join("/usr/share/zoneinfo/", timezone) + subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ + mv /data/etc/tmptime /data/etc/localtime"', shell=True) + subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) + else: + subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) + except subprocess.CalledProcessError: + cloudlog.exception(f"Error setting timezone to {timezone}") + + +def set_time(new_time): + diff = datetime.datetime.now() - new_time + if diff < datetime.timedelta(seconds=10): + cloudlog.debug(f"Time diff too small: {diff}") + return + + cloudlog.debug(f"Setting time to {new_time}") + try: + subprocess.run(f"TZ=UTC date -s '{new_time}'", shell=True, check=True) + except subprocess.CalledProcessError: + cloudlog.exception("timed.failed_setting_time") + + +def main() -> NoReturn: + """ + timed has two responsibilities: + - getting the current time + - getting the current timezone + + GPS directly gives time, and timezone is looked up from GPS position. + AGNOS will also use NTP to update the time. + """ + + params = Params() + tf = TimezoneFinder() + + # Restore timezone from param + tz = params.get("Timezone", encoding='utf8') + tf = TimezoneFinder() + if tz is not None: + cloudlog.debug("Restoring timezone from param") + set_timezone(tz) + + sm = messaging.SubMaster(['liveLocationKalman']) + while True: + sm.update(1000) + + llk = sm['liveLocationKalman'] + if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2: + continue + + # set time + # TODO: account for unixTimesatmpMillis being a (usually short) time in the past + gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.) + set_time(gps_time) + + # set timezone + pos = llk.positionGeodetic.value + if len(pos) == 3: + gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1]) + if gps_timezone is None: + cloudlog.critical(f"No timezone found based on {pos=}") + else: + set_timezone(gps_timezone) + params.put_nonblocking("Timezone", gps_timezone) + + time.sleep(10) + +if __name__ == "__main__": + main() diff --git a/system/timezoned.py b/system/timezoned.py deleted file mode 100755 index 91424d33b5..0000000000 --- a/system/timezoned.py +++ /dev/null @@ -1,92 +0,0 @@ -#!/usr/bin/env python3 -import json -import os -import time -import subprocess -from typing import NoReturn - -import requests -from timezonefinder import TimezoneFinder - -from openpilot.common.params import Params -from openpilot.system.hardware import AGNOS -from openpilot.system.swaglog import cloudlog -from openpilot.system.version import get_version - -REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} - - -def set_timezone(valid_timezones, timezone): - if timezone not in valid_timezones: - cloudlog.error(f"Timezone not supported {timezone}") - return - - cloudlog.info(f"Setting timezone to {timezone}") - try: - if AGNOS: - tzpath = os.path.join("/usr/share/zoneinfo/", timezone) - subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \ - mv /data/etc/tmptime /data/etc/localtime"', shell=True) - subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True) - else: - subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True) - except subprocess.CalledProcessError: - cloudlog.exception(f"Error setting timezone to {timezone}") - - -def main() -> NoReturn: - params = Params() - tf = TimezoneFinder() - - # Get allowed timezones - valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n') - - while True: - time.sleep(60) - - is_onroad = not params.get_bool("IsOffroad") - if is_onroad: - continue - - # Set based on param - timezone = params.get("Timezone", encoding='utf8') - if timezone is not None: - cloudlog.debug("Setting timezone based on param") - set_timezone(valid_timezones, timezone) - continue - - location = params.get("LastGPSPosition", encoding='utf8') - - # Find timezone based on IP geolocation if no gps location is available - if location is None: - cloudlog.debug("Setting timezone based on IP lookup") - try: - r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) - if r.status_code == 200: - set_timezone(valid_timezones, r.text) - else: - cloudlog.error(f"Unexpected status code from api {r.status_code}") - - time.sleep(3600) # Don't make too many API requests - except requests.exceptions.RequestException: - cloudlog.exception("Error getting timezone based on IP") - continue - - # Find timezone by reverse geocoding the last known gps location - else: - cloudlog.debug("Setting timezone based on GPS location") - try: - location = json.loads(location) - except Exception: - cloudlog.exception("Error parsing location") - continue - - timezone = tf.timezone_at(lng=location['longitude'], lat=location['latitude']) - if timezone is None: - cloudlog.error(f"No timezone found based on location, {location}") - continue - set_timezone(valid_timezones, timezone) - - -if __name__ == "__main__": - main() diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py deleted file mode 100755 index 311604881a..0000000000 --- a/system/ubloxd/tests/test_ublox_processing.py +++ /dev/null @@ -1,117 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import time -import numpy as np - -from laika import AstroDog -from laika.helpers import ConstellationId -from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox -from laika.opt import calc_pos_fix -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.system.hardware.hw import Paths -from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.helpers import with_processes -import cereal.messaging as messaging - -def get_gnss_measurements(log_reader): - gnss_measurements = [] - for msg in log_reader: - if msg.which() == "ubloxGnss": - ublox_msg = msg.ubloxGnss - if ublox_msg.which == 'measurementReport': - report = ublox_msg.measurementReport - if len(report.measurements) > 0: - gnss_measurements.append(read_raw_ublox(report)) - return gnss_measurements - -def get_ublox_raw(log_reader): - ublox_raw = [] - for msg in log_reader: - if msg.which() == "ubloxRaw": - ublox_raw.append(msg) - return ublox_raw - -class TestUbloxProcessing(unittest.TestCase): - NUM_TEST_PROCESS_MEAS = 10 - - @classmethod - def setUpClass(cls): - lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0)) - cls.gnss_measurements = get_gnss_measurements(lr) - - # test gps ephemeris continuity check (drive has ephemeris issues with cutover data) - lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14)) - cls.ublox_raw = get_ublox_raw(lr) - - def test_read_ublox_raw(self): - count_gps = 0 - count_glonass = 0 - for measurements in self.gnss_measurements: - for m in measurements: - if m.constellation_id == ConstellationId.GPS: - count_gps += 1 - elif m.constellation_id == ConstellationId.GLONASS: - count_glonass += 1 - - self.assertEqual(count_gps, 5036) - self.assertEqual(count_glonass, 3651) - - def test_get_fix(self): - dog = AstroDog(cache_dir=Paths.download_cache_root()) - position_fix_found = 0 - count_processed_measurements = 0 - count_corrected_measurements = 0 - position_fix_found_after_correcting = 0 - - pos_ests = [] - for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]: - processed_meas = process_measurements(measurements, dog) - count_processed_measurements += len(processed_meas) - pos_fix = calc_pos_fix(processed_meas) - if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): - position_fix_found += 1 - - corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog) - count_corrected_measurements += len(corrected_meas) - - pos_fix = calc_pos_fix(corrected_meas) - if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): - pos_ests.append(pos_fix[0]) - position_fix_found_after_correcting += 1 - - mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0) - np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1) - - # Note that can happen that there are less corrected measurements compared to processed when they are invalid. - # However, not for the current segment - self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS) - self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS) - self.assertEqual(count_processed_measurements, 69) - self.assertEqual(count_corrected_measurements, 69) - - @with_processes(['ubloxd']) - def test_ublox_gps_cutover(self): - time.sleep(2) - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - ur_pm = messaging.PubMaster(['ubloxRaw']) - - def replay_segment(): - rcv_msgs = [] - for msg in self.ublox_raw: - ur_pm.send(msg.which(), msg.as_builder()) - time.sleep(0.001) - rcv_msgs += messaging.drain_sock(ugs) - - time.sleep(0.1) - rcv_msgs += messaging.drain_sock(ugs) - return rcv_msgs - - # replay twice to enforce cutover data on rewind - rcv_msgs = replay_segment() - rcv_msgs += replay_segment() - - ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs) - self.assertEqual(ephems_cnt, 15) - -if __name__ == "__main__": - unittest.main() diff --git a/system/version.py b/system/version.py index 82e99fd416..6bcae5f3fa 100755 --- a/system/version.py +++ b/system/version.py @@ -5,9 +5,9 @@ from typing import List, Optional from functools import lru_cache from openpilot.common.basedir import BASEDIR -from openpilot.system.swaglog import cloudlog +from openpilot.common.swaglog import cloudlog -RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] +RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] training_version: bytes = b"0.2.0" diff --git a/common/kalman/tests/__init__.py b/system/webrtc/__init__.py similarity index 100% rename from common/kalman/tests/__init__.py rename to system/webrtc/__init__.py diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py new file mode 100644 index 0000000000..3c78be6752 --- /dev/null +++ b/system/webrtc/device/audio.py @@ -0,0 +1,110 @@ +import asyncio +import io +from typing import Optional, List, Tuple + +import aiortc +import av +import numpy as np +import pyaudio + + +class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): + PYAUDIO_TO_AV_FORMAT_MAP = { + pyaudio.paUInt8: 'u8', + pyaudio.paInt16: 's16', + pyaudio.paInt24: 's24', + pyaudio.paInt32: 's32', + pyaudio.paFloat32: 'flt', + } + + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: Optional[int] = None): + super().__init__() + + self.p = pyaudio.PyAudio() + chunk_size = int(packet_time * rate) + self.stream = self.p.open(format=audio_format, + channels=channels, + rate=rate, + frames_per_buffer=chunk_size, + input=True, + input_device_index=device_index) + self.format = audio_format + self.rate = rate + self.channels = channels + self.packet_time = packet_time + self.chunk_size = chunk_size + self.pts = 0 + + async def recv(self): + mic_data = self.stream.read(self.chunk_size) + mic_array = np.frombuffer(mic_data, dtype=np.int16) + mic_array = np.expand_dims(mic_array, axis=0) + layout = 'stereo' if self.channels > 1 else 'mono' + frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout) + frame.rate = self.rate + frame.pts = self.pts + self.pts += frame.samples + + return frame + + +class AudioOutputSpeaker: + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: Optional[int] = None): + + chunk_size = int(packet_time * rate) + self.p = pyaudio.PyAudio() + self.buffer = io.BytesIO() + self.channels = channels + self.stream = self.p.open(format=audio_format, + channels=channels, + rate=rate, + frames_per_buffer=chunk_size, + output=True, + output_device_index=device_index, + stream_callback=self.__pyaudio_callback) + self.tracks_and_tasks: List[Tuple[aiortc.MediaStreamTrack, Optional[asyncio.Task]]] = [] + + def __pyaudio_callback(self, in_data, frame_count, time_info, status): + if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: + buff = b'\x00\x00' * frame_count * self.channels + elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 4) + buff = buff[:frame_count * self.channels * 2] + self.buffer.seek(2) + else: + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 2) + self.buffer.seek(2) + return (buff, pyaudio.paContinue) + + async def __consume(self, track): + while True: + try: + frame = await track.recv() + except aiortc.MediaStreamError: + return + + self.buffer.write(bytes(frame.planes[0])) + + def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool: + return any(t == track for t, _ in self.tracks_and_tasks) + + def addTrack(self, track: aiortc.MediaStreamTrack): + if not self.hasTrack(track): + self.tracks_and_tasks.append((track, None)) + + def start(self): + for index, (track, task) in enumerate(self.tracks_and_tasks): + if task is None: + self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track))) + + def stop(self): + for _, task in self.tracks_and_tasks: + if task is not None: + task.cancel() + + self.tracks_and_tasks = [] + self.stream.stop_stream() + self.stream.close() + self.p.terminate() diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py new file mode 100644 index 0000000000..1ecb6dbd74 --- /dev/null +++ b/system/webrtc/device/video.py @@ -0,0 +1,69 @@ +import asyncio +from typing import Optional + +import av +from teleoprtc.tracks import TiciVideoStreamTrack + +from cereal import messaging +from openpilot.tools.lib.framereader import FrameReader +from openpilot.common.realtime import DT_MDL, DT_DMON + + +class LiveStreamVideoStreamTrack(TiciVideoStreamTrack): + camera_to_sock_mapping = { + "driver": "livestreamDriverEncodeData", + "wideRoad": "livestreamWideRoadEncodeData", + "road": "livestreamRoadEncodeData", + } + + def __init__(self, camera_type: str): + dt = DT_DMON if camera_type == "driver" else DT_MDL + super().__init__(camera_type, dt) + + self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True) + self._pts = 0 + + async def recv(self): + while True: + msg = messaging.recv_one_or_none(self._sock) + if msg is not None: + break + await asyncio.sleep(0.005) + + evta = getattr(msg, msg.which()) + + packet = av.Packet(evta.header + evta.data) + packet.time_base = self._time_base + packet.pts = self._pts + + self.log_debug("track sending frame %s", self._pts) + self._pts += self._dt * self._clock_rate + + return packet + + def codec_preference(self) -> Optional[str]: + return "H264" + + +class FrameReaderVideoStreamTrack(TiciVideoStreamTrack): + def __init__(self, input_file: str, dt: float = DT_MDL, camera_type: str = "driver"): + super().__init__(camera_type, dt) + + frame_reader = FrameReader(input_file) + self._frames = [frame_reader.get(i, pix_fmt="rgb24") for i in range(frame_reader.frame_count)] + self._frame_count = len(self.frames) + self._frame_index = 0 + self._pts = 0 + + async def recv(self): + self.log_debug("track sending frame %s", self._pts) + img = self._frames[self._frame_index] + + new_frame = av.VideoFrame.from_ndarray(img, format="rgb24") + new_frame.pts = self._pts + new_frame.time_base = self._time_base + + self._frame_index = (self._frame_index + 1) % self._frame_count + self._pts = await self.next_pts(self._pts) + + return new_frame diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py new file mode 100644 index 0000000000..f659b34293 --- /dev/null +++ b/system/webrtc/schema.py @@ -0,0 +1,43 @@ +import capnp +from typing import Union, List, Dict, Any + + +def generate_type(type_walker, schema_walker) -> Union[str, List[Any], Dict[str, Any]]: + data_type = next(type_walker) + if data_type.which() == 'struct': + return generate_struct(next(schema_walker)) + elif data_type.which() == 'list': + _ = next(schema_walker) + return [generate_type(type_walker, schema_walker)] + elif data_type.which() == 'enum': + return "text" + else: + return str(data_type.which()) + + +def generate_struct(schema: capnp.lib.capnp._StructSchema) -> Dict[str, Any]: + return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")} + + +def generate_field(field: capnp.lib.capnp._StructSchemaField) -> Union[str, List[Any], Dict[str, Any]]: + def schema_walker(field): + yield field.schema + + s = field.schema + while hasattr(s, 'elementType'): + s = s.elementType + yield s + + def type_walker(field): + yield field.proto.slot.type + + t = field.proto.slot.type + while hasattr(getattr(t, t.which()), 'elementType'): + t = getattr(t, t.which()).elementType + yield t + + if field.proto.which() == "slot": + schema_gen, type_gen = schema_walker(field), type_walker(field) + return generate_type(type_gen, schema_gen) + else: + return generate_struct(field.schema) diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py new file mode 100755 index 0000000000..2173c3806b --- /dev/null +++ b/system/webrtc/tests/test_stream_session.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +import asyncio +import unittest +from unittest.mock import Mock, MagicMock, patch +import json +# for aiortc and its dependencies +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) + +from aiortc import RTCDataChannel +from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE +import capnp +import pyaudio + +from cereal import messaging, log + +from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy +from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack +from openpilot.system.webrtc.device.audio import AudioInputStreamTrack +from openpilot.common.realtime import DT_DMON + + +class TestStreamSession(unittest.TestCase): + def setUp(self): + self.loop = asyncio.new_event_loop() + + def tearDown(self): + self.loop.stop() + self.loop.close() + + def test_outgoing_proxy(self): + test_msg = log.Event.new_message() + test_msg.logMonoTime = 123 + test_msg.valid = True + test_msg.customReservedRawData0 = b"test" + expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"} + expected_json = json.dumps(expected_dict).encode() + + channel = Mock(spec=RTCDataChannel) + mocked_submaster = messaging.SubMaster(["customReservedRawData0"]) + def mocked_update(t): + mocked_submaster.update_msgs(0, [test_msg]) + + with patch.object(messaging.SubMaster, "update", side_effect=mocked_update): + proxy = CerealOutgoingMessageProxy(mocked_submaster) + proxy.add_channel(channel) + + proxy.update() + + channel.send.assert_called_once_with(expected_json) + + def test_incoming_proxy(self): + tested_msgs = [ + {"type": "customReservedRawData0", "data": "test"}, # primitive + {"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list + {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict + ] + + mocked_pubmaster = MagicMock(spec=messaging.PubMaster) + + proxy = CerealIncomingMessageProxy(mocked_pubmaster) + + for msg in tested_msgs: + proxy.send(json.dumps(msg).encode()) + + mocked_pubmaster.send.assert_called_once() + mt, md = mocked_pubmaster.send.call_args.args + self.assertEqual(mt, msg["type"]) + self.assertIsInstance(md, capnp._DynamicStructBuilder) + self.assertTrue(hasattr(md, msg["type"])) + + mocked_pubmaster.reset_mock() + + def test_livestream_track(self): + fake_msg = messaging.new_message("livestreamDriverEncodeData") + + config = {"receive.return_value": fake_msg.to_bytes()} + with patch("cereal.messaging.SubSocket", spec=True, **config): + track = LiveStreamVideoStreamTrack("driver") + + self.assertTrue(track.id.startswith("driver")) + self.assertEqual(track.codec_preference(), "H264") + + for i in range(5): + packet = self.loop.run_until_complete(track.recv()) + self.assertEqual(packet.time_base, VIDEO_TIME_BASE) + self.assertEqual(packet.pts, int(i * DT_DMON * VIDEO_CLOCK_RATE)) + self.assertEqual(packet.size, 0) + + def test_input_audio_track(self): + packet_time, rate = 0.02, 16000 + sample_count = int(packet_time * rate) + mocked_stream = MagicMock(spec=pyaudio.Stream) + mocked_stream.read.return_value = b"\x00" * 2 * sample_count + + config = {"open.side_effect": lambda *args, **kwargs: mocked_stream} + with patch("pyaudio.PyAudio", spec=True, **config): + track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) + + for i in range(5): + frame = self.loop.run_until_complete(track.recv()) + self.assertEqual(frame.rate, rate) + self.assertEqual(frame.samples, sample_count) + self.assertEqual(frame.pts, i * sample_count) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py new file mode 100755 index 0000000000..b48bf6bc19 --- /dev/null +++ b/system/webrtc/tests/test_webrtcd.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python +import asyncio +import json +import unittest +from unittest.mock import MagicMock, AsyncMock +# for aiortc and its dependencies +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) + +from openpilot.system.webrtc.webrtcd import get_stream + +import aiortc +from teleoprtc import WebRTCOfferBuilder + + +class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): + async def assertCompletesWithTimeout(self, awaitable, timeout=1): + try: + async with asyncio.timeout(timeout): + await awaitable + except asyncio.TimeoutError: + self.fail("Timeout while waiting for awaitable to complete") + + async def test_webrtcd(self): + mock_request = MagicMock() + async def connect(offer): + body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []} + mock_request.json.side_effect = AsyncMock(return_value=body) + response = await get_stream(mock_request) + response_json = json.loads(response.text) + return aiortc.RTCSessionDescription(**response_json) + + builder = WebRTCOfferBuilder(connect) + builder.offer_to_receive_video_stream("road") + builder.offer_to_receive_audio_stream() + builder.add_messaging() + + stream = builder.stream() + + await self.assertCompletesWithTimeout(stream.start()) + await self.assertCompletesWithTimeout(stream.wait_for_connection()) + + self.assertTrue(stream.has_incoming_video_track("road")) + self.assertTrue(stream.has_incoming_audio_track()) + self.assertTrue(stream.has_messaging_channel()) + + video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() + await self.assertCompletesWithTimeout(video_track.recv()) + await self.assertCompletesWithTimeout(audio_track.recv()) + + await self.assertCompletesWithTimeout(stream.stop()) + + # cleanup, very implementation specific, test may break if it changes + self.assertTrue(mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test") + _, session = mock_request.app["streams"].__setitem__.call_args.args + await self.assertCompletesWithTimeout(session.post_run_cleanup()) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py new file mode 100755 index 0000000000..12f9328532 --- /dev/null +++ b/system/webrtc/webrtcd.py @@ -0,0 +1,251 @@ +#!/usr/bin/env python3 + +import argparse +import asyncio +import json +import uuid +import logging +from dataclasses import dataclass, field +from typing import Any, List, Optional, Union + +# aiortc and its dependencies have lots of internal warnings :( +import warnings +warnings.filterwarnings("ignore", category=DeprecationWarning) + +import aiortc +from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack +from aiortc.contrib.media import MediaBlackhole +from aiortc.exceptions import InvalidStateError +from aiohttp import web +import capnp +from teleoprtc import WebRTCAnswerBuilder +from teleoprtc.info import parse_info_from_offer + +from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack +from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker +from openpilot.system.webrtc.schema import generate_field + +from cereal import messaging, log + + +class CerealOutgoingMessageProxy: + def __init__(self, sm: messaging.SubMaster): + self.sm = sm + self.channels: List[aiortc.RTCDataChannel] = [] + + def add_channel(self, channel: aiortc.RTCDataChannel): + self.channels.append(channel) + + def to_json(self, msg_content: Any): + if isinstance(msg_content, capnp._DynamicStructReader): + msg_dict = msg_content.to_dict() + elif isinstance(msg_content, capnp._DynamicListReader): + msg_dict = [self.to_json(msg) for msg in msg_content] + elif isinstance(msg_content, bytes): + msg_dict = msg_content.decode() + else: + msg_dict = msg_content + + return msg_dict + + def update(self): + # this is blocking in async context... + self.sm.update(0) + for service, updated in self.sm.updated.items(): + if not updated: + continue + msg_dict = self.to_json(self.sm[service]) + mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service] + outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict} + encoded_msg = json.dumps(outgoing_msg).encode() + for channel in self.channels: + channel.send(encoded_msg) + + +class CerealIncomingMessageProxy: + def __init__(self, pm: messaging.PubMaster): + self.pm = pm + + def send(self, message: bytes): + msg_json = json.loads(message) + msg_type, msg_data = msg_json["type"], msg_json["data"] + size = None + if not isinstance(msg_data, dict): + size = len(msg_data) + + msg = messaging.new_message(msg_type, size=size) + setattr(msg, msg_type, msg_data) + self.pm.send(msg_type, msg) + + +class CerealProxyRunner: + def __init__(self, proxy: CerealOutgoingMessageProxy): + self.proxy = proxy + self.is_running = False + self.task = None + self.logger = logging.getLogger("webrtcd") + + def start(self): + assert self.task is None + self.task = asyncio.create_task(self.run()) + + def stop(self): + if self.task is None or self.task.done(): + return + self.task.cancel() + self.task = None + + async def run(self): + while True: + try: + self.proxy.update() + except InvalidStateError: + self.logger.warning("Cereal outgoing proxy invalid state (connection closed)") + break + except Exception as ex: + self.logger.error("Cereal outgoing proxy failure: %s", ex) + await asyncio.sleep(0.01) + + +class StreamSession: + def __init__(self, sdp: str, cameras: List[str], incoming_services: List[str], outgoing_services: List[str], debug_mode: bool = False): + config = parse_info_from_offer(sdp) + builder = WebRTCAnswerBuilder(sdp) + + assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks" + for cam in cameras: + track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack() + builder.add_video_stream(cam, track) + if config.expected_audio_track: + track = AudioInputStreamTrack() if not debug_mode else AudioStreamTrack() + builder.add_audio_stream(track) + if config.incoming_audio_track: + self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole + builder.offer_to_receive_audio_stream() + + self.stream = builder.stream() + self.identifier = str(uuid.uuid4()) + + self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) + self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services)) + self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) + + self.audio_output: Optional[Union[AudioOutputSpeaker, MediaBlackhole]] = None + self.run_task: Optional[asyncio.Task] = None + self.logger = logging.getLogger("webrtcd") + self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s", + self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services) + + def start(self): + self.run_task = asyncio.create_task(self.run()) + + def stop(self): + if self.run_task.done(): + return + self.run_task.cancel() + self.run_task = None + asyncio.run(self.post_run_cleanup()) + + async def get_answer(self): + return await self.stream.start() + + async def message_handler(self, message: bytes): + try: + self.incoming_bridge.send(message) + except Exception as ex: + self.logger.error("Cereal incoming proxy failure: %s", ex) + + async def run(self): + try: + await self.stream.wait_for_connection() + if self.stream.has_messaging_channel(): + self.stream.set_message_handler(self.message_handler) + channel = self.stream.get_messaging_channel() + self.outgoing_bridge_runner.proxy.add_channel(channel) + self.outgoing_bridge_runner.start() + if self.stream.has_incoming_audio_track(): + track = self.stream.get_incoming_audio_track(buffered=False) + self.audio_output = self.audio_output_cls() + self.audio_output.addTrack(track) + self.audio_output.start() + self.logger.info("Stream session (%s) connected", self.identifier) + + await self.stream.wait_for_disconnection() + await self.post_run_cleanup() + + self.logger.info("Stream session (%s) ended", self.identifier) + except Exception as ex: + self.logger.error("Stream session failure: %s", ex) + + async def post_run_cleanup(self): + await self.stream.stop() + self.outgoing_bridge_runner.stop() + if self.audio_output: + self.audio_output.stop() + + +@dataclass +class StreamRequestBody: + sdp: str + cameras: List[str] + bridge_services_in: List[str] = field(default_factory=list) + bridge_services_out: List[str] = field(default_factory=list) + + +async def get_stream(request: web.Request): + stream_dict, debug_mode = request.app['streams'], request.app['debug'] + raw_body = await request.json() + body = StreamRequestBody(**raw_body) + + session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode) + answer = await session.get_answer() + session.start() + + stream_dict[session.identifier] = session + + return web.json_response({"sdp": answer.sdp, "type": answer.type}) + + +async def get_schema(request: web.Request): + services = request.query["services"].split(",") + services = [s for s in services if s] + assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name" + schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services} + return web.json_response(schema_dict) + + +async def on_shutdown(app: web.Application): + for session in app['streams'].values(): + session.stop() + del app['streams'] + + +def webrtcd_thread(host: str, port: int, debug: bool): + logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()]) + logging_level = logging.DEBUG if debug else logging.INFO + logging.getLogger("WebRTCStream").setLevel(logging_level) + logging.getLogger("webrtcd").setLevel(logging_level) + + app = web.Application() + + app['streams'] = dict() + app['debug'] = debug + app.on_shutdown.append(on_shutdown) + app.router.add_post("/stream", get_stream) + app.router.add_get("/schema", get_schema) + + web.run_app(app, host=host, port=port) + + +def main(): + parser = argparse.ArgumentParser(description="WebRTC daemon") + parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on") + parser.add_argument("--port", type=int, default=5001, help="Port to listen on") + parser.add_argument("--debug", action="store_true", help="Enable debug mode") + args = parser.parse_args() + + webrtcd_thread(args.host, args.port, args.debug) + + +if __name__=="__main__": + main() diff --git a/teleoprtc b/teleoprtc new file mode 120000 index 0000000000..3d3dbc8dea --- /dev/null +++ b/teleoprtc @@ -0,0 +1 @@ +teleoprtc_repo/teleoprtc \ No newline at end of file diff --git a/teleoprtc_repo b/teleoprtc_repo new file mode 160000 index 0000000000..3f9e8176d1 --- /dev/null +++ b/teleoprtc_repo @@ -0,0 +1 @@ +Subproject commit 3f9e8176d1be3d217528baee09fc418fa980a0c3 diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 index 19e7a69bd5..d64e40ec60 100644 Binary files a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 index c0c8b66650..cf5e550faa 100644 Binary files a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 differ diff --git a/tools/bodyteleop/bodyav.py b/tools/bodyteleop/bodyav.py deleted file mode 100644 index 3f11f8d4f2..0000000000 --- a/tools/bodyteleop/bodyav.py +++ /dev/null @@ -1,159 +0,0 @@ -import asyncio -import io -import numpy as np -import pyaudio -import wave - -from aiortc.contrib.media import MediaBlackhole -from aiortc.mediastreams import AudioStreamTrack, MediaStreamError, MediaStreamTrack -from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE -from aiortc.rtcrtpsender import RTCRtpSender -from av import CodecContext, Packet -from pydub import AudioSegment -import cereal.messaging as messaging - -AUDIO_RATE = 16000 -SOUNDS = { - 'engage': '../../selfdrive/assets/sounds/engage.wav', - 'disengage': '../../selfdrive/assets/sounds/disengage.wav', - 'error': '../../selfdrive/assets/sounds/warning_immediate.wav', -} - - -def force_codec(pc, sender, forced_codec='video/VP9', stream_type="video"): - codecs = RTCRtpSender.getCapabilities(stream_type).codecs - codec = [codec for codec in codecs if codec.mimeType == forced_codec] - transceiver = next(t for t in pc.getTransceivers() if t.sender == sender) - transceiver.setCodecPreferences(codec) - - -class EncodedBodyVideo(MediaStreamTrack): - kind = "video" - - _start: float - _timestamp: int - - def __init__(self): - super().__init__() - sock_name = 'livestreamDriverEncodeData' - messaging.context = messaging.Context() - self.sock = messaging.sub_sock(sock_name, None, conflate=True) - self.pts = 0 - - async def recv(self) -> Packet: - while True: - msg = messaging.recv_one_or_none(self.sock) - if msg is not None: - break - await asyncio.sleep(0.005) - - evta = getattr(msg, msg.which()) - self.last_idx = evta.idx.encodeId - - packet = Packet(evta.header + evta.data) - packet.time_base = VIDEO_TIME_BASE - packet.pts = self.pts - self.pts += 0.05 * VIDEO_CLOCK_RATE - return packet - - -class WebClientSpeaker(MediaBlackhole): - def __init__(self): - super().__init__() - self.p = pyaudio.PyAudio() - self.buffer = io.BytesIO() - self.channels = 2 - self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600, - output=True, stream_callback=self.pyaudio_callback) - - def pyaudio_callback(self, in_data, frame_count, time_info, status): - if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: - buff = np.zeros((frame_count, 2), dtype=np.int16).tobytes() - elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size - self.buffer.seek(0) - buff = self.buffer.read(frame_count * self.channels * 4) - buff = buff[:frame_count * self.channels * 2] - self.buffer.seek(2) - else: - self.buffer.seek(0) - buff = self.buffer.read(frame_count * self.channels * 2) - self.buffer.seek(2) - return (buff, pyaudio.paContinue) - - async def consume(self, track): - while True: - try: - frame = await track.recv() - except MediaStreamError: - return - bio = bytes(frame.planes[0]) - self.buffer.write(bio) - - async def start(self): - for track, task in self._MediaBlackhole__tracks.items(): - if task is None: - self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track)) - - async def stop(self): - for task in self._MediaBlackhole__tracks.values(): - if task is not None: - task.cancel() - self._MediaBlackhole__tracks = {} - self.stream.stop_stream() - self.stream.close() - self.p.terminate() - - -class BodyMic(AudioStreamTrack): - def __init__(self): - super().__init__() - - self.sample_rate = AUDIO_RATE - self.AUDIO_PTIME = 0.020 # 20ms audio packetization - self.samples = int(self.AUDIO_PTIME * self.sample_rate) - self.FORMAT = pyaudio.paInt16 - self.CHANNELS = 2 - self.RATE = self.sample_rate - self.CHUNK = int(AUDIO_RATE * 0.020) - self.p = pyaudio.PyAudio() - self.mic_stream = self.p.open(format=self.FORMAT, channels=1, rate=self.RATE, input=True, frames_per_buffer=self.CHUNK) - - self.codec = CodecContext.create('pcm_s16le', 'r') - self.codec.sample_rate = self.RATE - self.codec.channels = 2 - self.audio_samples = 0 - self.chunk_number = 0 - - async def recv(self): - mic_data = self.mic_stream.read(self.CHUNK) - mic_sound = AudioSegment(mic_data, sample_width=2, channels=1, frame_rate=self.RATE) - mic_sound = AudioSegment.from_mono_audiosegments(mic_sound, mic_sound) - mic_sound += 3 # increase volume by 3db - packet = Packet(mic_sound.raw_data) - frame = self.codec.decode(packet)[0] - frame.pts = self.audio_samples - self.audio_samples += frame.samples - self.chunk_number = self.chunk_number + 1 - return frame - - -async def play_sound(sound): - chunk = 5120 - with wave.open(SOUNDS[sound], 'rb') as wf: - def callback(in_data, frame_count, time_info, status): - data = wf.readframes(frame_count) - return data, pyaudio.paContinue - - p = pyaudio.PyAudio() - stream = p.open(format=p.get_format_from_width(wf.getsampwidth()), - channels=wf.getnchannels(), - rate=wf.getframerate(), - output=True, - frames_per_buffer=chunk, - stream_callback=callback) - stream.start_stream() - while stream.is_active(): - await asyncio.sleep(0) - stream.stop_stream() - stream.close() - p.terminate() diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js index f521905724..83205a876b 100644 --- a/tools/bodyteleop/static/js/jsmain.js +++ b/tools/bodyteleop/static/js/jsmain.js @@ -1,5 +1,5 @@ import { handleKeyX, executePlan } from "./controls.js"; -import { start, stop, last_ping } from "./webrtc.js"; +import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js"; export var pc = null; export var dc = null; @@ -9,10 +9,14 @@ document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0))); $(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1)); $(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0)); $("#plan-button").click(executePlan); +$(".sound").click((e)=>{ + const sound = $(e.target).attr('id').replace('sound-', '') + return playSoundRequest(sound); +}); setInterval( () => { const dt = new Date().getTime(); - if ((dt - last_ping) > 1000) { + if ((dt - lastChannelMessageTime) > 1000) { $(".pre-blob").removeClass('blob'); $("#battery").text("-"); $("#ping-time").text('-'); @@ -20,4 +24,4 @@ setInterval( () => { } }, 5000); -start(pc, dc); \ No newline at end of file +start(pc, dc); diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js index e2f6583c17..165a2ce6c4 100644 --- a/tools/bodyteleop/static/js/webrtc.js +++ b/tools/bodyteleop/static/js/webrtc.js @@ -1,9 +1,34 @@ import { getXY } from "./controls.js"; import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js"; -export let dcInterval = null; -export let batteryInterval = null; -export let last_ping = null; +export let controlCommandInterval = null; +export let latencyInterval = null; +export let lastChannelMessageTime = null; + + +export function offerRtcRequest(sdp, type) { + return fetch('/offer', { + body: JSON.stringify({sdp: sdp, type: type}), + headers: {'Content-Type': 'application/json'}, + method: 'POST' + }); +} + + +export function playSoundRequest(sound) { + return fetch('/sound', { + body: JSON.stringify({sound}), + headers: {'Content-Type': 'application/json'}, + method: 'POST' + }); +} + + +export function pingHeadRequest() { + return fetch('/', { + method: 'HEAD' + }); +} export function createPeerConnection(pc) { @@ -45,16 +70,7 @@ export function negotiate(pc) { }); }).then(function() { var offer = pc.localDescription; - return fetch('/offer', { - body: JSON.stringify({ - sdp: offer.sdp, - type: offer.type, - }), - headers: { - 'Content-Type': 'application/json' - }, - method: 'POST' - }); + return offerRtcRequest(offer.sdp, offer.type); }).then(function(response) { console.log(response); return response.json(); @@ -86,25 +102,6 @@ export const constraints = { }; -export function createDummyVideoTrack() { - const canvas = document.createElement('canvas'); - const context = canvas.getContext('2d'); - - const frameWidth = 5; // Set the width of the frame - const frameHeight = 5; // Set the height of the frame - canvas.width = frameWidth; - canvas.height = frameHeight; - - context.fillStyle = 'black'; - context.fillRect(0, 0, frameWidth, frameHeight); - - const stream = canvas.captureStream(); - const videoTrack = stream.getVideoTracks()[0]; - - return videoTrack; -} - - export function start(pc, dc) { pc = createPeerConnection(pc); @@ -138,71 +135,56 @@ export function start(pc, dc) { alert('Could not acquire media: ' + err); }); - // add a fake video? - // const dummyVideoTrack = createDummyVideoTrack(); - // const dummyMediaStream = new MediaStream(); - // dummyMediaStream.addTrack(dummyVideoTrack); - // pc.addTrack(dummyVideoTrack, dummyMediaStream); - - // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000) - // var video = document.querySelector('video'); - // var print = function (e, f){console.log(e, f); video.requestVideoFrameCallback(print);}; - // video.requestVideoFrameCallback(print); - var parameters = {"ordered": true}; dc = pc.createDataChannel('data', parameters); dc.onclose = function() { - console.log("data channel closed"); - clearInterval(dcInterval); - clearInterval(batteryInterval); + clearInterval(controlCommandInterval); + clearInterval(latencyInterval); }; - function controlCommand() { + + function sendJoystickOverDataChannel() { const {x, y} = getXY(); - const dt = new Date().getTime(); - var message = JSON.stringify({type: 'control_command', x, y, dt}); + var message = JSON.stringify({type: "testJoystick", data: {axes: [x, y], buttons: [false]}}) dc.send(message); } - - function batteryLevel() { - var message = JSON.stringify({type: 'battery_level'}); - dc.send(message); + function checkLatency() { + const initialTime = new Date().getTime(); + pingHeadRequest().then(function() { + const currentTime = new Date().getTime(); + if (Math.abs(currentTime - lastChannelMessageTime) < 1000) { + const pingtime = currentTime - initialTime; + pingPoints.push({'x': currentTime, 'y': pingtime}); + if (pingPoints.length > 1000) { + pingPoints.shift(); + } + chartPing.update(); + $("#ping-time").text((pingtime) + "ms"); + } + }) } - dc.onopen = function() { - dcInterval = setInterval(controlCommand, 50); - batteryInterval = setInterval(batteryLevel, 10000); - controlCommand(); - batteryLevel(); - $(".sound").click((e)=>{ - const sound = $(e.target).attr('id').replace('sound-', '') - dc.send(JSON.stringify({type: 'play_sound', sound})); - }); + controlCommandInterval = setInterval(sendJoystickOverDataChannel, 50); + latencyInterval = setInterval(checkLatency, 1000); + sendJoystickOverDataChannel(); }; - let val_print_idx = 0; + const textDecoder = new TextDecoder(); + var carStaterIndex = 0; dc.onmessage = function(evt) { - const data = JSON.parse(evt.data); - if(val_print_idx == 0 && data.type === 'ping_time') { - const dt = new Date().getTime(); - const pingtime = dt - data.incoming_time; - pingPoints.push({'x': dt, 'y': pingtime}); - if (pingPoints.length > 1000) { - pingPoints.shift(); - } - chartPing.update(); - $("#ping-time").text((pingtime) + "ms"); - last_ping = dt; - $(".pre-blob").addClass('blob'); - } - val_print_idx = (val_print_idx + 1 ) % 20; - if(data.type === 'battery_level') { - $("#battery").text(data.value + "%"); - batteryPoints.push({'x': new Date().getTime(), 'y': data.value}); - if (batteryPoints.length > 1000) { + const text = textDecoder.decode(evt.data); + const msg = JSON.parse(text); + if (carStaterIndex % 100 == 0 && msg.type === 'carState') { + const batteryLevel = Math.round(msg.data.fuelGauge * 100); + $("#battery").text(batteryLevel + "%"); + batteryPoints.push({'x': new Date().getTime(), 'y': batteryLevel}); + if (batteryPoints.length > 1000) { batteryPoints.shift(); } chartBattery.update(); } + carStaterIndex += 1; + lastChannelMessageTime = new Date().getTime(); + $(".pre-blob").addClass('blob'); }; } diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png index ba0e846b22..2f2b02dd8a 100644 Binary files a/tools/bodyteleop/static/poster.png and b/tools/bodyteleop/static/poster.png differ diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py index 717afdeaf8..53077af67e 100644 --- a/tools/bodyteleop/web.py +++ b/tools/bodyteleop/web.py @@ -1,205 +1,124 @@ import asyncio +import dataclasses import json import logging import os import ssl -import uuid -import time +import subprocess -# aiortc and its dependencies have lots of internal warnings :( -import warnings -warnings.resetwarnings() -warnings.simplefilter("always") +from aiohttp import web, ClientSession +import pyaudio +import wave -from aiohttp import web -from aiortc import RTCPeerConnection, RTCSessionDescription - -import cereal.messaging as messaging from openpilot.common.basedir import BASEDIR -from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo +from openpilot.system.webrtc.webrtcd import StreamRequestBody +from openpilot.common.params import Params -logger = logging.getLogger("pc") +logger = logging.getLogger("bodyteleop") logging.basicConfig(level=logging.INFO) -pcs = set() -pm, sm = None, None TELEOPDIR = f"{BASEDIR}/tools/bodyteleop" +WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001 +## UTILS +async def play_sound(sound): + SOUNDS = { + "engage": "selfdrive/assets/sounds/engage.wav", + "disengage": "selfdrive/assets/sounds/disengage.wav", + "error": "selfdrive/assets/sounds/warning_immediate.wav", + } + assert sound in SOUNDS + + chunk = 5120 + with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf: + def callback(in_data, frame_count, time_info, status): + data = wf.readframes(frame_count) + return data, pyaudio.paContinue + + p = pyaudio.PyAudio() + stream = p.open(format=p.get_format_from_width(wf.getsampwidth()), + channels=wf.getnchannels(), + rate=wf.getframerate(), + output=True, + frames_per_buffer=chunk, + stream_callback=callback) + stream.start_stream() + while stream.is_active(): + await asyncio.sleep(0) + stream.stop_stream() + stream.close() + p.terminate() + +## SSL +def create_ssl_cert(cert_path, key_path): + try: + proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \ + -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"', + stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True) + proc.check_returncode() + except subprocess.CalledProcessError as ex: + raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex + + +def create_ssl_context(): + cert_path = os.path.join(TELEOPDIR, "cert.pem") + key_path = os.path.join(TELEOPDIR, "key.pem") + if not os.path.exists(cert_path) or not os.path.exists(key_path): + logger.info("Creating certificate...") + create_ssl_cert(cert_path, key_path) + else: + logger.info("Certificate exists!") + ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER) + ssl_context.load_cert_chain(cert_path, key_path) + + return ssl_context + +## ENDPOINTS async def index(request): - content = open(TELEOPDIR + "/static/index.html", "r").read() - now = time.monotonic() - request.app['mutable_vals']['last_send_time'] = now - request.app['mutable_vals']['last_override_time'] = now - request.app['mutable_vals']['prev_command'] = [] - request.app['mutable_vals']['find_person'] = False - - return web.Response(content_type="text/html", text=content) + with open(os.path.join(TELEOPDIR, "static", "index.html"), "r") as f: + content = f.read() + return web.Response(content_type="text/html", text=content) -async def control_body(data, app): - now = time.monotonic() - if (data['type'] == 'dummy_controls') and (now < (app['mutable_vals']['last_send_time'] + 0.2)): - return - if (data['type'] == 'control_command') and (app['mutable_vals']['prev_command'] == [data['x'], data['y']] and data['x'] == 0 and data['y'] == 0): - return - - logger.info(str(data)) - x = max(-1.0, min(1.0, data['x'])) - y = max(-1.0, min(1.0, data['y'])) - dat = messaging.new_message('testJoystick') - dat.testJoystick.axes = [x, y] - dat.testJoystick.buttons = [False] - pm.send('testJoystick', dat) - app['mutable_vals']['last_send_time'] = now - if (data['type'] == 'control_command'): - app['mutable_vals']['last_override_time'] = now - app['mutable_vals']['prev_command'] = [data['x'], data['y']] +async def ping(request): + return web.Response(text="pong") -async def dummy_controls_msg(app): - while True: - if 'last_send_time' in app['mutable_vals']: - this_time = time.monotonic() - if (app['mutable_vals']['last_send_time'] + 0.2) < this_time: - await control_body({'type': 'dummy_controls', 'x': 0, 'y': 0}, app) - await asyncio.sleep(0.2) +async def sound(request): + params = await request.json() + sound_to_play = params["sound"] - -async def start_background_tasks(app): - app['bgtask_dummy_controls_msg'] = asyncio.create_task(dummy_controls_msg(app)) - - -async def stop_background_tasks(app): - app['bgtask_dummy_controls_msg'].cancel() - await app['bgtask_dummy_controls_msg'] + await play_sound(sound_to_play) + return web.json_response({"status": "ok"}) async def offer(request): - logger.info("\n\n\nnewoffer!\n\n") - params = await request.json() - offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"]) - speaker = WebClientSpeaker() - blackhole = MediaBlackhole() + body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"]) + body_json = json.dumps(dataclasses.asdict(body)) - pc = RTCPeerConnection() - pc_id = "PeerConnection(%s)" % uuid.uuid4() - pcs.add(pc) - - def log_info(msg, *args): - logger.info(pc_id + " " + msg, *args) - - log_info("Created for %s", request.remote) - - @pc.on("datachannel") - def on_datachannel(channel): - request.app['mutable_vals']['remote_channel'] = channel - - @channel.on("message") - async def on_message(message): - data = json.loads(message) - if data['type'] == 'control_command': - await control_body(data, request.app) - times = { - 'type': 'ping_time', - 'incoming_time': data['dt'], - 'outgoing_time': int(time.time() * 1000), - } - channel.send(json.dumps(times)) - if data['type'] == 'battery_level': - sm.update(timeout=0) - if sm.updated['carState']: - channel.send(json.dumps({'type': 'battery_level', 'value': int(sm['carState'].fuelGauge * 100)})) - if data['type'] == 'play_sound': - logger.info(f"Playing sound: {data['sound']}") - await play_sound(data['sound']) - if data['type'] == 'find_person': - request.app['mutable_vals']['find_person'] = data['value'] - - @pc.on("connectionstatechange") - async def on_connectionstatechange(): - log_info("Connection state is %s", pc.connectionState) - if pc.connectionState == "failed": - await pc.close() - pcs.discard(pc) - - @pc.on('track') - def on_track(track): - logger.info(f"Track received: {track.kind}") - if track.kind == "audio": - speaker.addTrack(track) - elif track.kind == "video": - blackhole.addTrack(track) - - @track.on("ended") - async def on_ended(): - log_info("Remote %s track ended", track.kind) - if track.kind == "audio": - await speaker.stop() - elif track.kind == "video": - await blackhole.stop() - - video_sender = pc.addTrack(EncodedBodyVideo()) - force_codec(pc, video_sender, forced_codec='video/H264') - _ = pc.addTrack(BodyMic()) - - await pc.setRemoteDescription(offer) - await speaker.start() - await blackhole.start() - answer = await pc.createAnswer() - await pc.setLocalDescription(answer) - - return web.Response( - content_type="application/json", - text=json.dumps( - {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type} - ), - ) - - -async def on_shutdown(app): - coros = [pc.close() for pc in pcs] - await asyncio.gather(*coros) - pcs.clear() - - -async def run(cmd): - proc = await asyncio.create_subprocess_shell( - cmd, - stdout=asyncio.subprocess.PIPE, - stderr=asyncio.subprocess.PIPE - ) - stdout, stderr = await proc.communicate() - logger.info("Created key and cert!") - if stdout: - logger.info(f'[stdout]\n{stdout.decode()}') - if stderr: - logger.info(f'[stderr]\n{stderr.decode()}') + logger.info("Sending offer to webrtcd...") + webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream" + async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp: + assert resp.status == 200 + answer = await resp.json() + return web.json_response(answer) def main(): - global pm, sm - pm = messaging.PubMaster(['testJoystick']) - sm = messaging.SubMaster(['carState', 'logMessage']) + # Enable joystick debug mode + Params().put_bool("JoystickDebugMode", True) + # App needs to be HTTPS for microphone and audio autoplay to work on the browser - cert_path = TELEOPDIR + '/cert.pem' - key_path = TELEOPDIR + '/key.pem' - if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)): - asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \ - -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"')) - else: - logger.info("Certificate exists!") - ssl_context = ssl.SSLContext() - ssl_context.load_cert_chain(cert_path, key_path) + ssl_context = create_ssl_context() + app = web.Application() - app['mutable_vals'] = {} - app.on_shutdown.append(on_shutdown) - app.router.add_post("/offer", offer) app.router.add_get("/", index) - app.router.add_static('/static', TELEOPDIR + '/static') - app.on_startup.append(start_background_tasks) - app.on_cleanup.append(stop_background_tasks) + app.router.add_get("/ping", ping, allow_head=True) + app.router.add_post("/offer", offer) + app.router.add_post("/sound", sound) + app.router.add_static('/static', os.path.join(TELEOPDIR, 'static')) web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d557b3af80..6af4ca08f5 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -27,8 +27,9 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', + 'utils/export.cc', 'utils/util.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', - 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): diff --git a/tools/cabana/assets/cabana-icon.png b/tools/cabana/assets/cabana-icon.png index 86add806fd..2c3cfcd7d1 100644 Binary files a/tools/cabana/assets/cabana-icon.png and b/tools/cabana/assets/cabana-icon.png differ diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 4cd8eaf8b4..6f08a9f20b 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -22,7 +22,9 @@ // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) const int AXIS_X_TOP_MARGIN = 4; -static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } +// Define a small value of epsilon to compare double values +const float EPSILON = 0.000001; +static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); } ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), QChartView(parent) { @@ -768,7 +770,8 @@ void ChartView::drawSignalValue(QPainter *painter) { painter->setPen(chart()->legend()->labelColor()); int i = 0; for (auto &s : sigs) { - auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, + [](auto &p, double x) { return p.x() > x + EPSILON; }); QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--"; QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 42608c030f..34bc76b7c4 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -13,23 +13,30 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent()); auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent()); - if (first != last && !size.isEmpty()) { - points.clear(); - double value = 0; - for (auto it = first; it != last; ++it) { - if (sig->getValue((*it)->dat, (*it)->size, &value)) { - points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value); - } - } - const auto [min, max] = std::minmax_element(points.begin(), points.end(), - [](auto &l, auto &r) { return l.y() < r.y(); }); - min_val = min->y() == max->y() ? min->y() - 1 : min->y(); - max_val = min->y() == max->y() ? max->y() + 1 : max->y(); - freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0); - render(sig->color, range, size); - } else { + if (first == last || size.isEmpty()) { pixmap = QPixmap(); + return; } + + points.clear(); + double value = 0; + for (auto it = first; it != last; ++it) { + if (sig->getValue((*it)->dat, (*it)->size, &value)) { + points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value); + } + } + + if (points.empty()) { + pixmap = QPixmap(); + return; + } + + const auto [min, max] = std::minmax_element(points.begin(), points.end(), + [](auto &l, auto &r) { return l.y() < r.y(); }); + min_val = min->y() == max->y() ? min->y() - 1 : min->y(); + max_val = min->y() == max->y() ? max->y() + 1 : max->y(); + freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0); + render(sig->color, range, size); } void Sparkline::render(const QColor &color, int range, QSize size) { diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index a0e523d666..b1256098eb 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -2,7 +2,7 @@ #include -#include "tools/cabana/util.h" +#include "tools/cabana/utils/util.h" uint qHash(const MessageId &item) { return qHash(item.source) ^ qHash(item.address); diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index e07903e680..0262a546f6 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,12 +1,10 @@ #pragma once #include -#include #include #include #include -#include #include #include @@ -47,7 +45,7 @@ struct std::hash { std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } }; -typedef QList> ValueDescription; +typedef std::vector> ValueDescription; namespace cabana { diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index a22d979212..fbbb54fd58 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -52,8 +52,7 @@ void DBCFile::cleanupAutoSaveFile() { bool DBCFile::writeContents(const QString &fn) { QFile file(fn); if (file.open(QIODevice::WriteOnly)) { - file.write(generateDBC().toUtf8()); - return true; + return file.write(generateDBC().toUtf8()) >= 0; } return false; } @@ -77,10 +76,6 @@ cabana::Msg *DBCFile::msg(const QString &name) { return it != msgs.end() ? &(it->second) : nullptr; } -int DBCFile::signalCount() { - return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); }); -} - void DBCFile::parse(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); @@ -226,7 +221,7 @@ QString DBCFile::generateDBC() { if (!sig->comment.isEmpty()) { signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); } - if (!sig->val_desc.isEmpty()) { + if (!sig->val_desc.empty()) { QStringList text; for (auto &[val, desc] : sig->val_desc) { text << QString("%1 \"%2\"").arg(val).arg(desc); diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index ade6b249e2..551bac4946 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -27,10 +27,8 @@ public: cabana::Msg *msg(const QString &name); inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - int signalCount(); - inline int msgCount() { return msgs.size(); } - inline QString name() { return name_.isEmpty() ? "untitled" : name_; } - inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); } + inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } + inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); } QString filename; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 87a7d962c5..250ec225b5 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -106,12 +106,6 @@ QString DBCManager::newSignalName(const MessageId &id) { return m ? m->newSignalName() : ""; } -const std::vector &DBCManager::mask(const MessageId &id) { - static std::vector empty_mask; - auto m = msg(id); - return m ? m->mask : empty_mask; -} - const std::map &DBCManager::getMessages(uint8_t source) { static std::map empty_msgs; auto dbc_file = findDBCFile(source); @@ -143,25 +137,6 @@ QStringList DBCManager::signalNames() { return ret; } -int DBCManager::signalCount(const MessageId &id) { - auto m = msg(id); - return m ? m->sigs.size() : 0; -} - -int DBCManager::signalCount() { - auto files = allDBCFiles(); - return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); }); -} - -int DBCManager::msgCount() { - auto files = allDBCFiles(); - return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); }); -} - -int DBCManager::dbcCount() { - return allDBCFiles().size(); -} - int DBCManager::nonEmptyDBCCount() { auto files = allDBCFiles(); return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); }); diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 53a77a2c13..5f183752d2 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -4,7 +4,6 @@ #include #include #include -#include #include "tools/cabana/dbc/dbcfile.h" @@ -34,17 +33,13 @@ public: QString newMsgName(const MessageId &id); QString newSignalName(const MessageId &id); - const std::vector& mask(const MessageId &id); const std::map &getMessages(uint8_t source); cabana::Msg *msg(const MessageId &id); cabana::Msg* msg(uint8_t source, const QString &name); QStringList signalNames(); - int signalCount(const MessageId &id); - int signalCount(); - int msgCount(); - int dbcCount(); + inline int dbcCount() { return allDBCFiles().size(); } int nonEmptyDBCCount(); const SourceSet sources(const DBCFile *dbc_file) const; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index b3440b557b..90bd9a8f76 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -2,11 +2,12 @@ #include +#include #include -#include #include #include "tools/cabana/commands.h" +#include "tools/cabana/utils/export.h" QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { const bool show_signals = display_signals_mode && sigs.size() > 0; @@ -220,6 +221,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { h->addWidget(filters_widget); h->addStretch(0); h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight); + ToolButton *export_btn = new ToolButton("filetype-csv", tr("Export to CSV file...")); + h->addWidget(export_btn, 0, Qt::AlignRight); display_type_cb->addItems({"Signal", "Hex"}); display_type_cb->setToolTip(tr("Display signal value or raw hex value")); @@ -252,6 +255,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter())); QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter); + QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV); QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &LogsWidget::refresh); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &LogsWidget::refresh); @@ -304,3 +308,13 @@ void LogsWidget::showEvent(QShowEvent *event) { model->refresh(); } } + +void LogsWidget::exportToCSV() { + QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id)); + QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)), + dir, tr("csv (*.csv)")); + if (!fn.isEmpty()) { + const bool export_signals = model->display_signals_mode && model->sigs.size() > 0; + export_signals ? utils::exportSignalsToCSV(fn, model->msg_id) : utils::exportToCSV(fn, model->msg_id); + } +} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 154b139fb0..21df6a622e 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -11,7 +11,7 @@ #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -#include "tools/cabana/util.h" +#include "tools/cabana/utils/util.h" class HeaderView : public QHeaderView { public: @@ -80,6 +80,7 @@ public: private slots: void setFilter(); + void exportToCSV(); private: void refresh(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 71e5ade9bb..bcb65e2e3e 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -22,6 +22,7 @@ #include "tools/cabana/commands.h" #include "tools/cabana/streamselector.h" #include "tools/cabana/tools/findsignal.h" +#include "tools/cabana/utils/export.h" #include "tools/replay/replay.h" MainWindow::MainWindow() : QMainWindow() { @@ -46,7 +47,6 @@ MainWindow::MainWindow() : QMainWindow() { static auto static_main_win = this; qRegisterMetaType("uint64_t"); qRegisterMetaType("SourceSet"); - qRegisterMetaType("ReplyMsgType"); installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) { emit static_main_win->updateProgressBar(cur, total, success); }); @@ -54,9 +54,7 @@ MainWindow::MainWindow() : QMainWindow() { if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; emit static_main_win->showMessage(msg, 2000); }); - installMessageHandler([](ReplyMsgType type, const std::string msg) { - qInfo() << QString::fromStdString(msg); - }); + installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); }); setStyleSheet(QString(R"(QMainWindow::separator { width: %1px; /* when vertical */ @@ -77,9 +75,10 @@ void MainWindow::loadFingerprints() { QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json"); if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); - auto dbc_names = fingerprint_to_dbc.object().toVariantMap().values(); - std::transform(dbc_names.begin(), dbc_names.end(), std::inserter(opendbc_names, opendbc_names.begin()), - [](const auto &name) { return name.toString(); }); + } + // get opendbc names + for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) { + opendbc_names << QFileInfo(fn).baseName(); } } @@ -88,7 +87,9 @@ void MainWindow::createActions() { QMenu *file_menu = menuBar()->addMenu(tr("&File")); file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream); close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream); + export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV); close_stream_act->setEnabled(false); + export_to_csv_act->setEnabled(false); file_menu->addSeparator(); file_menu->addAction(tr("New DBC File"), [this]() { newFile(); }, QKeySequence::New); @@ -272,6 +273,14 @@ void MainWindow::closeStream() { statusBar()->showMessage(tr("stream closed")); } +void MainWindow::exportToCSV() { + QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName()); + QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)")); + if (!fn.isEmpty()) { + utils::exportToCSV(fn); + } +} + void MainWindow::newFile(SourceSet s) { closeFile(s); dbc()->open(s, "", ""); @@ -328,7 +337,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { QString dbc_str = QGuiApplication::clipboard()->text(); QString error; bool ret = dbc()->open(s, "", dbc_str, &error); - if (ret && dbc()->msgCount() > 0) { + if (ret && dbc()->nonEmptyDBCCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format.")); @@ -346,6 +355,7 @@ void MainWindow::changingStream() { void MainWindow::streamStarted() { bool has_stream = dynamic_cast(can) == nullptr; close_stream_act->setEnabled(has_stream); + export_to_csv_act->setEnabled(has_stream); tools_menu->setEnabled(has_stream); createDockWidgets(); @@ -355,7 +365,7 @@ void MainWindow::streamStarted() { video_splitter->setSizes({1, 1}); } // Don't overwrite already loaded DBC - if (!dbc()->msgCount()) { + if (!dbc()->nonEmptyDBCCount()) { newFile(); } @@ -370,7 +380,7 @@ void MainWindow::eventsMerged() { .arg(can->routeName()) .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); // Don't overwrite already loaded DBC - if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) { + if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) { auto dbc_name = fingerprint_to_dbc[car_fingerprint]; if (dbc_name != QJsonValue::Undefined) { // Prevent dialog that load autosaved file from blocking replay->start(). @@ -528,7 +538,6 @@ void MainWindow::updateRecentFiles(const QString &fn) { void MainWindow::updateRecentFileActions() { int num_recent_files = std::min(settings.recent_files.size(), MAX_RECENT_FILES); - for (int i = 0; i < num_recent_files; ++i) { QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName()); recent_files_acts[i]->setText(text); @@ -542,15 +551,11 @@ void MainWindow::updateRecentFileActions() { } void MainWindow::remindSaveChanges() { - bool discard_changes = false; - while (!UndoStack::instance()->isClean() && !discard_changes) { + while (!UndoStack::instance()->isClean()) { QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard."); - int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel)); - if (ret == QMessageBox::Ok) { - save(); - } else { - discard_changes = true; - } + int ret = QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel); + if (ret != QMessageBox::Ok) break; + save(); } UndoStack::instance()->clear(); } @@ -659,7 +664,7 @@ HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) { void HelpOverlay::paintEvent(QPaintEvent *event) { QPainter painter(this); painter.fillRect(rect(), QColor(0, 0, 0, 50)); - MainWindow *parent = (MainWindow *)parentWidget(); + auto parent = parentWidget(); drawHelpForWidget(painter, parent->findChild()); drawHelpForWidget(painter, parent->findChild()); drawHelpForWidget(painter, parent->findChild()); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 2b1c991271..0b869f153d 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -29,6 +29,7 @@ public: public slots: void openStream(); void closeStream(); + void exportToCSV(); void changingStream(); void streamStarted(); @@ -86,7 +87,7 @@ protected: QProgressBar *progress_bar; QLabel *status_label; QJsonDocument fingerprint_to_dbc; - std::set opendbc_names; + QStringList opendbc_names; QSplitter *video_splitter = nullptr; enum { MAX_RECENT_FILES = 15 }; QAction *recent_files_acts[MAX_RECENT_FILES] = {}; @@ -94,6 +95,7 @@ protected: QMenu *manage_dbcs_menu = nullptr; QMenu *tools_menu = nullptr; QAction *close_stream_act = nullptr; + QAction *export_to_csv_act = nullptr; QAction *save_dbc = nullptr; QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; @@ -101,7 +103,6 @@ protected: int prev_undostack_index = 0; int prev_undostack_count = 0; QByteArray default_state; - friend class OnlineHelp; }; class HelpOverlay : public QWidget { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 7d4938e427..0cec551017 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/messageswidget.h" #include +#include #include #include @@ -52,18 +53,18 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget // signals/slots QObject::connect(menu, &QMenu::aboutToShow, this, &MessagesWidget::menuAboutToShow); - QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings); QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent); QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::dbcModified); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified); QObject::connect(model, &MessageListModel::modelReset, [this]() { if (current_msg_id) { selectMessage(*current_msg_id); } view->updateBytesSectionSize(); + updateTitle(); }); QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid() && current.row() < model->items_.size()) { @@ -103,9 +104,15 @@ QToolBar *MessagesWidget::createToolBar() { return toolbar; } -void MessagesWidget::dbcModified() { - num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount())); - model->dbcModified(); +void MessagesWidget::updateTitle() { + auto stats = std::accumulate( + model->items_.begin(), model->items_.end(), std::pair(), + [](const auto &pair, const auto &item) { + auto m = dbc()->msg(item.id); + return m ? std::make_pair(pair.first + 1, pair.second + m->sigs.size()) : pair; + }); + num_msg_label->setText(tr("%1 Messages (%2 DBC Messages, %3 Signals)") + .arg(model->items_.size()).arg(stats.first).arg(stats.second)); } void MessagesWidget::selectMessage(const MessageId &msg_id) { @@ -144,7 +151,7 @@ void MessagesWidget::menuAboutToShow() { action->setEnabled(logical_index > 0); } menu->addSeparator(); - auto action = menu->addAction(tr("Mutlti-Line bytes"), this, &MessagesWidget::setMultiLineBytes); + auto action = menu->addAction(tr("Multi-Line bytes"), this, &MessagesWidget::setMultiLineBytes); action->setCheckable(true); action->setChecked(settings.multiple_lines_hex); } @@ -398,7 +405,7 @@ void MessageViewHeader::updateFilters() { filters[i] = editors[i]->text(); } } - emit filtersUpdated(filters); + qobject_cast(model())->setFilterStrings(filters); } void MessageViewHeader::updateHeaderPositions() { diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 2452dcf212..4f54941c64 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -80,11 +79,6 @@ public: void updateHeaderPositions(); void updateGeometries() override; QSize sizeHint() const override; - -signals: - void filtersUpdated(const QMap &filters); - -private: void updateFilters(); QMap editors; @@ -100,9 +94,6 @@ public: bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); } void suppressHighlighted(); -public slots: - void dbcModified(); - signals: void msgSelectionChanged(const MessageId &message_id); @@ -111,6 +102,7 @@ protected: void headerContextMenuEvent(const QPoint &pos); void menuAboutToShow(); void setMultiLineBytes(bool multi); + void updateTitle(); MessageView *view; MessageViewHeader *header; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 17de0a1c0a..b63789a026 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -10,7 +10,7 @@ #include #include -#include "tools/cabana/util.h" +#include "tools/cabana/utils/util.h" Settings settings; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index c68259ed8b..8a20086b5c 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -91,7 +91,9 @@ void AbstractStream::updateLastMessages() { { std::lock_guard lk(mutex_); for (const auto &id : new_msgs_) { - last_msgs[id] = messages_[id]; + const auto &can_data = messages_[id]; + current_sec_ = std::max(current_sec_, can_data.ts); + last_msgs[id] = can_data; sources.insert(id.source); } msgs = std::move(new_msgs_); @@ -128,6 +130,7 @@ void AbstractStream::updateLastMsgsTo(double sec) { new_msgs_.clear(); messages_.clear(); + current_sec_ = sec; uint64_t last_ts = (sec + routeStartTime()) * 1e9; for (const auto &[id, ev] : events_) { auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent()); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 16d4040d62..10ffcb184a 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -12,7 +12,7 @@ #include "cereal/messaging/messaging.h" #include "tools/cabana/dbc/dbcmanager.h" -#include "tools/cabana/util.h" +#include "tools/cabana/utils/util.h" struct CanData { void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec, @@ -69,7 +69,7 @@ public: virtual QString carFingerprint() const { return ""; } virtual QDateTime beginDateTime() const { return {}; } virtual double routeStartTime() const { return 0; } - virtual double currentSec() const = 0; + inline double currentSec() const { return current_sec_; } virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } virtual void setSpeed(float speed) {} virtual double getSpeed() { return 1; } @@ -113,6 +113,7 @@ private: void updateLastMsgsTo(double sec); void updateMasks(); + double current_sec_ = 0; MessageEventsMap events_; std::unordered_map last_msgs; std::unique_ptr event_buffer_; @@ -140,7 +141,6 @@ public: DummyStream(QObject *parent) : AbstractStream(parent) {} QString routeName() const override { return tr("No Stream"); } void start() override { emit streamStarted(); } - double currentSec() const override { return 0; } }; class StreamNotifier : public QObject { diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 719ea15c24..7a0f8cd834 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -16,7 +16,6 @@ public: void start() override; inline QDateTime beginDateTime() const { return begin_date_time; } inline double routeStartTime() const override { return begin_event_ts / 1e9; } - inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; } void setSpeed(float speed) override { speed_ = speed; } double getSpeed() override { return speed_; } bool isPaused() const override { return paused_; } diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index e94aefec2b..aff0122b47 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -6,6 +6,8 @@ #include #include +#include "common/timing.h" + ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { unsetenv("ZMQ"); setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1); @@ -46,7 +48,7 @@ void ReplayStream::mergeSegments() { bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, - {}, {}, nullptr, replay_flags, data_dir, this)); + {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 95fb632628..b4e4be4db6 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -25,7 +25,6 @@ public: double totalSeconds() const override { return replay->totalSeconds(); } inline QDateTime beginDateTime() const { return replay->route()->datetime(); } inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } - inline double currentSec() const override { return replay->currentSeconds(); } inline const Route *route() const { return replay->route(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline float getSpeed() const { return replay->getSpeed(); } diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index f6884a2dc9..bf7550be0b 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -1,9 +1,9 @@ #undef INFO +#include + #include "catch2/catch.hpp" -#include "tools/replay/logreader.h" #include "tools/cabana/dbc/dbcmanager.h" -#include "tools/cabana/streams/abstractstream.h" const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; @@ -12,7 +12,7 @@ TEST_CASE("DBCFile::generateDBC") { DBCFile dbc_origin(fn); DBCFile dbc_from_generated("", dbc_origin.generateDBC()); - REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); + REQUIRE(dbc_origin.getMessages().size() == dbc_from_generated.getMessages().size()); auto &msgs = dbc_origin.getMessages(); auto &new_msgs = dbc_from_generated.getMessages(); for (auto &[id, m] : msgs) { @@ -85,3 +85,17 @@ CM_ SG_ 160 signal_2 "multiple line comment REQUIRE(msg->sigs[1]->size == 1); REQUIRE(msg->sigs[1]->receiver_name == "XXX"); } + +TEST_CASE("parse_opendbc") { + QDir dir(OPENDBC_FILE_PATH); + QStringList errors; + for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) { + try { + auto dbc = DBCFile(dir.filePath(fn)); + } catch (std::exception &e) { + errors.push_back(e.what()); + } + } + INFO(errors.join("\n").toStdString()); + REQUIRE(errors.empty()); +} diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index 5155ad91d2..387a912787 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -214,7 +214,9 @@ void FindSignalDlg::setInitialSignals() { sig.factor = factor_edit->text().toDouble(); sig.offset = offset_edit->text().toDouble(); - auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble()); + double first_time_val = first_time_edit->text().toDouble(); + double last_time_val = last_time_edit->text().toDouble(); + auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val); uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9; model->last_time = std::numeric_limits::max(); if (last_sec > 0) { diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc new file mode 100644 index 0000000000..10f69ad548 --- /dev/null +++ b/tools/cabana/utils/export.cc @@ -0,0 +1,47 @@ +#include "tools/cabana/utils/export.h" + +#include +#include + +#include "tools/cabana/streams/abstractstream.h" + +namespace utils { + +void exportToCSV(const QString &file_name, std::optional msg_id) { + QFile file(file_name); + if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) { + const uint64_t start_time = can->routeStartTime(); + QTextStream stream(&file); + stream << "time,addr,bus,data\n"; + for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) { + stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << "," + << "0x" << QString::number(e->address, 16) << "," << e->src << "," + << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n"; + } + } +} + +void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) { + QFile file(file_name); + if (auto msg = dbc()->msg(msg_id); msg && msg->sigs.size() && file.open(QIODevice::ReadWrite | QIODevice::Truncate)) { + QTextStream stream(&file); + stream << "time,addr,bus"; + for (auto s : msg->sigs) + stream << "," << s->name; + stream << "\n"; + + const uint64_t start_time = can->routeStartTime(); + for (auto e : can->events(msg_id)) { + stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << "," + << "0x" << QString::number(e->address, 16) << "," << e->src; + for (auto s : msg->sigs) { + double value = 0; + s->getValue(e->dat, e->size, &value); + stream << "," << QString::number(value, 'f', s->precision); + } + stream << "\n"; + } + } +} + +} // namespace utils diff --git a/tools/cabana/utils/export.h b/tools/cabana/utils/export.h new file mode 100644 index 0000000000..270906b163 --- /dev/null +++ b/tools/cabana/utils/export.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +#include "tools/cabana/dbc/dbcmanager.h" + +namespace utils { +void exportToCSV(const QString &file_name, std::optional msg_id = std::nullopt); +void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id); +} // namespace utils diff --git a/tools/cabana/util.cc b/tools/cabana/utils/util.cc similarity index 99% rename from tools/cabana/util.cc rename to tools/cabana/utils/util.cc index f984230c47..c89e39993b 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/utils/util.cc @@ -1,4 +1,4 @@ -#include "tools/cabana/util.h" +#include "tools/cabana/utils/util.h" #include #include @@ -12,7 +12,6 @@ #include #include #include -#include #include #include "selfdrive/ui/qt/util.h" diff --git a/tools/cabana/util.h b/tools/cabana/utils/util.h similarity index 100% rename from tools/cabana/util.h rename to tools/cabana/utils/util.h diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 1ecdc8da1c..a6fd0b2b64 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -14,7 +14,6 @@ #include #include "tools/cabana/streams/replaystream.h" -#include "tools/cabana/util.h" const int MIN_VIDEO_HEIGHT = 100; const int THUMBNAIL_MARGIN = 3; @@ -290,12 +289,23 @@ void Slider::paintEvent(QPaintEvent *ev) { double min = minimum() / factor; double max = maximum() / factor; - for (auto [begin, end, type] : qobject_cast(can)->getReplay()->getTimeline()) { - if (begin > max || end < min) - continue; + auto fillRange = [&](double begin, double end, const QColor &color) { + if (begin > max || end < min) return; r.setLeft(((std::max(min, begin) - min) / (max - min)) * width()); r.setRight(((std::min(max, end) - min) / (max - min)) * width()); - p.fillRect(r, timeline_colors[(int)type]); + p.fillRect(r, color); + }; + + const auto replay = qobject_cast(can)->getReplay(); + for (auto [begin, end, type] : replay->getTimeline()) { + fillRange(begin, end, timeline_colors[(int)type]); + } + + QColor empty_color = palette().color(QPalette::Window); + empty_color.setAlpha(160); + for (const auto &[n, seg] : replay->segments()) { + if (!(seg && seg->isLoaded())) + fillRange(n * 60.0, (n + 1) * 60.0, empty_color); } QStyleOptionSlider opt; diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index e163241fb1..b2039e09a4 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -8,10 +8,9 @@ #include #include #include -#include #include "selfdrive/ui/qt/widgets/cameraview.h" -#include "tools/cabana/util.h" +#include "tools/cabana/utils/util.h" #include "tools/replay/logreader.h" struct AlertInfo { diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index c6e05a0af8..ac7ca2520b 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -19,11 +19,7 @@ ENCODE_SOCKETS = { VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData", } -def decoder(addr, vst, nvidia, debug=False): - vipc_server = VisionIpcServer("camerad") - vipc_server.create_buffers(vst, 4, False, W, H) - vipc_server.start_listener() - +def decoder(addr, vipc_server, vst, nvidia, debug=False): sock_name = ENCODE_SOCKETS[vst] if debug: print("start decoder for %s" % sock_name) @@ -105,9 +101,14 @@ def decoder(addr, vst, nvidia, debug=False): class CompressedVipc: def __init__(self, addr, vision_streams, nvidia=False, debug=False): + self.vipc_server = VisionIpcServer("camerad") + for vst in vision_streams: + self.vipc_server.create_buffers(vst, 4, False, W, H) + self.vipc_server.start_listener() + self.procs = [] for vst in vision_streams: - p = multiprocessing.Process(target=decoder, args=(addr, vst, nvidia, debug)) + p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug)) p.start() self.procs.append(p) diff --git a/tools/camerastream/receive.py b/tools/camerastream/receive.py deleted file mode 100755 index bf6929c039..0000000000 --- a/tools/camerastream/receive.py +++ /dev/null @@ -1,44 +0,0 @@ -#!/usr/bin/env python -import os -import sys -import numpy as np -os.environ['ZMQ'] = '1' - -from openpilot.common.window import Window -import cereal.messaging as messaging - -# start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad' -# also start bridge -# then run this "./receive.py " - -if "FULL" in os.environ: - SCALE = 2 - XMIN, XMAX = 0, 1927 - YMIN, YMAX = 0, 1207 -else: - SCALE = 1 - XMIN = 771 - XMAX = 1156 - YMIN = 483 - YMAX = 724 -H, W = ((YMAX-YMIN+1)//SCALE, (XMAX-XMIN+1)//SCALE) - -if __name__ == '__main__': - cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState'] - if "CAM" in os.environ: - cam = int(os.environ['CAM']) - cameras = cameras[cam:cam+1] - sm = messaging.SubMaster(cameras, addr=sys.argv[1]) - win = Window(W*len(cameras), H) - bdat = np.zeros((H, W*len(cameras), 3), dtype=np.uint8) - - while 1: - sm.update() - for i,k in enumerate(cameras): - if sm.updated[k]: - #print("update", k) - bgr_raw = sm[k].image - dat = np.frombuffer(bgr_raw, dtype=np.uint8).reshape(H, W, 3)[:, :, [2,1,0]] - bdat[:, W*i:W*(i+1)] = dat - win.draw(bdat) - diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md new file mode 100644 index 0000000000..8db17b0976 --- /dev/null +++ b/tools/car_porting/README.md @@ -0,0 +1,96 @@ +# tools/car_porting + +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. + +## Useful car porting utilities + +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. + +### [Cabana](/tools/cabana/README.md) + +View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. + +Example: +```bash +> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' +``` + +### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py) + +Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py + +Example: +```bash +> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' +Attempting to add fw version for: SUBARU OUTBACK 6TH GEN +``` + +### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) + +Finds common bugs for car interfaces, without even requiring a route. + + +#### Example: Typo in signal name +```bash +> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on + +===================================================================== +FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' + +``` + +### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py) + +Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches. + +#### Example: panda safety mismatch for gasPressed +```bash +> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' + +===================================================================== +FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) +Assert that panda safety matches openpilot's carState +---------------------------------------------------------------------- +Traceback (most recent call last): + File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate + self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") +AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} +``` + +### [tools/car_porting/examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb) + +An example of searching through a database of segments for a specific condition, and plotting the results. + +![steer warning example](https://github.com/commaai/openpilot/assets/9648890/d60ad120-4b44-4974-ac79-adc660fb8fe2) + +*a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change* + +### [tools/car_porting/examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb) + +An example of plotting the response of an actuator when it is active. + +![brake pressure example](https://github.com/commaai/openpilot/assets/9648890/8f32cf1d-8fc0-4407-b540-70625ebbf082) + +*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.* + +### [tools/car_porting/examples/ford_vin_fingerprint.ipynb](/tools/car_porting/examples/ford_vin_fingerprint.ipynb) + +In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford. + +``` +vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False +vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False +vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True +vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False +vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False +vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False +vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True +vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False +vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False +vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False +``` \ No newline at end of file diff --git a/selfdrive/debug/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py similarity index 51% rename from selfdrive/debug/auto_fingerprint.py rename to tools/car_porting/auto_fingerprint.py index 78b109b0bd..7dae9ce048 100755 --- a/selfdrive/debug/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 import argparse -from openpilot.common.basedir import BASEDIR +from collections import defaultdict +from typing import Optional +from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.selfdrive.car.fw_versions import match_fw_to_car from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.tools.lib.logreader import LogReader, ReadMode ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS") @@ -16,31 +17,6 @@ PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[b BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS} PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], [])) -def add_fw_versions(brand, platform, new_fw_versions): - filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py" - with open(filename, "r") as f: - values_py = f.read() - - for key in new_fw_versions.keys(): - ecu, addr, subAddr = key - fw_version = new_fw_versions[key] - - platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{") - - start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start) - - try: - end_str = "],\n" - end = values_py.index(end_str, start) - except ValueError: - end_str = "]\n" - end = values_py.index(end_str, start) - - values_py = values_py[:end] + f" {fw_version},\n " + values_py[end:] - - with open(filename, "w") as f: - f.write(values_py) - if __name__ == "__main__": parser = argparse.ArgumentParser(description="Auto fingerprint from a route") @@ -48,23 +24,23 @@ if __name__ == "__main__": parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?') args = parser.parse_args() - route = Route(args.route) - lr = MultiLogIterator(route.qlog_paths()) + lr = LogReader(args.route, ReadMode.QLOG) carFw = None carVin = None carPlatform = None - for msg in lr: - if msg.which() == "carParams": - carFw = msg.carParams.carFw - carVin = msg.carParams.carVin - carPlatform = msg.carParams.carFingerprint - break + platform: Optional[str] = None - if carFw is None: + CP = lr.first("carParams") + + if CP is None: raise Exception("No fw versions in the provided route...") + carFw = CP.carFw + carVin = CP.carVin + carPlatform = CP.carFingerprint + if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints _, possible_platforms = match_fw_to_car(carFw, log=False) @@ -75,31 +51,26 @@ if __name__ == "__main__": print("Using platform from route") platform = carPlatform else: - raise Exception("unable to determine platform, try manually specifying the fingerprint.") + platform = None else: platform = list(possible_platforms)[0] - else: platform = args.platform + if platform is None: + raise Exception("unable to determine platform, try manually specifying the fingerprint.") + print("Attempting to add fw version for: ", platform) + fw_versions: dict[str, dict[tuple, list[bytes]]] = defaultdict(lambda: defaultdict(list)) brand = PLATFORM_TO_BRAND[platform] - new_fw_versions = {} - for fw in carFw: - if fw.brand == brand: + if fw.brand == brand and not fw.logging: addr = fw.address subAddr = None if fw.subAddress == 0 else fw.subAddress key = (fw.ecu.raw, addr, subAddr) - if key in ALL_FW_VERSIONS[brand][platform]: - fw_versions = set(ALL_FW_VERSIONS[brand][platform][key]) - if fw.fwVersion not in fw_versions: - new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion + fw_versions[platform][key].append(fw.fwVersion) - if not new_fw_versions: - print("No new fw versions found...") - - add_fw_versions(brand, platform, new_fw_versions) \ No newline at end of file + format_brand_fw_versions(brand, fw_versions) diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb new file mode 100644 index 0000000000..b020b1100b --- /dev/null +++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb @@ -0,0 +1,145 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n" + ] + } + ], + "source": [ + "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n", + "\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", + "from openpilot.selfdrive.car.ford.values import CAR\n", + "\n", + "database = get_comma_car_segments_database()\n", + "\n", + "platforms = [c.value for c in CAR]" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "# Adapted from https://github.com/commaai/openpilot/issues/31052#issuecomment-1902690083\n", + "\n", + "MODEL_YEAR_CODES = {'M': 2021, 'N': 2022, 'P': 2023, 'R': 2024, 'S': 2025}\n", + "\n", + "\n", + "F150_CODES = ['F1C', 'F1E', 'W1C', 'W1E', 'X1C', 'X1E', 'W1R', 'W1P', 'W1S', 'W1T']\n", + "LIGHTNING_CODES = ['L', 'V']\n", + "MACHE_CODES = ['K1R', 'K1S', 'K2S', 'K3R', 'K3S', 'K4S']\n", + "\n", + "FORD_VIN_START = ['1FT', '3FM', '5LM']\n", + "\n", + "def ford_vin_fingerprint(vin): # Check if it's a Ford vehicle and determine the model\n", + " vin_positions_567 = vin[4:7]\n", + "\n", + " if vin.startswith('1FT'):\n", + " if vin_positions_567 in F150_CODES:\n", + " if vin[7] in LIGHTNING_CODES:\n", + " return f\"FORD F-150 LIGHTNING 1ST GEN\"\n", + " else:\n", + " return f\"FORD F-150 14TH GEN\"\n", + " elif vin.startswith('3FM'):\n", + " if vin_positions_567 in MACHE_CODES:\n", + " return f\"FORD MUSTANG MACH-E 1ST GEN\"\n", + " elif vin.startswith('5LM'):\n", + " pass\n", + "\n", + " return \"mock\"" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Skipping platform: FORD F-150 14TH GEN, no data available\n" + ] + } + ], + "source": [ + "VINS_TO_CHECK = set()\n", + "\n", + "for platform in platforms:\n", + " if platform not in database:\n", + " print(f\"Skipping platform: {platform}, no data available\")\n", + " continue\n", + "\n", + " for segment in database[platform]:\n", + " lr = LogReader(segment)\n", + " CP = lr.first(\"carParams\")\n", + " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n", + "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n", + "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n", + "vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", + "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n" + ] + } + ], + "source": [ + "for vin, real_fingerprint in VINS_TO_CHECK:\n", + " determined_fingerprint = ford_vin_fingerprint(vin)\n", + " print(f\"vin: {vin} real platform: {real_fingerprint: <30} determined platform: {determined_fingerprint: <30} correct: {real_fingerprint == determined_fingerprint}\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb new file mode 100644 index 0000000000..fbd88a769e --- /dev/null +++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb @@ -0,0 +1,259 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 148, + "metadata": {}, + "outputs": [], + "source": [ + "from cereal import car\n", + "from openpilot.selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS\n", + "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n", + "\n", + "TEST_PLATFORMS = set(c.value for c in CAR) - PREGLOBAL_CARS # preglobal cars seem to have a different format for fingerprints, ignore for now\n", + "\n", + "Ecu = car.CarParams.Ecu\n", + "\n", + "FW_BY_ECU = {platform: {ecu: versions for (ecu, addr, sub_addr), versions in fw_versions.items()} for platform, fw_versions in FW_VERSIONS.items()}" + ] + }, + { + "cell_type": "code", + "execution_count": 149, + "metadata": {}, + "outputs": [], + "source": [ + "from openpilot.selfdrive.car.subaru.values import CAR_INFO\n", + "\n", + "def get_carinfo(model: CAR):\n", + " c = CAR_INFO[model]\n", + " if isinstance(c, list):\n", + " c = c[0]\n", + " return c" + ] + }, + { + "cell_type": "code", + "execution_count": 150, + "metadata": {}, + "outputs": [], + "source": [ + "PLATFORM_CODES = {\n", + " Ecu.abs: {\n", + " 0: {\n", + " b'\\xa5': [CAR.ASCENT, CAR.ASCENT_2023],\n", + " b'\\xa2': [CAR.IMPREZA, CAR.IMPREZA_2020, CAR.CROSSTREK_HYBRID],\n", + " b'\\xa1': [CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023],\n", + " b'\\xa3': [CAR.FORESTER, CAR.FORESTER_HYBRID, CAR.FORESTER_2022],\n", + " b'z': [CAR.IMPREZA],\n", + " }\n", + " }\n", + "}\n", + "\n", + "YEAR_CODES = {\n", + " Ecu.abs: {\n", + " 2: {\n", + " b'\\x18': 2018,\n", + " b'\\x19': 2019,\n", + " b'\\x20': 2020,\n", + " b'\\x21': 2021,\n", + " b'\\x22': 2022,\n", + " b'\\x23': 2023,\n", + " }\n", + " }\n", + "}" + ] + }, + { + "cell_type": "code", + "execution_count": 151, + "metadata": {}, + "outputs": [], + "source": [ + "def get_codes(platforms, codes):\n", + " results = []\n", + " for platform in platforms:\n", + " for ecu in codes:\n", + " for i in codes[ecu]:\n", + " if isinstance(i, tuple):\n", + " j = slice(i[0], i[1])\n", + " else:\n", + " j = slice(i, i+1)\n", + " for version in FW_BY_ECU[platform][ecu]:\n", + " code = version[j]\n", + " if code not in codes[ecu][i]:\n", + " print(f\"{platform} {code.hex()} not in {codes[ecu][i].keys()}\")\n", + " else:\n", + " results.append((platform, codes[ecu][i][code]))\n", + " return results" + ] + }, + { + "cell_type": "code", + "execution_count": 152, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2021 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2018 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", + "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023]\n", + "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023]\n", + "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023]\n", + "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023]\n", + "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2019 years=[2020]\n", + "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2021 years=[2020]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU ASCENT 2023 year=2023 years=[2023]\n", + "correct_year=False platform=SUBARU FORESTER HYBRID 2020 year=2019 years=[2020]\n" + ] + } + ], + "source": [ + "def test_year_code(platform, year):\n", + " years = [int(y) for y in get_carinfo(platform).year_list]\n", + " correct_year = year in years\n", + " print(f\"{correct_year=!s: <6} {platform=: <32} {year=: <5} {years=}\")\n", + "\n", + "codes = get_codes(TEST_PLATFORMS, YEAR_CODES)\n", + "for platform, year in codes:\n", + " test_year_code(platform, year)" + ] + }, + { + "cell_type": "code", + "execution_count": 153, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU ASCENT 2023 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU FORESTER HYBRID 2020 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n" + ] + } + ], + "source": [ + "def test_platform_code(platform, platforms):\n", + " platforms = [str(p) for p in platforms]\n", + " in_possible_platforms = platform in platforms\n", + " print(f\"{in_possible_platforms=!s: <6} {platform=: <32} {platforms=}\")\n", + "\n", + "codes = get_codes(TEST_PLATFORMS, PLATFORM_CODES)\n", + "for platform, possible_platforms in codes:\n", + " test_platform_code(platform, possible_platforms)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb new file mode 100644 index 0000000000..24470b44d2 --- /dev/null +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -0,0 +1,120 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "segments = [\n", + " \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n", + "]\n", + "platform = \"SUBARU OUTBACK 6TH GEN\"\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import copy\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "\n", + "from openpilot.selfdrive.car.subaru.values import DBC\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "\n", + "\"\"\"\n", + "In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n", + "\"\"\"\n", + "\n", + "for segment in segments:\n", + " lr = LogReader(segment)\n", + "\n", + " messages = [\n", + " (\"ES_Distance\", 20),\n", + " (\"ES_Brake\", 20),\n", + " (\"ES_Status\", 20),\n", + " ]\n", + "\n", + " cp = CANParser(DBC[platform][\"pt\"], messages, 1)\n", + "\n", + " es_distance_history = []\n", + " es_status_history = []\n", + " es_brake_history = []\n", + " acceleration_history = []\n", + "\n", + " last_acc = 0\n", + "\n", + " for msg in lr:\n", + " if msg.which() == \"can\":\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", + " es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n", + " es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n", + " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", + "\n", + " acceleration_history.append(last_acc)\n", + " \n", + " if msg.which() == \"carState\":\n", + " last_acc = msg.carState.aEgo" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def process(history, func):\n", + " return np.array([func(h) for h in history])\n", + "\n", + "cruise_activated = process(es_status_history, lambda es_status: es_status[\"Cruise_Activated\"])\n", + "cruise_throttle = process(es_distance_history, lambda es_distance: es_distance[\"Cruise_Throttle\"])\n", + "cruise_rpm = process(es_status_history, lambda es_status: es_status[\"Cruise_RPM\"])\n", + "cruise_brake = process(es_brake_history, lambda es_brake: es_brake[\"Brake_Pressure\"])\n", + "acceleration = process(acceleration_history, lambda acc: acc)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import matplotlib.pyplot as plt\n", + "\n", + "valid_brake = (cruise_activated==1) & (cruise_brake>0) # only when cruise is activated and eyesight is braking\n", + "\n", + "ax = plt.figure().add_subplot()\n", + "\n", + "ax.set_title(\"Brake_Pressure vs Acceleration\")\n", + "ax.set_xlabel(\"Brake_Pessure\")\n", + "ax.set_ylabel(\"Acceleration\")\n", + "ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb new file mode 100644 index 0000000000..46d8dc413e --- /dev/null +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -0,0 +1,110 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# An example of searching through a database of segments for a specific condition, and plotting the results.\n", + "\n", + "segments = [\n", + " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n", + "]\n", + "platform = \"SUBARU OUTBACK 6TH GEN\"" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import copy\n", + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "\n", + "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "\n", + "\"\"\"\n", + "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n", + "has stopped responding to our messages. This analysis would allow you to find the cause of these\n", + "steer warnings and potentially work around them.\n", + "\"\"\"\n", + "\n", + "for segment in segments:\n", + " lr = LogReader(segment)\n", + "\n", + " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", + "\n", + " messages = [\n", + " (\"Steering_Torque\", 50)\n", + " ]\n", + "\n", + " cp = CANParser(DBC[platform][\"pt\"], messages, CanBus.main)\n", + "\n", + " steering_torque_history = []\n", + " examples = []\n", + "\n", + " for msg in can_msgs:\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", + " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", + " \n", + " steer_warning_last = False\n", + " for i, steering_torque_msg in enumerate(steering_torque_history):\n", + " steer_warning = steering_torque_msg[\"Steer_Warning\"]\n", + "\n", + " steer_angle = steering_torque_msg[\"Steering_Angle\"]\n", + "\n", + " if steer_warning and not steer_warning_last: # positive transition of \"Steer_Warning\"\n", + " examples.append(i)\n", + "\n", + " steer_warning_last = steer_warning\n", + "\n", + " FRAME_DELTA = 100 # plot this many frames around the positive transition\n", + "\n", + " for example in examples:\n", + " fig, axs = plt.subplots(2)\n", + "\n", + " min_frame = int(example-FRAME_DELTA/2)\n", + " max_frame = int(example+FRAME_DELTA/2)\n", + "\n", + " steering_angle_history = [msg[\"Steering_Angle\"] for msg in steering_torque_history[min_frame:max_frame]]\n", + " steering_warning_history = [msg[\"Steer_Warning\"] for msg in steering_torque_history[min_frame:max_frame]]\n", + "\n", + " xs = np.arange(-FRAME_DELTA/2, FRAME_DELTA/2)\n", + "\n", + " axs[0].plot(xs, steering_angle_history)\n", + " axs[0].set_ylabel(\"Steering Angle (deg)\")\n", + " axs[1].plot(xs, steering_warning_history)\n", + " axs[1].set_ylabel(\"Steer Warning\")\n", + "\n", + " plt.show()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/selfdrive/debug/test_car_model.py b/tools/car_porting/test_car_model.py similarity index 100% rename from selfdrive/debug/test_car_model.py rename to tools/car_porting/test_car_model.py diff --git a/tools/gpstest/.gitignore b/tools/gpstest/.gitignore deleted file mode 100644 index 992088ef34..0000000000 --- a/tools/gpstest/.gitignore +++ /dev/null @@ -1,4 +0,0 @@ -LimeGPS/ -LimeSuite/ -hackrf/ -gps-sdr-sim/ diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md deleted file mode 100644 index 01f44df0ce..0000000000 --- a/tools/gpstest/README.md +++ /dev/null @@ -1,33 +0,0 @@ -# GPS test setup -Testing the GPS receiver using GPS spoofing. At the moment only -static location relpay is supported. - -# Usage -on C3 run `rpc_server.py`, on host PC run `fuzzy_testing.py` - -`simulate_gps_signal.py` downloads the latest ephemeris file from -https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/. - - -# Hardware Setup -* [LimeSDR USB](https://wiki.myriadrf.org/LimeSDR-USB) -* Asus AX58BT antenna - -# Software Setup -* https://github.com/myriadrf/LimeSuite -To communicate with LimeSDR the LimeSuite is needed it abstracts the direct -communication. It also contains examples for a quick start. - -The latest stable version (22.09) does not have the corresponding firmware -download available at https://downloads.myriadrf.org/project/limesuite. Therefore -version 20.10 was chosen. - -* https://github.com/osqzss/LimeGPS -Built on top of LimeSuite (libLimeSuite.so.20.10-1), generates the GPS signal. - -``` -./LimeGPS -e -l - -# Example -./LimeGPS -e /pathTo/brdc2660.22n -l 47.202028,15.740394,100 -``` diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py deleted file mode 100755 index 532fd2d34c..0000000000 --- a/tools/gpstest/fuzzy_testing.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import multiprocessing -import rpyc -from collections import defaultdict - -from helper import download_rinex, exec_LimeGPS_bin -from helper import get_random_coords, get_continuous_coords - -#------------------------------------------------------------------------------ -# this script is supposed to run on HOST PC -# limeSDR is unreliable via c3 USB -#------------------------------------------------------------------------------ - - -def run_lime_gps(rinex_file: str, location: str, timeout: int): - # needs to run longer than the checker - timeout += 10 - print(f"LimeGPS {location} {timeout}") - p = multiprocessing.Process(target=exec_LimeGPS_bin, - args=(rinex_file, location, timeout)) - p.start() - return p - -con = None -def run_remote_checker(lat, lon, alt, duration, ip_addr): - global con - try: - con = rpyc.connect(ip_addr, 18861) - con._config['sync_request_timeout'] = duration+20 - except ConnectionRefusedError: - print("could not run remote checker is 'rpc_server.py' running???") - return False, None, None - - matched, log, info = con.root.exposed_run_checker(lat, lon, alt, - timeout=duration) - con.close() # TODO: might wanna fetch more logs here - con = None - - print(f"Remote Checker: {log} {info}") - return matched, log, info - - -stats = defaultdict(int) # type: ignore -keys = ['success', 'failed', 'ublox_fail', 'proc_crash', 'checker_crash'] - -def print_report(): - print("\nFuzzy testing report summary:") - for k in keys: - print(f" {k}: {stats[k]}") - - -def update_stats(matched, log, info): - if matched: - stats['success'] += 1 - return - - stats['failed'] += 1 - if log == "PROC CRASH": - stats['proc_crash'] += 1 - if log == "CHECKER CRASHED": - stats['checker_crash'] += 1 - if log == "TIMEOUT": - stats['ublox_fail'] += 1 - - -def main(ip_addr, continuous_mode, timeout, pos): - rinex_file = download_rinex() - - lat, lon, alt = pos - if lat == 0 and lon == 0 and alt == 0: - lat, lon, alt = get_random_coords(47.2020, 15.7403) - - try: - while True: - # spoof random location - spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},{alt}", timeout) - - # remote checker execs blocking - matched, log, info = run_remote_checker(lat, lon, alt, timeout, ip_addr) - update_stats(matched, log, info) - spoof_proc.terminate() - spoof_proc = None - - if continuous_mode: - lat, lon, alt = get_continuous_coords(lat, lon, alt) - else: - lat, lon, alt = get_random_coords(lat, lon) - except KeyboardInterrupt: - if spoof_proc is not None: - spoof_proc.terminate() - - if con is not None and not con.closed: - con.root.exposed_kill_procs() - con.close() - - print_report() - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Fuzzy test GPS stack with random locations.") - parser.add_argument("ip_addr", type=str) - parser.add_argument("-c", "--contin", type=bool, nargs='?', default=False, help='Continous location change') - parser.add_argument("-t", "--timeout", type=int, nargs='?', default=180, help='Timeout to get location') - - # for replaying a location - parser.add_argument("lat", type=float, nargs='?', default=0) - parser.add_argument("lon", type=float, nargs='?', default=0) - parser.add_argument("alt", type=float, nargs='?', default=0) - args = parser.parse_args() - main(args.ip_addr, args.contin, args.timeout, (args.lat, args.lon, args.alt)) diff --git a/tools/gpstest/helper.py b/tools/gpstest/helper.py deleted file mode 100644 index 4f62e60db0..0000000000 --- a/tools/gpstest/helper.py +++ /dev/null @@ -1,53 +0,0 @@ -import random -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, '/tmp/gpstest/', ConstellationId.GPS) - - -def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int): - # this functions should never return, cause return means, timeout is - # reached or it crashed - try: - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location] - sp.check_output(cmd, timeout=duration) - except sp.TimeoutExpired: - print("LimeGPS timeout reached!") - except Exception as e: - print(f"LimeGPS crashed: {str(e)}") - - -def get_random_coords(lat, lon) -> Tuple[float, float, int]: - # jump around the world - # max values, lat: -90 to 90, lon: -180 to 180 - - lat_add = random.random()*20 + 10 - lon_add = random.random()*20 + 20 - alt = random.randint(-10**3, 4*10**3) - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5), alt - - -def get_continuous_coords(lat, lon, alt) -> Tuple[float, float, int]: - # continuously move around the world - lat_add = random.random()*0.01 - lon_add = random.random()*0.01 - alt_add = random.randint(-100, 100) - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - alt += alt_add - return round(lat, 5), round(lon, 5), alt diff --git a/tools/gpstest/patches/hackrf.patch b/tools/gpstest/patches/hackrf.patch deleted file mode 100644 index afc9ac437b..0000000000 --- a/tools/gpstest/patches/hackrf.patch +++ /dev/null @@ -1,44 +0,0 @@ -diff --git a/host/hackrf-tools/src/CMakeLists.txt b/host/hackrf-tools/src/CMakeLists.txt -index 7115151c..a51388ba 100644 ---- a/host/hackrf-tools/src/CMakeLists.txt -+++ b/host/hackrf-tools/src/CMakeLists.txt -@@ -23,20 +23,20 @@ - - set(INSTALL_DEFAULT_BINDIR "bin" CACHE STRING "Appended to CMAKE_INSTALL_PREFIX") - --find_package(FFTW REQUIRED) --include_directories(${FFTW_INCLUDES}) --get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY) --link_directories(${FFTW_LIBRARY_DIRS}) -+#find_package(FFTW REQUIRED) -+#include_directories(${FFTW_INCLUDES}) -+#get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY) -+#link_directories(${FFTW_LIBRARY_DIRS}) - - SET(TOOLS - hackrf_transfer -- hackrf_spiflash -- hackrf_cpldjtag -+ #hackrf_spiflash -+ #hackrf_cpldjtag - hackrf_info -- hackrf_debug -- hackrf_clock -- hackrf_sweep -- hackrf_operacake -+ #hackrf_debug -+ #hackrf_clock -+ #hackrf_sweep -+ #hackrf_operacake - ) - - if(MSVC) -@@ -45,7 +45,7 @@ if(MSVC) - ) - LIST(APPEND TOOLS_LINK_LIBS ${FFTW_LIBRARIES}) - else() -- LIST(APPEND TOOLS_LINK_LIBS m fftw3f) -+ LIST(APPEND TOOLS_LINK_LIBS m)# fftw3f) - endif() - - if(NOT libhackrf_SOURCE_DIR) diff --git a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch b/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch deleted file mode 100644 index 9a3525d346..0000000000 --- a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/gpssim.h b/gpssim.h -index c30b227..2ae0802 100644 ---- a/gpssim.h -+++ b/gpssim.h -@@ -75,7 +75,7 @@ - #define SC08 (8) - #define SC16 (16) - --#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc) -+#define EPHEM_ARRAY_SIZE (20) // for daily GPS broadcast ephemers file (brdc) - - /*! \brief Structure representing GPS time */ - typedef struct diff --git a/tools/gpstest/patches/limeGPS/makefile.patch b/tools/gpstest/patches/limeGPS/makefile.patch deleted file mode 100644 index f99ce551db..0000000000 --- a/tools/gpstest/patches/limeGPS/makefile.patch +++ /dev/null @@ -1,11 +0,0 @@ -diff --git a/makefile b/makefile -index 51bfabf..d0ea1eb 100644 ---- a/makefile -+++ b/makefile -@@ -1,5 +1,4 @@ - CC=gcc -O2 -Wall - - all: limegps.c gpssim.c -- $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -- -+ $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -I../LimeSuite/src -L../LimeSuite/builddir/src -Wl,-rpath="$(PWD)/../LimeSuite/builddir/src" diff --git a/tools/gpstest/patches/limeSuite/mcu_error.patch b/tools/gpstest/patches/limeSuite/mcu_error.patch deleted file mode 100644 index 91790a4a2b..0000000000 --- a/tools/gpstest/patches/limeSuite/mcu_error.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp -index 41a37044..ac29c6b6 100644 ---- a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp -+++ b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp -@@ -254,7 +254,7 @@ int LMS7002M::CalibrateTx(float_type bandwidth_Hz, bool useExtLoopback) - mcuControl->RunProcedure(useExtLoopback ? MCU_FUNCTION_CALIBRATE_TX_EXTLOOPB : MCU_FUNCTION_CALIBRATE_TX); - status = mcuControl->WaitForMCU(1000); - if(status != MCU_BD::MCU_NO_ERROR) -- return ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status)); -+ return -1; //ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status)); - } - - //sync registers to cache diff --git a/tools/gpstest/patches/limeSuite/reference_print.patch b/tools/gpstest/patches/limeSuite/reference_print.patch deleted file mode 100644 index 5bd7cdf1ed..0000000000 --- a/tools/gpstest/patches/limeSuite/reference_print.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/FPGA_common/FPGA_common.cpp b/src/FPGA_common/FPGA_common.cpp -index 4e81f33e..7381c475 100644 ---- a/src/FPGA_common/FPGA_common.cpp -+++ b/src/FPGA_common/FPGA_common.cpp -@@ -946,7 +946,7 @@ double FPGA::DetectRefClk(double fx3Clk) - - if (i == 0) - return -1; -- lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6); -+ //lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6); - return clkTbl[i - 1]; - } - diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh deleted file mode 100755 index e0ca017a6d..0000000000 --- a/tools/gpstest/run_unittest.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash - -# NOTE: can only run inside limeGPS test box! - -# run limeGPS with random static location -timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 & -gps_PID=$(ps -aux | grep -m 1 "timeout 300" | awk '{print $2}') - -echo "starting limeGPS..." -sleep 10 - -# run unit tests (skipped when module not present) -python -m unittest test_gps.py -python -m unittest test_gps_qcom.py - -kill $gps_PID diff --git a/tools/gpstest/setup.sh b/tools/gpstest/setup.sh deleted file mode 100755 index ddf41dd260..0000000000 --- a/tools/gpstest/setup.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR - -if [ ! -d LimeSuite ]; then - git clone https://github.com/myriadrf/LimeSuite.git - cd LimeSuite - # checkout latest version which has firmware updates available - git checkout v20.10.0 - git apply ../patches/limeSuite/* - mkdir builddir && cd builddir - cmake -DCMAKE_BUILD_TYPE=Release .. - make -j4 - cd ../.. -fi - -if [ ! -d LimeGPS ]; then - git clone https://github.com/osqzss/LimeGPS.git - cd LimeGPS - git apply ../patches/limeGPS/* - make - cd .. -fi diff --git a/tools/gpstest/setup_hackrf.sh b/tools/gpstest/setup_hackrf.sh deleted file mode 100755 index e504ec9447..0000000000 --- a/tools/gpstest/setup_hackrf.sh +++ /dev/null @@ -1,21 +0,0 @@ -#!/bin/bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR - -if [ ! -d gps-sdr-sim ]; then - git clone https://github.com/osqzss/gps-sdr-sim.git - cd gps-sdr-sim - make - cd .. -fi - -if [ ! -d hackrf ]; then - git clone https://github.com/greatscottgadgets/hackrf.git - cd hackrf/host - git apply ../../patches/hackrf.patch - cmake . - make -fi - diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py deleted file mode 100755 index da0f64eaca..0000000000 --- a/tools/gpstest/simulate_gps_signal.py +++ /dev/null @@ -1,151 +0,0 @@ -#!/usr/bin/env python3 -import os -import random -import argparse -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - -cache_dir = '/tmp/gpstest/' - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow()# - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, cache_dir, ConstellationId.GPS) - -def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]: - lat_add = random.random()*s1 + o1 - lon_add = random.random()*s2 + o2 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - -def get_continuous_coords(lat, lon) -> Tuple[int, int]: - # continuously move around the world - return get_coords(lat, lon, 0.01, 0.01) - -def get_random_coords(lat, lon) -> Tuple[int, int]: - # jump around the world - return get_coords(lat, lon, 20, 20, 10, 20) - -def run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout): - while True: - try: - # TODO: add starttime setting and altitude - # -t 2023/01/15,00:00:00 -T 2023/01/15,00:00:00 - # this needs to match the date of the navigation file - print(f"starting LimeGPS, Location: {lat} {lon} {alt}") - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},{alt}"] - print(f"CMD: {cmd}") - sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) - except KeyboardInterrupt: - print("stopping LimeGPS") - return - except sp.TimeoutExpired: - print("LimeGPS timeout reached!") - except Exception as e: - out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member - if "Device is busy." in out_stderr: - print("GPS simulation is already running, Device is busy!") - return - - print(f"LimeGPS crashed: {str(e)}") - print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member - return - - if contin_sim: - lat, lon = get_continuous_coords(lat, lon) - else: - lat, lon = get_random_coords(lat, lon) - -def run_hackRF_loop(lat, lon, rinex_file, timeout): - - if timeout is not None: - print("no jump mode for hackrf!") - return - - try: - print(f"starting gps-sdr-sim, Location: {lat},{lon}") - # create 30second file and replay with hackrf endless - cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},-200", "-d", "30"] - sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) - # created in current working directory - except Exception: - print("Failed to generate gpssim.bin") - - try: - print("starting hackrf_transfer") - # create 30second file and replay with hackrf endless - cmd = ["hackrf/host/hackrf-tools/src/hackrf_transfer", "-t", "gpssim.bin", - "-f", "1575420000", "-s", "2600000", "-a", "1", "-R"] - sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) - except KeyboardInterrupt: - print("stopping hackrf_transfer") - return - except Exception as e: - print(f"hackrf_transfer crashed:{str(e)}") - - -def main(lat, lon, alt, jump_sim, contin_sim, hackrf_mode): - - if hackrf_mode: - if not os.path.exists('hackrf'): - print("hackrf not found run 'setup_hackrf.sh' first") - return - - if not os.path.exists('gps-sdr-sim'): - print("gps-sdr-sim not found run 'setup_hackrf.sh' first") - return - - output = sp.check_output(["hackrf/host/hackrf-tools/src/hackrf_info"]) - if output.strip() == b"" or b"No HackRF boards found." in output: - print("No HackRF boards found!") - return - - else: - if not os.path.exists('LimeGPS'): - print("LimeGPS not found run 'setup.sh' first") - return - - if not os.path.exists('LimeSuite'): - print("LimeSuite not found run 'setup.sh' first") - return - - output = sp.check_output(["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"]) - if output.strip() == b"": - print("No LimeSDR device found!") - return - print(f"Device: {output.strip().decode('utf-8')}") - - if lat == 0 and lon == 0: - lat, lon = get_random_coords(47.2020, 15.7403) - - rinex_file = download_rinex() - - timeout = None - if jump_sim: - timeout = 30 - - if hackrf_mode: - run_hackRF_loop(lat, lon, rinex_file, timeout) - else: - run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout) - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") - parser.add_argument("lat", type=float, nargs='?', default=0) - parser.add_argument("lon", type=float, nargs='?', default=0) - parser.add_argument("alt", type=float, nargs='?', default=0) - parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") - parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") - parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)") - args = parser.parse_args() - main(args.lat, args.lon, args.alt, args.jump, args.contin, args.hackrf) diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py deleted file mode 100755 index bbd53ebfff..0000000000 --- a/tools/gpstest/test_gps.py +++ /dev/null @@ -1,189 +0,0 @@ -#!/usr/bin/env python3 -import pytest -import time -import unittest -import struct - -from openpilot.common.params import Params -import cereal.messaging as messaging -import openpilot.system.sensord.pigeond as pd -from openpilot.selfdrive.test.helpers import with_processes - - -def read_events(service, duration_sec): - service_sock = messaging.sub_sock(service, timeout=0.1) - start_time_sec = time.monotonic() - events = [] - while time.monotonic() - start_time_sec < duration_sec: - events += messaging.drain_sock(service_sock) - time.sleep(0.1) - - assert len(events) != 0, f"No '{service}'events collected!" - return events - - -def create_backup(pigeon): - # controlled GNSS stop - pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") - - # store almanac in flash - pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") - try: - if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): - raise RuntimeError("Could not store almanac") - except TimeoutError: - pass - - -def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): - start_time = 0 - end_time = 0 - events = messaging.drain_sock(socket) - assert len(events) != 0, "no ublxGnss measurements" - - for event in events: - if event.ubloxGnss.which() != "measurementReport": - continue - - if start_time == 0: - start_time = event.logMonoTime - - if event.ubloxGnss.measurementReport.numMeas != 0: - end_time = event.logMonoTime - break - - assert end_time != 0, "no ublox measurements received!" - - ttfm = (end_time - start_time)/1e9 - assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}" - - # check for satellite count in measurements - sat_count = [] - end_id = events.index(event)# pylint:disable=undefined-loop-variable - for event in events[end_id:]: - if event.ubloxGnss.which() == "measurementReport": - sat_count.append(event.ubloxGnss.measurementReport.numMeas) - - num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat >= 5, f"Not enough satellites {num_sat} (TestBox setup!)" - - -def verify_gps_location(socket: messaging.SubSocket, max_time: int): - events = messaging.drain_sock(socket) - assert len(events) != 0, "no gpsLocationExternal measurements" - - start_time = events[0].logMonoTime - end_time = 0 - for event in events: - gps_valid = event.gpsLocationExternal.flags % 2 - - if gps_valid: - end_time = event.logMonoTime - break - - assert end_time != 0, "GPS location never converged!" - - ttfl = (end_time - start_time)/1e9 - assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}" - - hacc = events[-1].gpsLocationExternal.accuracy - vacc = events[-1].gpsLocationExternal.verticalAccuracy - assert hacc < 20, f"Horizontal accuracy too high, {hacc}" - assert vacc < 45, f"Vertical accuracy too high, {vacc}" - - -def verify_time_to_first_fix(pigeon): - # get time to first fix from nav status message - nav_status = b"" - while True: - pigeon.send(b"\xb5\x62\x01\x03\x00\x00\x04\x0d") - nav_status = pigeon.receive() - if nav_status[:4] == b"\xb5\x62\x01\x03": - break - - values = struct.unpack(" 40s, {ttff}" - - -@pytest.mark.tici -class TestGPS(unittest.TestCase): - @classmethod - def setUpClass(cls): - ublox_available = Params().get_bool("UbloxAvailable") - if not ublox_available: - raise unittest.SkipTest - - - def tearDown(self): - pd.set_power(False) - - @with_processes(['ubloxd']) - def test_a_ublox_reset(self): - - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - assert pigeon.reset_device(), "Could not reset device!" - - pd.initialize_pigeon(pigeon) - - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) - - # receive some messages (restart after cold start takes up to 30seconds) - pd.run_receiving(pigeon, pm, 60) - - # store almanac for next test - create_backup(pigeon) - - verify_ubloxgnss_data(ugs, 60) - verify_gps_location(gle, 60) - - # skip for now, this might hang for a while - #verify_time_to_first_fix(pigeon) - - - @with_processes(['ubloxd']) - def test_b_ublox_almanac(self): - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - - # device cold start - pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") - time.sleep(1) # wait for cold start - pd.init_baudrate(pigeon) - - # clear configuration - pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") - - # restoring almanac backup - pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") - status = pigeon.wait_for_backup_restore_status() - assert status == 2, "Could not restore almanac backup" - - pd.initialize_pigeon(pigeon) - - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) - - pd.run_receiving(pigeon, pm, 15) - verify_ubloxgnss_data(ugs, 15) - verify_gps_location(gle, 20) - - - @with_processes(['ubloxd']) - def test_c_ublox_startup(self): - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - pd.initialize_pigeon(pigeon) - - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) - pd.run_receiving(pigeon, pm, 10) - verify_ubloxgnss_data(ugs, 10) - verify_gps_location(gle, 10) - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py deleted file mode 100755 index 2ea5556684..0000000000 --- a/tools/gpstest/test_gps_qcom.py +++ /dev/null @@ -1,78 +0,0 @@ -#!/usr/bin/env python3 -import pytest -import time -import unittest -import subprocess as sp - -from openpilot.common.params import Params -import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes - - -def exec_mmcli(cmd): - cmd = "mmcli -m 0 " + cmd - p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE) - return p.communicate() - - -def wait_for_location(socket, timeout): - while True: - events = messaging.drain_sock(socket) - for event in events: - if event.gpsLocation.flags % 2: - return False - - timeout -= 1 - if timeout <= 0: - return True - - time.sleep(0.1) - continue - - -@pytest.mark.tici -class TestGPS(unittest.TestCase): - @classmethod - def setUpClass(cls): - ublox_available = Params().get_bool("UbloxAvailable") - if ublox_available: - raise unittest.SkipTest - - def test_a_quectel_cold_start(self): - # delete assistance data to enforce cold start for GNSS - # testing shows that this takes up to 20min - - _, err = exec_mmcli("--command='AT+QGPSDEL=0'") - assert len(err) == 0, f"GPSDEL failed: {err}" - - managed_processes['rawgpsd'].start() - start_time = time.monotonic() - glo = messaging.sub_sock("gpsLocation", timeout=0.1) - - timeout = 10*60*3 # 3 minute - timedout = wait_for_location(glo, timeout) - managed_processes['rawgpsd'].stop() - - assert timedout is False, "Waiting for location timed out (3min)!" - - duration = time.monotonic() - start_time - assert duration < 60, f"Received GPS location {duration}!" - - - def test_b_quectel_startup(self): - managed_processes['rawgpsd'].start() - start_time = time.monotonic() - glo = messaging.sub_sock("gpsLocation", timeout=0.1) - - timeout = 10*60 # 1 minute - timedout = wait_for_location(glo, timeout) - managed_processes['rawgpsd'].stop() - - assert timedout is False, "Waiting for location timed out (3min)!" - - duration = time.monotonic() - start_time - assert duration < 60, f"Received GPS location {duration}!" - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 78a01f2b75..e1bd30aa39 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -77,6 +77,7 @@ function install_ubuntu_common_requirements() { libqt5x11extras5-dev \ libreadline-dev \ libdw1 \ + xvfb \ valgrind } diff --git a/tools/joystick/README.md b/tools/joystick/README.md index 65422afe80..aea93dad53 100644 --- a/tools/joystick/README.md +++ b/tools/joystick/README.md @@ -45,17 +45,6 @@ In order to use a joystick over the network, we need to run joystickd locally fr tools/joystick/joystickd.py ``` -### Web joystick on your mobile device - -A browser-based virtual joystick designed for touch screens. Starts automatically when installed on comma body (non-car robotics platform). -For cars, start the web joystick service manually via SSH before starting the car. - -```shell -tools/joystick/web.py -``` - -After starting the car/body, open the web joystick app at this URL: `http://[comma three IP address]:5000` - --- Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell. diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index 82847e3fa1..176ff25be6 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -47,7 +47,7 @@ class Joystick: else: self.cancel_button = 'BTN_TRIGGER' accel_axis = 'ABS_Y' - steer_axis = 'ABS_RZ' + steer_axis = 'ABS_RX' self.min_axis_value = {accel_axis: 0., steer_axis: 0.} self.max_axis_value = {accel_axis: 255., steer_axis: 255.} self.axes_values = {accel_axis: 0., steer_axis: 0.} @@ -82,9 +82,6 @@ def send_thread(joystick): dat.testJoystick.buttons = [joystick.cancel] joystick_sock.send(dat.to_bytes()) print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items())) - if "WEB" in os.environ: - import requests - requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]), timeout=None) rk.keep_time() def joystick_thread(joystick): @@ -101,7 +98,7 @@ if __name__ == '__main__': parser.add_argument('--gamepad', action='store_true', help='Use gamepad configuration instead of joystick') args = parser.parse_args() - if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ and "WEB" not in os.environ: + if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ: print("The car must be off before running joystickd.") exit() diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md index c40ec1b9ed..a961f83619 100644 --- a/tools/latencylogger/README.md +++ b/tools/latencylogger/README.md @@ -53,9 +53,7 @@ Frame ID: 1202 modelV2.modelExecutionTime 23.62649142742157 modelV2.gpuExecutionTime 0.0 plannerd - lateralPlan published 66.915049 longitudinalPlan published 69.715999 - lateralPlan.solverExecutionTime 0.8170719956979156 longitudinalPlan.solverExecutionTime 0.5619999719783664 controlsd Data sampled 70.217763 diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index f2adc97e01..19c0a86bf4 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,18 +8,16 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd'] -# Retrieve controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime'] MSGQ_TO_SERVICE = { 'roadCameraState': 'camerad', 'wideRoadCameraState': 'camerad', 'modelV2': 'modeld', - 'lateralPlan': 'plannerd', 'longitudinalPlan': 'plannerd', 'sendcan': 'controlsd', 'controlsState': 'controlsd' @@ -236,7 +234,7 @@ if __name__ == "__main__": args = parser.parse_args() r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - lr = logreader_from_route_or_segment(r, sort_by_time=True) + lr = LogReader(r, sort_by_time=True) data, _ = get_timestamps(lr) print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative) diff --git a/tools/lib/README.md b/tools/lib/README.md index daf74aaf40..a0c4a0863b 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -32,20 +32,22 @@ for msg in lr: print(msg.carState.steeringAngleDeg) ``` -### MultiLogIterator +### Segment Ranges -`MultiLogIterator` is similar to `LogReader`, but reads multiple logs. +We also support a new format called a "segment range", where you can specify which segments from a route to load. ```python -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator -# setup a MultiLogIterator to read all the logs in the route -r = Route("a2a0ccea32023010|2023-07-27--13-01-19") -lr = MultiLogIterator(r.log_paths()) - -# print all the steering angles values from all the logs in the route -for msg in lr: - if msg.which() == "carState": - print(msg.carState.steeringAngleDeg) +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4") # 4th segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1") # last segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/:5") # first 5 segments +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/1:") # all except first segment +``` + +and can select which type of logs to grab + +```python +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/q") # get qlogs +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/r") # get rlogs (default) ``` diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index bd76761043..c4e7b6261b 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -1,21 +1,15 @@ import json import os -from openpilot.common.file_helpers import mkdirs_exists_ok -from openpilot.system.hardware import PC +from openpilot.system.hardware.hw import Paths class MissingAuthConfigError(Exception): pass -if PC: - CONFIG_DIR = os.path.expanduser('~/.comma') -else: - CONFIG_DIR = "/tmp/.comma" - def get_token(): try: - with open(os.path.join(CONFIG_DIR, 'auth.json')) as f: + with open(os.path.join(Paths.config_root(), 'auth.json')) as f: auth = json.load(f) return auth['access_token'] except Exception: @@ -23,13 +17,13 @@ def get_token(): def set_token(token): - mkdirs_exists_ok(CONFIG_DIR) - with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f: + os.makedirs(Paths.config_root(), exist_ok=True) + with open(os.path.join(Paths.config_root(), 'auth.json'), 'w') as f: json.dump({'access_token': token}, f) def clear_token(): try: - os.unlink(os.path.join(CONFIG_DIR, 'auth.json')) + os.unlink(os.path.join(Paths.config_root(), 'auth.json')) except FileNotFoundError: pass diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py new file mode 100644 index 0000000000..7d9550266d --- /dev/null +++ b/tools/lib/azure_container.py @@ -0,0 +1,74 @@ +import os +from datetime import datetime, timedelta +from functools import lru_cache +from pathlib import Path +from typing import IO, Union + + +TOKEN_PATH = Path("/data/azure_token") + +@lru_cache +def get_azure_credential(): + if "AZURE_TOKEN" in os.environ: + return os.environ["AZURE_TOKEN"] + elif TOKEN_PATH.is_file(): + return TOKEN_PATH.read_text().strip() + else: + from azure.identity import AzureCliCredential + return AzureCliCredential() + +@lru_cache +def get_container_sas(account_name: str, container_name: str): + from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas + start_time = datetime.utcnow() + expiry_time = start_time + timedelta(hours=1) + blob_service = BlobServiceClient( + account_url=f"https://{account_name}.blob.core.windows.net", + credential=get_azure_credential(), + ) + return generate_container_sas( + account_name, + container_name, + user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), + permission=ContainerSasPermissions(read=True, write=True, list=True), + expiry=expiry_time, + ) + +class AzureContainer: + def __init__(self, account, container): + self.ACCOUNT = account + self.CONTAINER = container + + @property + def ACCOUNT_URL(self) -> str: + return f"https://{self.ACCOUNT}.blob.core.windows.net" + + @property + def BASE_URL(self) -> str: + return f"{self.ACCOUNT_URL}/{self.CONTAINER}/" + + def get_client_and_key(self): + from azure.storage.blob import ContainerClient + client = ContainerClient(self.ACCOUNT_URL, self.CONTAINER, credential=get_azure_credential()) + key = get_container_sas(self.ACCOUNT, self.CONTAINER) + return client, key + + def get_url(self, route_name: str, segment_num, log_type="rlog") -> str: + ext = "hevc" if log_type.endswith('camera') else "bz2" + return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" + + def upload_bytes(self, data: Union[bytes, IO], blob_name: str) -> str: + from azure.storage.blob import BlobClient + blob = BlobClient( + account_url=self.ACCOUNT_URL, + container_name=self.CONTAINER, + blob_name=blob_name, + credential=get_azure_credential(), + overwrite=False, + ) + blob.upload_blob(data) + return self.BASE_URL + blob_name + + def upload_file(self, path: Union[str, os.PathLike], blob_name: str) -> str: + with open(path, "rb") as f: + return self.upload_bytes(f, blob_name) diff --git a/tools/lib/cache.py b/tools/lib/cache.py index fd214f6bb5..d5fa288baa 100644 --- a/tools/lib/cache.py +++ b/tools/lib/cache.py @@ -1,12 +1,11 @@ import os import urllib.parse -from openpilot.common.file_helpers import mkdirs_exists_ok DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache")) def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR): dir_ = os.path.join(cache_dir, "local") - mkdirs_exists_ok(dir_) + os.makedirs(dir_, exist_ok=True) fn_parsed = urllib.parse.urlparse(fn) if fn_parsed.scheme == '': cache_fn = os.path.abspath(fn).replace("/", "_") diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py new file mode 100644 index 0000000000..995b26d8e6 --- /dev/null +++ b/tools/lib/comma_car_segments.py @@ -0,0 +1,82 @@ +import os +import requests + +# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves +COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments") +COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main") + +COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", "https://huggingface.co/datasets/commaai/commaCarSegments") + +def get_comma_car_segments_database(): + return requests.get(get_repo_raw_url("database.json")).json() + + +# Helpers related to interfacing with the openpilot-data repository, which contains a collection of public segments for users to perform validation on. + +def parse_lfs_pointer(text): + header, lfs_version = text.splitlines()[0].split(" ") + assert header == "version" + assert lfs_version == "https://git-lfs.github.com/spec/v1" + + header, oid_raw = text.splitlines()[1].split(" ") + assert header == "oid" + header, oid = oid_raw.split(":") + assert header == "sha256" + + header, size = text.splitlines()[2].split(" ") + assert header == "size" + + return oid, size + +def get_lfs_file_url(oid, size): + data = { + "operation": "download", + "transfers": [ "basic" ], + "objects": [ + { + "oid": oid, + "size": int(size) + } + ], + "hash_algo": "sha256" + } + + headers = { + "Accept": "application/vnd.git-lfs+json", + "Content-Type": "application/vnd.git-lfs+json" + } + + response = requests.post(f"{COMMA_CAR_SEGMENTS_LFS_INSTANCE}.git/info/lfs/objects/batch", json=data, headers=headers) + + assert response.ok + + obj = response.json()["objects"][0] + + assert "error" not in obj, obj + + return obj["actions"]["download"]["href"] + +def get_repo_raw_url(path): + if "huggingface" in COMMA_CAR_SEGMENTS_REPO: + return f"{COMMA_CAR_SEGMENTS_REPO}/raw/{COMMA_CAR_SEGMENTS_BRANCH}/{path}" + +def get_repo_url(path): + # Automatically switch to LFS if we are requesting a file that is stored in LFS + + response = requests.head(get_repo_raw_url(path)) + + if "text/plain" in response.headers.get("content-type"): + # This is an LFS pointer, so download the raw data from lfs + response = requests.get(get_repo_raw_url(path)) + assert response.status_code == 200 + oid, size = parse_lfs_pointer(response.text) + + return get_lfs_file_url(oid, size) + else: + # File has not been uploaded to LFS yet + # (either we are on a fork where the data hasn't been pushed to LFS yet, or the CI job to push hasn't finished) + return get_repo_raw_url(path) + + +def get_url(route, segment, file="rlog.bz2"): + return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}") diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 4aec965f1a..15e618f649 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,4 +1,6 @@ import os +import requests + from openpilot.tools.lib.url_file import URLFile DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") @@ -8,6 +10,12 @@ def resolve_name(fn): return fn.replace("cd:/", DATA_ENDPOINT) return fn +def file_exists(fn): + fn = resolve_name(fn) + if fn.startswith(("http://", "https://")): + return requests.head(fn, allow_redirects=True).status_code == 200 + return os.path.exists(fn) + def FileReader(fn, debug=False): fn = resolve_name(fn) if fn.startswith(("http://", "https://")): diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 067b64b6ac..e2c8d07dd8 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -7,8 +7,11 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S" class RE: DONGLE_ID = r'(?P[a-z0-9]{16})' TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' - ROUTE_NAME = r'{}[|_/]{}'.format(DONGLE_ID, TIMESTAMP) + ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, TIMESTAMP) SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) + INDEX = r'-?[0-9]+' + SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) + SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qra]))?'.format(ROUTE_NAME, SLICE) BOOTLOG_NAME = ROUTE_NAME EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 4af922c774..6c1174611b 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -1,82 +1,33 @@ #!/usr/bin/env python3 -import os -import sys import bz2 -import urllib.parse +from functools import partial +import multiprocessing import capnp +import enum +import numpy as np +import os +import pathlib +import re +import sys +import urllib.parse import warnings -from typing import Iterable, Iterator +from typing import Dict, Iterable, Iterator, List, Type +from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.route import Route, SegmentName +from openpilot.common.swaglog import cloudlog +from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url +from openpilot.tools.lib.openpilotci import get_url +from openpilot.tools.lib.filereader import FileReader, file_exists +from openpilot.tools.lib.helpers import RE +from openpilot.tools.lib.route import Route, SegmentRange -LogIterable = Iterable[capnp._DynamicStructReader] - -# this is an iterator itself, and uses private variables from LogReader -class MultiLogIterator: - def __init__(self, log_paths, sort_by_time=False): - self._log_paths = log_paths - self.sort_by_time = sort_by_time - - self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None) - self._current_log = self._first_log_idx - self._idx = 0 - self._log_readers = [None]*len(log_paths) - self.start_time = self._log_reader(self._first_log_idx)._ts[0] - - def _log_reader(self, i): - if self._log_readers[i] is None and self._log_paths[i] is not None: - log_path = self._log_paths[i] - self._log_readers[i] = LogReader(log_path, sort_by_time=self.sort_by_time) - - return self._log_readers[i] - - def __iter__(self) -> Iterator[capnp._DynamicStructReader]: - return self - - def _inc(self): - lr = self._log_reader(self._current_log) - if self._idx < len(lr._ents)-1: - self._idx += 1 - else: - self._idx = 0 - self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) - if i == len(self._log_readers) or self._log_paths[i] is not None) - if self._current_log == len(self._log_readers): - raise StopIteration - - def __next__(self): - while 1: - lr = self._log_reader(self._current_log) - ret = lr._ents[self._idx] - self._inc() - return ret - - def tell(self): - # returns seconds from start of log - return (self._log_reader(self._current_log)._ts[self._idx] - self.start_time) * 1e-9 - - def seek(self, ts): - # seek to nearest minute - minute = int(ts/60) - if minute >= len(self._log_paths) or self._log_paths[minute] is None: - return False - - self._current_log = minute - - # HACK: O(n) seek afterward - self._idx = 0 - while self.tell() < ts: - self._inc() - return True - - def reset(self): - self.__init__(self._log_paths, sort_by_time=self.sort_by_time) +LogMessage = Type[capnp._DynamicStructReader] +LogIterable = Iterable[LogMessage] -class LogReader: +class _LogFileReader: def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -106,10 +57,6 @@ class LogReader: self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) self._ts = [x.logMonoTime for x in self._ents] - @classmethod - def from_bytes(cls, dat): - return cls("", dat=dat) - def __iter__(self) -> Iterator[capnp._DynamicStructReader]: for ent in self._ents: if self._only_union_types: @@ -121,13 +68,205 @@ class LogReader: else: yield ent -def logreader_from_route_or_segment(r, sort_by_time=False): - sn = SegmentName(r, allow_route_name=True) - route = Route(sn.route_name.canonical_name) - if sn.segment_num < 0: - return MultiLogIterator(route.log_paths(), sort_by_time=sort_by_time) + +class ReadMode(enum.StrEnum): + RLOG = "r" # only read rlogs + QLOG = "q" # only read qlogs + AUTO = "a" # default to rlogs, fallback to qlogs + AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user + +def create_slice_from_string(s: str): + m = re.fullmatch(RE.SLICE, s) + assert m is not None, f"Invalid slice: {s}" + start, end, step = m.groups() + start = int(start) if start is not None else None + end = int(end) if end is not None else None + step = int(step) if step is not None else None + + if start is not None and ":" not in s and end is None and step is None: + return start + return slice(start, end, step) + +def auto_strategy(rlog_paths, qlog_paths, interactive): + # auto select logs based on availability + if any(rlog is None or not file_exists(rlog) for rlog in rlog_paths): + if interactive: + if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y": + return rlog_paths + else: + cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...") + + return [rlog if (rlog is not None and file_exists(rlog)) else (qlog if (qlog is not None and file_exists(qlog)) else None) + for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)] + return rlog_paths + +def apply_strategy(mode: ReadMode, rlog_paths, qlog_paths): + if mode == ReadMode.RLOG: + return rlog_paths + elif mode == ReadMode.QLOG: + return qlog_paths + elif mode == ReadMode.AUTO: + return auto_strategy(rlog_paths, qlog_paths, False) + elif mode == ReadMode.AUTO_INTERACIVE: + return auto_strategy(rlog_paths, qlog_paths, True) + +def parse_slice(sr: SegmentRange): + s = create_slice_from_string(sr._slice) + if isinstance(s, slice): + if s.stop is None or s.stop < 0 or (s.start is not None and s.start < 0): # we need the number of segments in order to parse this slice + segs = np.arange(sr.get_max_seg_number()+1) + else: + segs = np.arange(s.stop + 1) + return segs[s] else: - return LogReader(route.log_paths()[sn.segment_num], sort_by_time=sort_by_time) + if s < 0: + s = sr.get_max_seg_number() + s + 1 + return [s] + +def comma_api_source(sr: SegmentRange, mode: ReadMode): + segs = parse_slice(sr) + + route = Route(sr.route_name) + + rlog_paths = [route.log_paths()[seg] for seg in segs] + qlog_paths = [route.qlog_paths()[seg] for seg in segs] + + return apply_strategy(mode, rlog_paths, qlog_paths) + +def internal_source(sr: SegmentRange, mode: ReadMode): + segs = parse_slice(sr) + + def get_internal_url(sr: SegmentRange, seg, file): + return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2" + + rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in segs] + qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in segs] + + return apply_strategy(mode, rlog_paths, qlog_paths) + +def openpilotci_source(sr: SegmentRange, mode: ReadMode): + segs = parse_slice(sr) + + rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in segs] + qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in segs] + + return apply_strategy(mode, rlog_paths, qlog_paths) + +def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG): + segs = parse_slice(sr) + + return [get_comma_segments_url(sr.route_name, seg) for seg in segs] + +def direct_source(file_or_url): + return [file_or_url] + +def get_invalid_files(files): + return [f for f in files if f is None or not file_exists(f)] + +def check_source(source, *args): + try: + files = source(*args) + assert len(get_invalid_files(files)) == 0 + return True, files + except Exception: + return False, None + +def auto_source(*args): + # Automatically determine viable source + for source in [comma_car_segments_source, internal_source, openpilotci_source]: + valid, ret = check_source(source, *args) + if valid: + return ret + + return comma_api_source(*args) + +def parse_useradmin(identifier): + if "useradmin.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["onebox"][0] + return None + +def parse_cabana(identifier): + if "cabana.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["route"][0] + return None + +def parse_direct(identifier): + if identifier.startswith(("http://", "https://", "cd:/")) or pathlib.Path(identifier).exists(): + return identifier + return None + +def parse_indirect(identifier): + parsed = parse_useradmin(identifier) or parse_cabana(identifier) + + if parsed is not None: + return parsed, comma_api_source, True + + return identifier, None, False + + +class LogReader: + def _parse_identifiers(self, identifier: str | List[str]): + if isinstance(identifier, list): + return [i for j in identifier for i in self._parse_identifiers(j)] + + parsed, source, is_indirect = parse_indirect(identifier) + + if not is_indirect: + direct_parsed = parse_direct(identifier) + if direct_parsed is not None: + return direct_source(identifier) + + sr = SegmentRange(parsed) + mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) + source = self.default_source if source is None else source + + return source(sr, mode) + + def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): + self.default_mode = default_mode + self.default_source = default_source + self.identifier = identifier + + self.sort_by_time = sort_by_time + self.only_union_types = only_union_types + + self.__lrs: Dict[int, _LogFileReader] = {} + self.reset() + + def _get_lr(self, i): + if i not in self.__lrs: + self.__lrs[i] = _LogFileReader(self.logreader_identifiers[i]) + return self.__lrs[i] + + def __iter__(self): + for i in range(len(self.logreader_identifiers)): + yield from self._get_lr(i) + + def _run_on_segment(self, func, i): + return func(self._get_lr(i)) + + def run_across_segments(self, num_processes, func): + with multiprocessing.Pool(num_processes) as pool: + ret = [] + for p in pool.map(partial(self._run_on_segment, func), range(len(self.logreader_identifiers))): + ret.extend(p) + return ret + + def reset(self): + self.logreader_identifiers = self._parse_identifiers(self.identifier) + invalid_count = len(get_invalid_files(self.logreader_identifiers)) + assert invalid_count == 0, f"{invalid_count}/{len(self.logreader_identifiers)} invalid log(s) found, please ensure all logs \ +are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name." + + @staticmethod + def from_bytes(dat): + return _LogFileReader("", dat=dat) + + def first(self, msg_type: str): + m = next(filter(lambda m: m.which() == msg_type, self), None) + return None if m is None else getattr(m, msg_type) if __name__ == "__main__": diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py new file mode 100644 index 0000000000..1c1e1f171b --- /dev/null +++ b/tools/lib/openpilotci.py @@ -0,0 +1,12 @@ +from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer + +def get_url(*args, **kwargs): + return OpenpilotCIContainer.get_url(*args, **kwargs) + +def upload_file(*args, **kwargs): + return OpenpilotCIContainer.upload_file(*args, **kwargs) + +def upload_bytes(*args, **kwargs): + return OpenpilotCIContainer.upload_bytes(*args, **kwargs) + +BASE_URL = OpenpilotCIContainer.BASE_URL diff --git a/tools/lib/openpilotcontainers.py b/tools/lib/openpilotcontainers.py new file mode 100755 index 0000000000..9882461111 --- /dev/null +++ b/tools/lib/openpilotcontainers.py @@ -0,0 +1,6 @@ +#!/usr/bin/env python3 +from openpilot.tools.lib.azure_container import AzureContainer + +OpenpilotCIContainer = AzureContainer("commadataci", "openpilotci") +DataCIContainer = AzureContainer("commadataci", "commadataci") +DataProdContainer = AzureContainer("commadata2", "commadata2") diff --git a/tools/lib/route.py b/tools/lib/route.py index e37b7d4434..f7c3c432c8 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -1,5 +1,6 @@ import os import re +from functools import cache from urllib.parse import urlparse from collections import defaultdict from itertools import chain @@ -229,3 +230,44 @@ class SegmentName: def data_dir(self) -> Optional[str]: return self._data_dir def __str__(self) -> str: return self._canonical_name + + +@cache +def get_max_seg_number_cached(sr: 'SegmentRange'): + try: + api = CommaApi(get_token()) + return api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1] + except Exception as e: + raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e + + +class SegmentRange: + def __init__(self, segment_range: str): + self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range) + assert self.m, f"Segment range is not valid {segment_range}" + + def get_max_seg_number(self): + return get_max_seg_number_cached(self) + + @property + def route_name(self): + return self.m.group("route_name") + + @property + def dongle_id(self): + return self.m.group("dongle_id") + + @property + def timestamp(self): + return self.m.group("timestamp") + + @property + def _slice(self): + return self.m.group("slice") + + @property + def selector(self): + return self.m.group("selector") + + def __str__(self): + return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "") diff --git a/tools/lib/sanitizer.py b/tools/lib/sanitizer.py new file mode 100644 index 0000000000..b4a97a3792 --- /dev/null +++ b/tools/lib/sanitizer.py @@ -0,0 +1,26 @@ +# Utilities for sanitizing routes of only essential data for testing car ports and doing validation. + +from openpilot.tools.lib.logreader import LogIterable, LogMessage + + +def sanitize_vin(vin: str): + # (last 6 digits of vin are serial number https://en.wikipedia.org/wiki/Vehicle_identification_number) + VIN_SENSITIVE = 6 + return vin[:-VIN_SENSITIVE] + "X" * VIN_SENSITIVE + + +def sanitize_msg(msg: LogMessage) -> LogMessage: + if msg.which() == "carParams": + msg = msg.as_builder() + msg.carParams.carVin = sanitize_vin(msg.carParams.carVin) + msg = msg.as_reader() + return msg + + +PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"] + + +def sanitize(lr: LogIterable) -> LogIterable: + filtered = filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr) + sanitized = map(sanitize_msg, filtered) + return sanitized diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 73ed843869..294c5a2233 100755 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,15 +1,58 @@ #!/usr/bin/env python3 +from functools import wraps +import http.server import os +import threading +import time import unittest -from pathlib import Path from parameterized import parameterized -from unittest import mock -from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.url_file import URLFile +class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): + FILE_EXISTS = True + + def do_GET(self): + if self.FILE_EXISTS: + self.send_response(200, b'1234') + else: + self.send_response(404) + self.end_headers() + + def do_HEAD(self): + if self.FILE_EXISTS: + self.send_response(200) + self.send_header("Content-Length", "4") + else: + self.send_response(404) + self.end_headers() + + +class CachingTestServer(threading.Thread): + def run(self): + self.server = http.server.HTTPServer(("127.0.0.1", 0), CachingTestRequestHandler) + self.port = self.server.server_port + self.server.serve_forever() + + def stop(self): + self.server.server_close() + self.server.shutdown() + +def with_caching_server(func): + @wraps(func) + def wrapper(*args, **kwargs): + server = CachingTestServer() + server.start() + time.sleep(0.25) # wait for server to get it's port + try: + func(*args, **kwargs, port=server.port) + finally: + server.stop() + return wrapper + + class TestFileDownload(unittest.TestCase): def compare_loads(self, url, start=0, length=None): @@ -66,32 +109,20 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(large_file_url) @parameterized.expand([(True, ), (False, )]) - def test_recover_from_missing_file(self, cache_enabled): + @with_caching_server + def test_recover_from_missing_file(self, cache_enabled, port): os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" - file_url = "http://localhost:5001/test.png" + file_url = f"http://localhost:{port}/test.png" - file_exists = False + CachingTestRequestHandler.FILE_EXISTS = False + length = URLFile(file_url).get_length() + self.assertEqual(length, -1) - def get_length_online_mock(self): - if file_exists: - return 4 - return -1 + CachingTestRequestHandler.FILE_EXISTS = True + length = URLFile(file_url).get_length() + self.assertEqual(length, 4) - patch_length = mock.patch.object(URLFile, "get_length_online", get_length_online_mock) - patch_length.start() - try: - length = URLFile(file_url).get_length() - self.assertEqual(length, -1) - - file_exists = True - length = URLFile(file_url).get_length() - self.assertEqual(length, 4) - finally: - tempfile_length = Path(Paths.download_cache_root()) / "ba2119904385654cb0105a2da174875f8e7648db175f202ecae6d6428b0e838f_length" - if tempfile_length.exists(): - tempfile_length.unlink() - patch_length.stop() if __name__ == "__main__": diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py new file mode 100644 index 0000000000..484a4aae08 --- /dev/null +++ b/tools/lib/tests/test_comma_car_segments.py @@ -0,0 +1,41 @@ + + +import unittest + +import requests +from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import SegmentRange + + +class TestCommaCarSegments(unittest.TestCase): + def test_database(self): + database = get_comma_car_segments_database() + + platforms = database.keys() + + assert len(platforms) > 100 + + def test_download_segment(self): + database = get_comma_car_segments_database() + + fp = "SUBARU FORESTER 2019" + + segment = database[fp][0] + + sr = SegmentRange(segment) + + url = get_url(sr.route_name, sr._slice) + + resp = requests.get(url) + self.assertEqual(resp.status_code, 200) + + lr = LogReader(url) + + CP = lr.first("carParams") + + self.assertEqual(CP.carFingerprint, fp) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py new file mode 100644 index 0000000000..d8a9c14088 --- /dev/null +++ b/tools/lib/tests/test_logreader.py @@ -0,0 +1,123 @@ +import shutil +import tempfile +import numpy as np +import unittest +import pytest +import requests + +from parameterized import parameterized +from unittest import mock + +from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode +from openpilot.tools.lib.route import SegmentRange + +NUM_SEGS = 17 # number of segments in the test route +ALL_SEGS = list(np.arange(NUM_SEGS)) +TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12" +QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" + +class TestLogReader(unittest.TestCase): + @parameterized.expand([ + (f"{TEST_ROUTE}", ALL_SEGS), + (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS), + (f"{TEST_ROUTE}--0", [0]), + (f"{TEST_ROUTE}--5", [5]), + (f"{TEST_ROUTE}/0", [0]), + (f"{TEST_ROUTE}/5", [5]), + (f"{TEST_ROUTE}/0:10", ALL_SEGS[0:10]), + (f"{TEST_ROUTE}/0:0", []), + (f"{TEST_ROUTE}/4:6", ALL_SEGS[4:6]), + (f"{TEST_ROUTE}/0:-1", ALL_SEGS[0:-1]), + (f"{TEST_ROUTE}/:5", ALL_SEGS[:5]), + (f"{TEST_ROUTE}/2:", ALL_SEGS[2:]), + (f"{TEST_ROUTE}/2:-1", ALL_SEGS[2:-1]), + (f"{TEST_ROUTE}/-1", [ALL_SEGS[-1]]), + (f"{TEST_ROUTE}/-2", [ALL_SEGS[-2]]), + (f"{TEST_ROUTE}/-2:-1", ALL_SEGS[-2:-1]), + (f"{TEST_ROUTE}/-4:-2", ALL_SEGS[-4:-2]), + (f"{TEST_ROUTE}/:10:2", ALL_SEGS[:10:2]), + (f"{TEST_ROUTE}/5::2", ALL_SEGS[5::2]), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE}", ALL_SEGS), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS), + (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS), + ]) + def test_indirect_parsing(self, identifier, expected): + parsed, _, _ = parse_indirect(identifier) + sr = SegmentRange(parsed) + segs = parse_slice(sr) + self.assertListEqual(list(segs), expected) + + @parameterized.expand([ + (f"{TEST_ROUTE}", f"{TEST_ROUTE}"), + (f"{TEST_ROUTE.replace('/', '|')}", f"{TEST_ROUTE}"), + (f"{TEST_ROUTE}--5", f"{TEST_ROUTE}/5"), + (f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"), + (f"{TEST_ROUTE}/5:6/r", f"{TEST_ROUTE}/5:6/r"), + (f"{TEST_ROUTE}/5", f"{TEST_ROUTE}/5"), + ]) + def test_canonical_name(self, identifier, expected): + sr = SegmentRange(identifier) + self.assertEqual(str(sr), expected) + + def test_direct_parsing(self): + qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) + + with requests.get(QLOG_FILE, stream=True) as r: + with qlog as f: + shutil.copyfileobj(r.raw, f) + + for f in [QLOG_FILE, qlog.name]: + l = len(list(LogReader(f))) + self.assertGreater(l, 100) + + @parameterized.expand([ + (f"{TEST_ROUTE}///",), + (f"{TEST_ROUTE}---",), + (f"{TEST_ROUTE}/-4:--2",), + (f"{TEST_ROUTE}/-a",), + (f"{TEST_ROUTE}/j",), + (f"{TEST_ROUTE}/0:1:2:3",), + (f"{TEST_ROUTE}/:::3",), + ]) + def test_bad_ranges(self, segment_range): + with self.assertRaises(AssertionError): + sr = SegmentRange(segment_range) + parse_slice(sr) + + @pytest.mark.slow + def test_modes(self): + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) + rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) + + self.assertLess(qlog_len * 6, rlog_len) + + @pytest.mark.slow + def test_modes_from_name(self): + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) + rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) + + self.assertLess(qlog_len * 6, rlog_len) + + @pytest.mark.slow + def test_list(self): + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) + qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"]))) + + self.assertEqual(qlog_len*2, qlog_len_2) + + @pytest.mark.slow + @mock.patch("openpilot.tools.lib.logreader._LogFileReader") + def test_multiple_iterations(self, init_mock): + lr = LogReader(f"{TEST_ROUTE}/0/q") + qlog_len1 = len(list(lr)) + qlog_len2 = len(list(lr)) + + # ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice + self.assertEqual(init_mock.call_count, 1) + + self.assertEqual(qlog_len1, qlog_len2) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 315ade514b..5c6f187eee 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,16 +1,19 @@ +import logging import os import time import threading -import pycurl from hashlib import sha256 -from io import BytesIO +from urllib3 import PoolManager +from urllib3.util import Timeout from tenacity import retry, wait_random_exponential, stop_after_attempt -from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir + +from openpilot.common.file_helpers import atomic_write_in_dir from openpilot.system.hardware.hw import Paths # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K +logging.getLogger("urllib3").setLevel(logging.WARNING) def hash_256(link): hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest()) @@ -35,12 +38,13 @@ class URLFile: if cache is not None: self._force_download = not cache - try: - self._curl = self._tlocal.curl - except AttributeError: - self._curl = self._tlocal.curl = pycurl.Curl() if not self._force_download: - mkdirs_exists_ok(Paths.download_cache_root()) + os.makedirs(Paths.download_cache_root(), exist_ok=True) + + try: + self._http_client = URLFile._tlocal.http_client + except AttributeError: + self._http_client = URLFile._tlocal.http_client = PoolManager() def __enter__(self): return self @@ -53,17 +57,12 @@ class URLFile: @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True) def get_length_online(self): - c = self._curl - c.reset() - c.setopt(pycurl.NOSIGNAL, 1) - c.setopt(pycurl.TIMEOUT_MS, 500000) - c.setopt(pycurl.FOLLOWLOCATION, True) - c.setopt(pycurl.URL, self._url) - c.setopt(c.NOBODY, 1) - c.perform() - length = int(c.getinfo(c.CONTENT_LENGTH_DOWNLOAD)) - c.reset() - return length + timeout = Timeout(connect=50.0, read=500.0) + response = self._http_client.request('HEAD', self._url, timeout=timeout, preload_content=False) + if not (200 <= response.status <= 299): + return -1 + length = response.headers.get('content-length', 0) + return int(length) def get_length(self): if self._length is not None: @@ -117,7 +116,7 @@ class URLFile: @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True) def read_aux(self, ll=None): download_range = False - headers = ["Connection: keep-alive"] + headers = {'Connection': 'keep-alive'} if self._pos != 0 or ll is not None: if ll is None: end = self.get_length() - 1 @@ -125,50 +124,29 @@ class URLFile: end = min(self._pos + ll, self.get_length()) - 1 if self._pos >= end: return b"" - headers.append(f"Range: bytes={self._pos}-{end}") + headers['Range'] = f"bytes={self._pos}-{end}" download_range = True - dats = BytesIO() - c = self._curl - c.setopt(pycurl.URL, self._url) - c.setopt(pycurl.WRITEDATA, dats) - c.setopt(pycurl.NOSIGNAL, 1) - c.setopt(pycurl.TIMEOUT_MS, 500000) - c.setopt(pycurl.HTTPHEADER, headers) - c.setopt(pycurl.FOLLOWLOCATION, True) - if self._debug: - print("downloading", self._url) - - def header(x): - if b'MISS' in x: - print(x.strip()) - - c.setopt(pycurl.HEADERFUNCTION, header) - - def test(debug_type, debug_msg): - print(" debug(%d): %s" % (debug_type, debug_msg.strip())) - - c.setopt(pycurl.VERBOSE, 1) - c.setopt(pycurl.DEBUGFUNCTION, test) t1 = time.time() - c.perform() + timeout = Timeout(connect=50.0, read=500.0) + response = self._http_client.request('GET', self._url, timeout=timeout, preload_content=False, headers=headers) + ret = response.data if self._debug: t2 = time.time() if t2 - t1 > 0.1: - print(f"get {self._url} {headers!r} {t2 - t1:.f} slow") + print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow") - response_code = c.getinfo(pycurl.RESPONSE_CODE) + response_code = response.status if response_code == 416: # Requested Range Not Satisfiable - raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}") + raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(ret)[:500]}") if download_range and response_code != 206: # Partial Content - raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}") + raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(ret)[:500]}") if (not download_range) and response_code != 200: # OK - raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(dats.getvalue())[:500]}") + raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(ret)[:500]}") - ret = dats.getvalue() self._pos += len(ret) return ret diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 02858b1edf..cc21095414 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import os import sys -import multiprocessing import platform import shutil import subprocess @@ -9,13 +8,12 @@ import tarfile import tempfile import requests import argparse +from functools import partial from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route, SegmentName from openpilot.tools.lib.helpers import save_log -from urllib.parse import urlparse, parse_qs + +from openpilot.tools.lib.logreader import LogReader, ReadMode juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -53,17 +51,6 @@ def get_plotjuggler_version(): return tuple(map(int, version.split("."))) -def load_segment(segment_name): - if segment_name is None: - return [] - - try: - return list(LogReader(segment_name)) - except (AssertionError, ValueError) as e: - print(f"Error parsing {segment_name}: {e}") - return [] - - def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): env = os.environ.copy() env["BASEDIR"] = BASEDIR @@ -82,48 +69,13 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}' subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) +def process(can, lr): + return [d for d in lr if can or d.which() not in ['can', 'sendcan']] -def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False): - segment_start = 0 - if 'cabana' in route_or_segment_name: - query = parse_qs(urlparse(route_or_segment_name).query) - route_or_segment_name = query["route"][0] +def juggle_route(route_or_segment_name, can, layout, dbc=None): + sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE) - if route_or_segment_name.startswith(("http://", "https://", "cd:/")) or os.path.isfile(route_or_segment_name): - logs = [route_or_segment_name] - elif ci: - route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) - route = route_or_segment_name.route_name.canonical_name - segment_start = max(route_or_segment_name.segment_num, 0) - logs = [get_url(route, i) for i in range(100)] # Assume there not more than 100 segments - else: - route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) - segment_start = max(route_or_segment_name.segment_num, 0) - - if route_or_segment_name.segment_num != -1 and segment_count is None: - segment_count = 1 - - r = Route(route_or_segment_name.route_name.canonical_name, route_or_segment_name.data_dir) - logs = r.qlog_paths() if qlog else r.log_paths() - - segment_end = segment_start + segment_count if segment_count else None - logs = logs[segment_start:segment_end] - - if None in logs: - resp = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") - if resp == 'y': - logs = r.qlog_paths()[segment_start:segment_end] - else: - print("Please try a different route or segment") - return - - all_data = [] - with multiprocessing.Pool(24) as pool: - for d in pool.map(load_segment, logs): - all_data += d - - if not can: - all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']] + all_data = sr.run_across_segments(24, partial(process, can)) # Infer DBC name from logs if dbc is None: @@ -146,15 +98,12 @@ if __name__ == "__main__": formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--qlog", action="store_true", help="Use qlogs") - parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket") parser.add_argument("--can", action="store_true", help="Parse CAN data") parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins") parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.") parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)") - parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot") if len(sys.argv) == 1: parser.print_help() @@ -177,4 +126,4 @@ if __name__ == "__main__": start_juggler(layout=args.layout) else: route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci) + juggle_route(route_or_segment_name, args.can, args.layout, args.dbc) diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/tools/plotjuggler/layouts/gps_vs_llk.xml new file mode 100644 index 0000000000..44980712ed --- /dev/null +++ b/tools/plotjuggler/layouts/gps_vs_llk.xml @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + R = 6378.137 -- Radius of earth in KM + -- Compute the Haversine distance between +-- two points defined by latitude and longitude. +-- Return the distance in meters +lat1, lon1 = value, v1 +lat2, lon2 = v2, v3 +dLat = (lat2 - lat1) * math.pi / 180 +dLon = (lon2 - lon1) * math.pi / 180 +a = math.sin(dLat/2) * math.sin(dLat/2) + +math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) * +math.sin(dLon/2) * math.sin(dLon/2) +c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a)) +d = R * c +distance = d * 1000 -- meters +return distance + /gpsLocationExternal/latitude + + /gpsLocationExternal/longitude + /liveLocationKalman/positionGeodetic/value/0 + /liveLocationKalman/positionGeodetic/value/1 + + + + + + + diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index b002331cd7..17287fb803 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -8,7 +8,7 @@ import unittest from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout -from openpilot.tools.plotjuggler.juggle import install +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") @@ -18,8 +18,8 @@ class TestPlotJuggler(unittest.TestCase): install() pj = os.path.join(PJ_DIR, "juggle.py") - with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', - stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: + with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"', + stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: # Wait for "Done reading Rlog data" signal from the plugin output = "\n" with Timeout(180, error_msg=output): @@ -31,6 +31,8 @@ class TestPlotJuggler(unittest.TestCase): self.assertEqual(p.poll(), None) os.killpg(os.getpgid(p.pid), signal.SIGTERM) + self.assertNotIn("Raw file read failed", output) + # TODO: also test that layouts successfully load def test_layouts(self): bad_strings = ( diff --git a/selfdrive/debug/profiling/clpeak/.gitignore b/tools/profiling/clpeak/.gitignore similarity index 100% rename from selfdrive/debug/profiling/clpeak/.gitignore rename to tools/profiling/clpeak/.gitignore diff --git a/selfdrive/debug/profiling/clpeak/build.sh b/tools/profiling/clpeak/build.sh similarity index 100% rename from selfdrive/debug/profiling/clpeak/build.sh rename to tools/profiling/clpeak/build.sh diff --git a/selfdrive/debug/profiling/clpeak/no_print.patch b/tools/profiling/clpeak/no_print.patch similarity index 100% rename from selfdrive/debug/profiling/clpeak/no_print.patch rename to tools/profiling/clpeak/no_print.patch diff --git a/selfdrive/debug/profiling/clpeak/run_continuously.patch b/tools/profiling/clpeak/run_continuously.patch similarity index 100% rename from selfdrive/debug/profiling/clpeak/run_continuously.patch rename to tools/profiling/clpeak/run_continuously.patch diff --git a/selfdrive/debug/profiling/ftrace.sh b/tools/profiling/ftrace.sh similarity index 100% rename from selfdrive/debug/profiling/ftrace.sh rename to tools/profiling/ftrace.sh diff --git a/selfdrive/debug/profiling/palanteer/.gitignore b/tools/profiling/palanteer/.gitignore similarity index 100% rename from selfdrive/debug/profiling/palanteer/.gitignore rename to tools/profiling/palanteer/.gitignore diff --git a/selfdrive/debug/profiling/palanteer/setup.sh b/tools/profiling/palanteer/setup.sh similarity index 100% rename from selfdrive/debug/profiling/palanteer/setup.sh rename to tools/profiling/palanteer/setup.sh diff --git a/selfdrive/debug/profiling/perfetto/.gitignore b/tools/profiling/perfetto/.gitignore similarity index 100% rename from selfdrive/debug/profiling/perfetto/.gitignore rename to tools/profiling/perfetto/.gitignore diff --git a/selfdrive/debug/profiling/perfetto/build.sh b/tools/profiling/perfetto/build.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/build.sh rename to tools/profiling/perfetto/build.sh diff --git a/selfdrive/debug/profiling/perfetto/copy.sh b/tools/profiling/perfetto/copy.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/copy.sh rename to tools/profiling/perfetto/copy.sh diff --git a/selfdrive/debug/profiling/perfetto/record.sh b/tools/profiling/perfetto/record.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/record.sh rename to tools/profiling/perfetto/record.sh diff --git a/selfdrive/debug/profiling/perfetto/server.sh b/tools/profiling/perfetto/server.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/server.sh rename to tools/profiling/perfetto/server.sh diff --git a/selfdrive/debug/profiling/perfetto/traces.sh b/tools/profiling/perfetto/traces.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/traces.sh rename to tools/profiling/perfetto/traces.sh diff --git a/selfdrive/debug/profiling/py-spy/profile.sh b/tools/profiling/py-spy/profile.sh similarity index 100% rename from selfdrive/debug/profiling/py-spy/profile.sh rename to tools/profiling/py-spy/profile.sh diff --git a/tools/profiling/snapdragon/.gitignore b/tools/profiling/snapdragon/.gitignore new file mode 100644 index 0000000000..80078842a0 --- /dev/null +++ b/tools/profiling/snapdragon/.gitignore @@ -0,0 +1 @@ +SnapdragonProfiler/ \ No newline at end of file diff --git a/tools/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md new file mode 100644 index 0000000000..664814b611 --- /dev/null +++ b/tools/profiling/snapdragon/README.md @@ -0,0 +1,13 @@ +snapdragon profiler +-------- + + +* download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account) + * choose v2021.5 (verified working with 20.04 dev environment) +* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler +* run ```./setup-profiler.sh``` +* run ```./setup-agnos.sh``` +* run ```selfdrive/debug/adb.sh``` on device +* run the ```adb connect xxx``` command that was given to you on local pc +* cd to SnapdragonProfiler and run ```./run_sdp.sh``` +* connect to device -> choose device you just setup diff --git a/selfdrive/debug/profiling/snapdragon/setup-agnos.sh b/tools/profiling/snapdragon/setup-agnos.sh similarity index 100% rename from selfdrive/debug/profiling/snapdragon/setup-agnos.sh rename to tools/profiling/snapdragon/setup-agnos.sh diff --git a/tools/profiling/snapdragon/setup-profiler.sh b/tools/profiling/snapdragon/setup-profiler.sh new file mode 100755 index 0000000000..aaec1bf756 --- /dev/null +++ b/tools/profiling/snapdragon/setup-profiler.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# install depends +sudo apt update +sudo apt-get install libc++1 libc++abi1 default-jre android-tools-adb gtk-sharp2 + +# setup mono +sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 3FA7E0328081BFF6A14DA29AA6A19B38D3D831EF +sudo apt install apt-transport-https ca-certificates +echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | sudo tee /etc/apt/sources.list.d/mono-official-stable.list +sudo apt update +sudo apt-get install -y mono-complete + +echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh" \ No newline at end of file diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/tools/profiling/watch-irqs.sh similarity index 100% rename from selfdrive/debug/profiling/watch-irqs.sh rename to tools/profiling/watch-irqs.sh diff --git a/tools/replay/SConscript b/tools/replay/SConscript index bce7512e44..db8447003b 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -1,25 +1,21 @@ -import os -Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', - 'cereal', 'transformations') +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, 'zmq', + 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') else: base_libs.append('OpenCL') -qt_libs = ['qt_util'] + base_libs qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] - -replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks) +replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') -replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs +replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): - qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs]) + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, base_libs]) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 032c29824a..8ed6c63aa4 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -3,15 +3,12 @@ import argparse import os import time import threading -import multiprocessing -from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list -from openpilot.tools.plotjuggler.juggle import load_segment -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogReader from panda import Panda, PandaJungle def send_thread(s, flock): @@ -22,6 +19,8 @@ def send_thread(s, flock): for i in [0, 1, 2, 3, 0xFFFF]: s.can_clear(i) + s.set_can_speed_kbps(i, 500) + s.set_can_data_speed_kbps(i, 500) s.set_ignition(False) time.sleep(5) s.set_ignition(True) @@ -64,6 +63,11 @@ def connect(): for s in p.list(): if s not in serials: + with p(s) as pp: + if pp.get_type() == Panda.HW_TYPE_TRES: + serials[s] = None + continue + print("starting send thread for", s) serials[s] = threading.Thread(target=send_thread, args=(p(s), flashing_lock)) serials[s].start() @@ -71,9 +75,10 @@ def connect(): # try to join all send threads cur_serials = serials.copy() for s, t in cur_serials.items(): - t.join(0.01) - if not t.is_alive(): - del serials[s] + if t is not None: + t.join(0.01) + if not t.is_alive(): + del serials[s] time.sleep(1) @@ -84,18 +89,18 @@ if __name__ == "__main__": parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") args = parser.parse_args() + def process(lr): + return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + print("Loading log...") if args.route_or_segment_name is None: - ROUTE = "77611a1fac303767/2020-03-24--09-50-38" - REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available - CAN_MSGS = [] - logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] - with multiprocessing.Pool(24) as pool: - for lr in tqdm(pool.map(load_segment, logs)): - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] - else: - lr = logreader_from_route_or_segment(args.route_or_segment_name) - CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16" + + sr = LogReader(args.route_or_segment_name) + + CAN_MSGS = sr.run_across_segments(24, process) + + print("Finished loading...") # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 719bbd69ca..54056c6cd5 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -7,6 +7,7 @@ #include +#include "common/util.h" #include "common/version.h" namespace { @@ -29,7 +30,7 @@ const std::initializer_list> keyboard_shortc }, { {"enter", "Enter seek request"}, - {"x", "+/-Replay speed"}, + {"+/-", "Playback speed"}, {"q", "Exit"}, }, }; @@ -331,13 +332,18 @@ void ConsoleUI::handleKey(char c) { refresh(); getch_timer.start(1000, this); - } else if (c == 'x') { - if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) { - replay->removeFlag(REPLAY_FLAG_FULL_SPEED); - rWarning("replay at normal speed"); - } else { - replay->addFlag(REPLAY_FLAG_FULL_SPEED); - rWarning("replay at full speed"); + } else if (c == '+' || c == '=') { + auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed()); + if (it != speed_array.end()) { + rWarning("playback speed: %.1fx", *it); + replay->setSpeed(*it); + } + } else if (c == '_' || c == '-') { + auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed()); + if (it != speed_array.begin()) { + auto prev = std::prev(it); + rWarning("playback speed: %.1fx", *prev); + replay->setSpeed(*prev); } } else if (c == 'e') { replay->seekToFlag(FindFlag::nextEngagement); diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h index 20e07524dd..6ed44bc623 100644 --- a/tools/replay/consoleui.h +++ b/tools/replay/consoleui.h @@ -16,6 +16,7 @@ class ConsoleUI : public QObject { public: ConsoleUI(Replay *replay, QObject *parent = 0); ~ConsoleUI(); + inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f}; private: void initWindows(); diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index 74aebceae5..c92ff4753f 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -1,6 +1,7 @@ #include "tools/replay/logreader.h" #include +#include "tools/replay/filereader.h" #include "tools/replay/util.h" Event::Event(const kj::ArrayPtr &amsg, bool frame) : reader(amsg), frame(frame) { @@ -40,9 +41,7 @@ LogReader::~LogReader() { } } -bool LogReader::load(const std::string &url, std::atomic *abort, - const std::set &allow, - bool local_cache, int chunk_size, int retries) { +bool LogReader::load(const std::string &url, std::atomic *abort, bool local_cache, int chunk_size, int retries) { raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort); if (raw_.empty()) return false; @@ -50,15 +49,15 @@ bool LogReader::load(const std::string &url, std::atomic *abort, raw_ = decompressBZ2(raw_, abort); if (raw_.empty()) return false; } - return parse(allow, abort); + return parse(abort); } bool LogReader::load(const std::byte *data, size_t size, std::atomic *abort) { raw_.assign((const char *)data, size); - return parse({}, abort); + return parse(abort); } -bool LogReader::parse(const std::set &allow, std::atomic *abort) { +bool LogReader::parse(std::atomic *abort) { try { kj::ArrayPtr words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { @@ -67,12 +66,6 @@ bool LogReader::parse(const std::set &allow, std::atomicwhich) == allow.end()) { - words = kj::arrayPtr(evt->reader.getEnd(), words.end()); - delete evt; - continue; - } - // Add encodeIdx packet again as a frame packet for the video stream if (evt->which == cereal::Event::ROAD_ENCODE_IDX || evt->which == cereal::Event::DRIVER_ENCODE_IDX || diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index 77d751a91b..73f822d16c 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -6,13 +6,11 @@ #endif #include -#include #include #include #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" -#include "tools/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; const int MAX_CAMERAS = std::size(ALL_CAMERAS); @@ -55,13 +53,13 @@ class LogReader { public: LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE); ~LogReader(); - bool load(const std::string &url, std::atomic *abort = nullptr, const std::set &allow = {}, + bool load(const std::string &url, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, std::atomic *abort = nullptr); std::vector events; private: - bool parse(const std::set &allow, std::atomic *abort); + bool parse(std::atomic *abort); std::string raw_; #ifdef HAS_MEMORY_RESOURCE std::unique_ptr mbr_; diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 98a0bb3333..a0c072438d 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -13,7 +13,6 @@ int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); - const QStringList base_blacklist = {"uiDebug", "userFlag"}; const std::tuple flags[] = { {"dcam", REPLAY_FLAG_DCAM, "load driver camera"}, {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"}, @@ -22,7 +21,7 @@ int main(int argc, char *argv[]) { {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"}, {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, - {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + + {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag" ". this may causes issues when used along with UI"} }; @@ -34,6 +33,8 @@ int main(int argc, char *argv[]) { parser.addOption({{"b", "block"}, "blacklist of services to send", "block"}); parser.addOption({{"c", "cache"}, "cache segments in memory. default is 5", "n"}); parser.addOption({{"s", "start"}, "start from ", "seconds"}); + parser.addOption({"x", QString("playback . between %1 - %2") + .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"}); parser.addOption({"demo", "use a demo route instead of providing your own"}); parser.addOption({"data_dir", "local directory with routes", "data_dir"}); parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"}); @@ -64,10 +65,14 @@ int main(int argc, char *argv[]) { op_prefix.reset(new OpenpilotPrefix(prefix.toStdString())); } - Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app); + Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); if (!parser.value("c").isEmpty()) { replay->setSegmentCacheLimit(parser.value("c").toInt()); } + if (!parser.value("x").isEmpty()) { + replay->setSpeed(std::clamp(parser.value("x").toFloat(), + ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back())); + } if (!replay->load()) { return 0; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index b83f657e39..9657375be7 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -7,41 +7,25 @@ #include "cereal/services.h" #include "common/params.h" #include "common/timing.h" -#include "system/hardware/hw.h" #include "tools/replay/util.h" -Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) - : sm(sm_), flags_(flags), QObject(parent) { - std::vector s; +Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, + uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { + if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { + block << "uiDebug" << "userFlag"; + } auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); - for (const auto &it : services) { - auto name = it.second.name.c_str(); - uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); - if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && - !(flags & REPLAY_FLAG_ALL_SERVICES) && - !allow.contains(name)) { - continue; - } - - if ((allow.empty() || allow.contains(name)) && !block.contains(name)) { - sockets_[which] = name; - if (!allow.empty() || !block.empty()) { - allow_list.insert((cereal::Event::Which)which); - } - s.push_back(name); - } - } - - if (!allow_list.empty()) { - // the following events are needed for replay to work properly. - allow_list.insert(cereal::Event::Which::INIT_DATA); - allow_list.insert(cereal::Event::Which::CAR_PARAMS); - if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { - allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); + for (const auto &[name, _] : services) { + if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) { + uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); + sockets_[which] = name.c_str(); } } + std::vector s; + std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s), + [](const char *name) { return name != nullptr; }); qDebug() << "services " << s; qDebug() << "loading route " << route; @@ -154,7 +138,7 @@ void Replay::buildTimeline() { const auto &route_segments = route_->segments(); for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { std::shared_ptr log(new LogReader()); - if (!log->load(it->second.qlog.toStdString(), &exit_, {}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; + if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; for (const Event *e : log->events) { if (e->which == cereal::Event::Which::CONTROLS_STATE) { @@ -237,30 +221,17 @@ void Replay::segmentLoadFinished(bool success) { } void Replay::queueSegment() { - if (segments_.empty()) return; - - SegmentMap::iterator begin, cur; - begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); - int distance = std::max(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end())); - for (int i = 0; begin != segments_.begin() && i < distance; ++i) { - --begin; - } - auto end = begin; - for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) { - ++end; - } + auto cur = segments_.lower_bound(current_segment_.load()); + if (cur == segments_.end()) return; + auto begin = std::prev(cur, std::min(segment_cache_limit / 2, std::distance(segments_.begin(), cur))); + auto end = std::next(begin, std::min(segment_cache_limit, segments_.size())); // load one segment at a time - for (auto it = cur; it != end; ++it) { - auto &[n, seg] = *it; - if ((seg && !seg->isLoaded()) || !seg) { - if (!seg) { - rDebug("loading segment %d...", n); - seg = std::make_unique(n, route_->at(n), flags_, allow_list); - QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); - } - break; - } + auto it = std::find_if(cur, end, [](auto &it) { return !it.second || !it.second->isLoaded(); }); + if (it != end && !it->second) { + rDebug("loading segment %d...", it->first); + it->second = std::make_unique(it->first, route_->at(it->first), flags_); + QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); } mergeSegments(begin, end); @@ -297,13 +268,11 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: new_events_->clear(); new_events_->reserve(new_events_size); for (int n : segments_need_merge) { - const auto &e = segments_[n]->log->events; - if (e.size() > 0) { - auto insert_from = e.begin(); - if (new_events_->size() > 0 && (*insert_from)->which == cereal::Event::Which::INIT_DATA) ++insert_from; - auto middle = new_events_->insert(new_events_->end(), insert_from, e.end()); - std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan()); - } + size_t size = new_events_->size(); + const auto &events = segments_[n]->log->events; + std::copy_if(events.begin(), events.end(), std::back_inserter(*new_events_), + [this](auto e) { return e->which < sockets_.size() && sockets_[e->which] != nullptr; }); + std::inplace_merge(new_events_->begin(), new_events_->begin() + size, new_events_->end(), Event::lessThan()); } if (stream_thread_) { @@ -394,7 +363,7 @@ void Replay::publishFrame(const Event *e) { void Replay::stream() { cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA; - double prev_replay_speed = 1.0; + double prev_replay_speed = speed_; std::unique_lock lk(stream_lock_); while (true) { @@ -418,17 +387,7 @@ void Replay::stream() { cur_mono_time_ = evt->mono_time; setCurrentSegment(toSeconds(cur_mono_time_) / 60); - // migration for pandaState -> pandaStates to keep UI working for old segments - if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && - sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { - MessageBuilder msg; - auto ps = msg.initEvent().initPandaStates(1); - ps[0].setIgnitionLine(true); - ps[0].setPandaType(cereal::PandaState::PandaType::DOS); - pm->send(sockets_[cereal::Event::Which::PANDA_STATES], msg); - } - - if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) { + if (sockets_[cur_which] != nullptr) { // keep time long etime = (cur_mono_time_ - evt_start_ts) / speed_; long rtime = nanos_since_boot() - loop_start_ts; @@ -439,14 +398,14 @@ void Replay::stream() { evt_start_ts = cur_mono_time_; loop_start_ts = nanos_since_boot(); prev_replay_speed = speed_; - } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) { + } else if (behind_ns > 0) { precise_nano_sleep(behind_ns); } if (!evt->frame) { publishMessage(evt); } else if (camera_server_) { - if (hasFlag(REPLAY_FLAG_FULL_SPEED)) { + if (speed_ > 1.0) { camera_server_->waitForSent(); } publishFrame(evt); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e26ef883b6..1a74b69c3d 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -4,7 +4,6 @@ #include #include #include -#include #include #include #include @@ -28,7 +27,6 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_FILE_CACHE = 0x0020, REPLAY_FLAG_QCAMERA = 0x0040, REPLAY_FLAG_NO_HW_DECODER = 0x0100, - REPLAY_FLAG_FULL_SPEED = 0x0200, REPLAY_FLAG_NO_VIPC = 0x0400, REPLAY_FLAG_ALL_SERVICES = 0x0800, }; @@ -50,8 +48,8 @@ class Replay : public QObject { Q_OBJECT public: - Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr, - uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); + Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, + uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); ~Replay(); bool load(); void start(int seconds = 0); @@ -114,8 +112,6 @@ protected: } QThread *stream_thread_ = nullptr; - - // logs std::mutex stream_lock_; std::condition_variable stream_cv_; std::atomic updating_events_ = false; @@ -142,7 +138,6 @@ protected: std::mutex timeline_lock; QFuture timeline_future; std::vector> timeline; - std::set allow_list; std::string car_fingerprint_; std::atomic speed_ = 1.0; replayEventFilter event_filter = nullptr; diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 15a57e5e42..d0ddf7f3c8 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -7,9 +7,6 @@ #include #include #include -#include -#include -#include #include "selfdrive/ui/qt/api.h" #include "system/hardware/hw.h" @@ -47,7 +44,7 @@ bool Route::loadFromServer() { loop.exit(success ? loadFromJson(json) : 0); }); - http.sendRequest("https://api.commadotai.com/v1/route/" + route_.str + "/files"); + http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files"); return loop.exec(); } @@ -102,9 +99,7 @@ void Route::addFileToSegment(int n, const QString &file) { // class Segment -Segment::Segment(int n, const SegmentFile &files, uint32_t flags, - const std::set &allow) - : seg_num(n), flags(flags), allow(allow) { +Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog const std::array file_list = { (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, @@ -135,7 +130,7 @@ void Segment::loadFile(int id, const std::string file) { success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3); } else { log = std::make_unique(); - success = log->load(file, &abort_, allow, local_cache, 0, 3); + success = log->load(file, &abort_, local_cache, 0, 3); } if (!success) { diff --git a/tools/replay/route.h b/tools/replay/route.h index 7207ff4f5c..4dad7a1f37 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -2,7 +2,6 @@ #include #include -#include #include #include @@ -55,7 +54,7 @@ class Segment : public QObject { Q_OBJECT public: - Segment(int n, const SegmentFile &files, uint32_t flags, const std::set &allow = {}); + Segment(int n, const SegmentFile &files, uint32_t flags); ~Segment(); inline bool isLoaded() const { return !loading_ && !abort_; } @@ -73,5 +72,4 @@ protected: std::atomic loading_ = 0; QFutureSynchronizer synchronizer_; uint32_t flags; - std::set allow; }; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index d0b6a9db97..92510053ef 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -12,6 +12,8 @@ const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3"; +const int TEST_REPLAY_SEGMENTS = std::getenv("TEST_REPLAY_SEGMENTS") ? atoi(std::getenv("TEST_REPLAY_SEGMENTS")) : 1; + bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) { do { if (httpDownload(url, local_file, chunk_size)) { @@ -126,8 +128,6 @@ std::string download_demo_route() { std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); util::create_directories(log_path, 0755); REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); - REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc")); - REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc")); REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); } } @@ -139,21 +139,21 @@ std::string download_demo_route() { TEST_CASE("Local route") { std::string data_dir = download_demo_route(); - auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); + auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE, QString::fromStdString(data_dir)); REQUIRE(route.load()); REQUIRE(route.segments().size() == 2); - for (int i = 0; i < route.segments().size(); ++i) { + for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) { read_segment(i, route.at(i), flags); } } TEST_CASE("Remote route") { - auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); + auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE); REQUIRE(route.load()); REQUIRE(route.segments().size() == 13); - for (int i = 0; i < 2; ++i) { + for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) { read_segment(i, route.at(i), flags); } } @@ -161,7 +161,7 @@ TEST_CASE("Remote route") { // helper class for unit tests class TestReplay : public Replay { public: - TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, {}, nullptr, flags) {} + TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, nullptr, flags) {} void test_seek(); void testSeekTo(int seek_to); }; diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 05e8bdec1f..7c95a75f8b 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -55,7 +55,7 @@ def ui_thread(addr): top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', - 'liveTracks', 'modelV2', 'liveParameters', 'lateralPlan'], addr=addr) + 'liveTracks', 'modelV2', 'liveParameters'], addr=addr) img = np.zeros((480, 640, 3), dtype='uint8') imgff = None @@ -118,10 +118,10 @@ def ui_thread(addr): imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) num_px = vipc_client.width * vipc_client.height - bgr = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) + rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) zoom_matrix = _BB_TO_FULL_FRAME[num_px] - cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) + cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) intrinsic_matrix = _INTRINSICS[num_px] diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index ae97ad45d6..a2011f6876 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -12,7 +12,7 @@ from collections import defaultdict import cereal.messaging as messaging from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.openpilotci import get_url IGNORE = ['initData', 'sentinel'] diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 541252d270..ecbc2bb31e 100755 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -3,8 +3,7 @@ import argparse import os import sys from openpilot.common.basedir import BASEDIR -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader os.environ['BASEDIR'] = BASEDIR @@ -14,28 +13,17 @@ def get_arg_parser(): description="Unlogging and save to file", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("data_dir", nargs='?', - help="Path to directory in which log and camera files are located.") - parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?", + parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?", help="The route whose messages will be published.") parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream', help="Output pickle file path") return parser -def main(argv): +def main(): args = get_arg_parser().parse_args(sys.argv[1:]) - if not args.data_dir: - print('Data directory invalid.') - return - if not args.route_name: - # Extract route name from path - args.route_name = os.path.basename(args.data_dir) - args.data_dir = os.path.dirname(args.data_dir) - - route = Route(args.route_name, args.data_dir) - lr = MultiLogIterator(route.log_paths()) + lr = LogReader(args.route) with open(args.out_path, 'wb') as f: try: @@ -56,4 +44,4 @@ def main(argv): if __name__ == "__main__": - sys.exit(main(sys.argv[1:])) + main() diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 7dffa7b5e5..a183002589 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -22,8 +22,7 @@ COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./rednose ${OPENPILOT_PATH}/rednose -COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo -RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika +COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons COPY ./common ${OPENPILOT_PATH}/common COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal diff --git a/tools/sim/README.md b/tools/sim/README.md index 0892e77736..f6ddde2580 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -1,7 +1,7 @@ openpilot in simulator ===================== -openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/). +openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive). ## Launching openpilot First, start openpilot. @@ -13,8 +13,7 @@ First, start openpilot. ## Bridge usage ``` $ ./run_bridge.py -h -usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] [--simulator SIMULATOR] [--town TOWN] [--spawn_point NUM_SELECTED_SPAWN_POINT] [--host HOST] [--port PORT] - +usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera] Bridge between the simulator and openpilot. options: @@ -22,11 +21,6 @@ options: --joystick --high_quality --dual_camera - --simulator SIMULATOR - --town TOWN - --spawn_point NUM_SELECTED_SPAWN_POINT - --host HOST - --port PORT ``` #### Bridge Controls: @@ -52,33 +46,5 @@ options: ### Launching Metadrive Start bridge processes located in tools/sim: ``` bash -./run_bridge.py --simulator metadrive -``` - -## Carla - -CARLA is also partially supported, though the performance is not great. It needs to be manually installed with: - -```bash -poetry install --with=carla -``` - -openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system. -For this case, we have the simulator in low quality by default. - -You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system. - -### Launching Carla -Start Carla simulator and bridge processes located in tools/sim: -``` bash -# Terminal 1 -./start_carla.sh - -# Terminal 2 -./run_bridge.py --simulator carla -``` - -## Further Reading - -The following resources contain more details and troubleshooting tips. -* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA) +./run_bridge.py +``` \ No newline at end of file diff --git a/tools/sim/bridge/carla/carla_bridge.py b/tools/sim/bridge/carla/carla_bridge.py deleted file mode 100644 index dc2377df30..0000000000 --- a/tools/sim/bridge/carla/carla_bridge.py +++ /dev/null @@ -1,22 +0,0 @@ -from openpilot.tools.sim.bridge.common import SimulatorBridge -from openpilot.tools.sim.bridge.carla.carla_world import CarlaWorld - - -class CarlaBridge(SimulatorBridge): - TICKS_PER_FRAME = 5 - - def __init__(self, arguments): - super().__init__(arguments) - self.host = arguments.host - self.port = arguments.port - self.town = arguments.town - self.num_selected_spawn_point = arguments.num_selected_spawn_point - - def spawn_world(self): - import carla - - client = carla.Client(self.host, self.port) - client.set_timeout(5) - - return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera, - num_selected_spawn_point=self.num_selected_spawn_point, town=self.town) \ No newline at end of file diff --git a/tools/sim/bridge/carla/carla_world.py b/tools/sim/bridge/carla/carla_world.py deleted file mode 100644 index 14b300ed7b..0000000000 --- a/tools/sim/bridge/carla/carla_world.py +++ /dev/null @@ -1,145 +0,0 @@ -import numpy as np - -from openpilot.common.params import Params -from openpilot.tools.sim.lib.common import SimulatorState, vec3 -from openpilot.tools.sim.bridge.common import World -from openpilot.tools.sim.lib.camerad import W, H - - -class CarlaWorld(World): - def __init__(self, client, high_quality, dual_camera, num_selected_spawn_point, town): - super().__init__(dual_camera) - import carla - - low_quality_layers = carla.MapLayer(carla.MapLayer.Ground | carla.MapLayer.Walls | carla.MapLayer.Decals) - - layers = carla.MapLayer.All if high_quality else low_quality_layers - - world = client.load_world(town, map_layers=layers) - - settings = world.get_settings() - settings.fixed_delta_seconds = 0.01 - world.apply_settings(settings) - - world.set_weather(carla.WeatherParameters.ClearSunset) - - self.world = world - world_map = world.get_map() - - blueprint_library = world.get_blueprint_library() - - vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1] - vehicle_bp.set_attribute('role_name', 'hero') - spawn_points = world_map.get_spawn_points() - assert len(spawn_points) > num_selected_spawn_point, \ - f'''No spawn point {num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.''' - self.spawn_point = spawn_points[num_selected_spawn_point] - self.vehicle = world.spawn_actor(vehicle_bp, self.spawn_point) - - physics_control = self.vehicle.get_physics_control() - physics_control.mass = 2326 - physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]] - physics_control.gear_switch_time = 0.0 - self.vehicle.apply_physics_control(physics_control) - - self.vc: carla.VehicleControl = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False) - self.max_steer_angle: float = self.vehicle.get_physics_control().wheels[0].max_steer_angle - self.params = Params() - - self.steer_ratio = 15 - - self.carla_objects = [] - - transform = carla.Transform(carla.Location(x=0.8, z=1.13)) - - def create_camera(fov, callback): - blueprint = blueprint_library.find('sensor.camera.rgb') - blueprint.set_attribute('image_size_x', str(W)) - blueprint.set_attribute('image_size_y', str(H)) - blueprint.set_attribute('fov', str(fov)) - blueprint.set_attribute('sensor_tick', str(1/20)) - if not high_quality: - blueprint.set_attribute('enable_postprocess_effects', 'False') - camera = world.spawn_actor(blueprint, transform, attach_to=self.vehicle) - camera.listen(callback) - return camera - - self.road_camera = create_camera(fov=40, callback=self.cam_callback_road) - if dual_camera: - self.road_wide_camera = create_camera(fov=120, callback=self.cam_callback_wide_road) # fov bigger than 120 shows unwanted artifacts - else: - self.road_wide_camera = None - - # re-enable IMU - imu_bp = blueprint_library.find('sensor.other.imu') - imu_bp.set_attribute('sensor_tick', '0.01') - self.imu = world.spawn_actor(imu_bp, transform, attach_to=self.vehicle) - - gps_bp = blueprint_library.find('sensor.other.gnss') - self.gps = world.spawn_actor(gps_bp, transform, attach_to=self.vehicle) - self.params.put_bool("UbloxAvailable", True) - - self.carla_objects = [self.imu, self.gps, self.road_camera, self.road_wide_camera, self.vehicle] - - def close(self): - for s in self.carla_objects: - if s is not None: - try: - s.destroy() - except Exception as e: - print("Failed to destroy carla object", e) - - def carla_image_to_rgb(self, image): - rgb = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) - rgb = np.reshape(rgb, (H, W, 4)) - return np.ascontiguousarray(rgb[:, :, [0, 1, 2]]) - - def cam_callback_road(self, image): - with self.image_lock: - self.road_image = self.carla_image_to_rgb(image) - - def cam_callback_wide_road(self, image): - with self.image_lock: - self.wide_road_image = self.carla_image_to_rgb(image) - - def apply_controls(self, steer_angle, throttle_out, brake_out): - self.vc.throttle = throttle_out - - steer_carla = steer_angle * -1 / (self.max_steer_angle * self.steer_ratio) - steer_carla = np.clip(steer_carla, -1, 1) - - self.vc.steer = steer_carla - self.vc.brake = brake_out - self.vehicle.apply_control(self.vc) - - def read_sensors(self, simulator_state: SimulatorState): - simulator_state.imu.bearing = self.imu.get_transform().rotation.yaw - - simulator_state.imu.accelerometer = vec3( - self.imu.get_acceleration().x, - self.imu.get_acceleration().y, - self.imu.get_acceleration().z - ) - - simulator_state.imu.gyroscope = vec3( - self.imu.get_angular_velocity().x, - self.imu.get_angular_velocity().y, - self.imu.get_angular_velocity().z - ) - - simulator_state.gps.from_xy([self.vehicle.get_location().x, self.vehicle.get_location().y]) - - simulator_state.velocity = self.vehicle.get_velocity() - simulator_state.valid = True - simulator_state.steering_angle = self.vc.steer * self.max_steer_angle - - def read_cameras(self): - pass # cameras are read within a callback for carla - - def tick(self): - self.world.tick() - - def reset(self): - import carla - self.vehicle.set_transform(self.spawn_point) - self.vehicle.set_target_velocity(carla.Vector3D()) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index a0e6538b2c..35656f39f3 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -147,7 +147,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga self.simulator_state.user_brake = brake_manual self.simulator_state.user_gas = throttle_manual - self.simulator_state.user_torque = steer_manual * 10000 + self.simulator_state.user_torque = steer_manual * -10000 steer_manual = steer_manual * -40 diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index fa946e11e3..821af7c7f7 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -3,15 +3,13 @@ import numpy as np from metadrive.component.sensors.rgb_camera import RGBCamera from metadrive.component.sensors.base_camera import _cuda_enable from metadrive.component.map.pg_map import MapGenerateMethod -from panda3d.core import Vec3, Texture, GraphicsOutput +from panda3d.core import Texture, GraphicsOutput from openpilot.tools.sim.bridge.common import SimulatorBridge from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld from openpilot.tools.sim.lib.camerad import W, H -C3_POSITION = Vec3(0, 0, 1) - class CopyRamRGBCamera(RGBCamera): """Camera which copies its content into RAM during the render process, for faster image grabbing.""" @@ -33,18 +31,16 @@ class CopyRamRGBCamera(RGBCamera): class RGBCameraWide(CopyRamRGBCamera): def __init__(self, *args, **kwargs): super(RGBCameraWide, self).__init__(*args, **kwargs) - cam = self.get_cam() - cam.setPos(C3_POSITION) lens = self.get_lens() - lens.setFov(160) + lens.setFov(120) + lens.setNear(0.1) class RGBCameraRoad(CopyRamRGBCamera): def __init__(self, *args, **kwargs): super(RGBCameraRoad, self).__init__(*args, **kwargs) - cam = self.get_cam() - cam.setPos(C3_POSITION) lens = self.get_lens() lens.setFov(40) + lens.setNear(0.1) def straight_block(length): @@ -64,6 +60,24 @@ def curve_block(length, angle=45, direction=0): "dir": direction } +def create_map(track_size=60): + return dict( + type=MapGenerateMethod.PG_MAP_FILE, + lane_num=2, + lane_width=3.5, + config=[ + None, + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + ] + ) + class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 @@ -86,7 +100,6 @@ class MetaDriveBridge(SimulatorBridge): vehicle_config=dict( enable_reverse=False, image_source="rgb_road", - spawn_longitude=15 ), sensors=sensors, image_on_cuda=_cuda_enable, @@ -97,23 +110,10 @@ class MetaDriveBridge(SimulatorBridge): crash_vehicle_done=False, crash_object_done=False, traffic_density=0.0, # traffic is incredibly expensive - map_config=dict( - type=MapGenerateMethod.PG_MAP_FILE, - config=[ - None, - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - ] - ), + map_config=create_map(), decision_repeat=1, physics_world_step_size=self.TICKS_PER_FRAME/100, preload_models=False ) - return MetaDriveWorld(config) + return MetaDriveWorld(config, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 3d21c0e508..aa6ae57976 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -2,6 +2,7 @@ import math import numpy as np from collections import namedtuple +from panda3d.core import Vec3 from multiprocessing.connection import Connection from metadrive.engine.core.engine_core import EngineCore @@ -10,9 +11,13 @@ from metadrive.envs.metadrive_env import MetaDriveEnv from metadrive.obs.image_obs import ImageObservation from openpilot.common.realtime import Ratekeeper + from openpilot.tools.sim.lib.common import vec3 from openpilot.tools.sim.lib.camerad import W, H +C3_POSITION = Vec3(0.0, 0, 1.22) +C3_HPR = Vec3(0, 0,0) + metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"]) @@ -29,20 +34,25 @@ def apply_metadrive_patches(): EngineCore.add_image_sensor = add_image_sensor_patched # we aren't going to use the built-in observation stack, so disable it to save time - def observe_patched(self, vehicle): + def observe_patched(self, *args, **kwargs): return self.state ImageObservation.observe = observe_patched - def arrive_destination_patch(self, vehicle): + # disable destination, we want to loop forever + def arrive_destination_patch(self, *args, **kwargs): return False MetaDriveEnv._is_arrive_destination = arrive_destination_patch -def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_recv: Connection, state_send: Connection, exit_event): +def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, + controls_recv: Connection, state_send: Connection, exit_event): apply_metadrive_patches() road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) + if dual_camera: + assert wide_camera_array is not None + wide_road_image = np.frombuffer(wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) env = MetaDriveEnv(config) @@ -54,14 +64,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re def get_cam_as_rgb(cam): cam = env.engine.sensors[cam] - img = cam.perceive(env.vehicle, clip=False) + cam.get_cam().reparentTo(env.vehicle.origin) + cam.get_cam().setPos(C3_POSITION) + cam.get_cam().setHpr(C3_HPR) + img = cam.perceive(clip=False) if type(img) != np.ndarray: img = img.get() # convert cupy array to numpy return img rk = Ratekeeper(100, None) - steer_ratio = 15 + steer_ratio = 8 vc = [0,0] while not exit_event.is_set(): @@ -92,8 +105,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re if terminated: reset() - #if dual_camera: - # wide_road_image = get_cam_as_rgb("rgb_wide") + if dual_camera: + wide_road_image[...] = get_cam_as_rgb("rgb_wide") road_image[...] = get_cam_as_rgb("rgb_road") + image_lock.release() - rk.keep_time() \ No newline at end of file + rk.keep_time() diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 3705f19a97..4cbe64393e 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -15,6 +15,10 @@ class MetaDriveWorld(World): super().__init__(dual_camera) self.camera_array = Array(ctypes.c_uint8, W*H*3) self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) + self.wide_camera_array = None + if dual_camera: + self.wide_camera_array = Array(ctypes.c_uint8, W*H*3) + self.wide_road_image = np.frombuffer(self.wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) self.controls_send, self.controls_recv = Pipe() self.state_send, self.state_recv = Pipe() @@ -23,7 +27,9 @@ class MetaDriveWorld(World): self.metadrive_process = multiprocessing.Process(name="metadrive process", target= functools.partial(metadrive_process, dual_camera, config, - self.camera_array, self.controls_recv, self.state_send, self.exit_event)) + self.camera_array, self.wide_camera_array, self.image_lock, + self.controls_recv, self.state_send, self.exit_event)) + self.metadrive_process.start() print("----------------------------------------------------------") diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index 4621347787..95769dd44e 100644 --- a/tools/sim/lib/camerad.py +++ b/tools/sim/lib/camerad.py @@ -59,7 +59,7 @@ class Camerad: eof = int(frame_id * 0.05 * 1e9) self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof) - dat = messaging.new_message(pub_type) + dat = messaging.new_message(pub_type, valid=True) msg = { "frameId": frame_id, "transform": [1.0, 0.0, 0.0, @@ -67,4 +67,4 @@ class Camerad: 0.0, 0.0, 1.0] } setattr(dat, pub_type, msg) - self.pm.send(pub_type, dat) \ No newline at end of file + self.pm.send(pub_type, dat) diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index b7aa66f5c5..795d7505c7 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -1,5 +1,5 @@ import math -import threading +import multiprocessing import numpy as np from abc import ABC, abstractmethod @@ -65,7 +65,7 @@ class World(ABC): def __init__(self, dual_camera): self.dual_camera = dual_camera - self.image_lock = threading.Lock() + self.image_lock = multiprocessing.Semaphore(value=0) self.road_image = np.zeros((H, W, 3), dtype=np.uint8) self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8) @@ -91,4 +91,4 @@ class World(ABC): @abstractmethod def reset(self): - pass \ No newline at end of file + pass diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index c37f6ea479..339f4ea6bb 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/tools/sim/lib/keyboard_ctrl.py @@ -15,8 +15,6 @@ ISPEED = 4 OSPEED = 5 CC = 6 -STDIN_FD = sys.stdin.fileno() - KEYBOARD_HELP = """ | key | functionality | @@ -32,6 +30,7 @@ KEYBOARD_HELP = """ def getch() -> str: + STDIN_FD = sys.stdin.fileno() old_settings = termios.tcgetattr(STDIN_FD) try: # set @@ -62,11 +61,11 @@ def keyboard_poll_thread(q: 'Queue[str]'): elif c == 'w': q.put("throttle_%f" % 1.0) elif c == 'a': - q.put("steer_%f" % 0.15) + q.put("steer_%f" % -0.15) elif c == 's': q.put("brake_%f" % 1.0) elif c == 'd': - q.put("steer_%f" % -0.15) + q.put("steer_%f" % 0.15) elif c == 'z': q.put("blinker_left") elif c == 'x': diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 1687a2e6ba..5e826e7baa 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -4,7 +4,7 @@ import array import os import struct from fcntl import ioctl -from typing import NoReturn +from typing import NoReturn, Dict, List # Iterate over the joystick devices. print('Available devices:') @@ -13,8 +13,8 @@ for fn in os.listdir('/dev/input'): print(f' /dev/input/{fn}') # We'll store the states here. -axis_states = {} -button_states = {} +axis_states: Dict[str, float] = {} +button_states: Dict[str, float] = {} # These constants were borrowed from linux/input.h axis_names = { @@ -88,8 +88,8 @@ button_names = { 0x2c3 : 'dpad_down', } -axis_map = [] -button_map = [] +axis_name_list: List[str] = [] +button_name_list: List[str] = [] def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: # Open the joystick device. @@ -119,7 +119,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: for _axis in buf[:num_axes]: axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})') - axis_map.append(axis_name) + axis_name_list.append(axis_name) axis_states[axis_name] = 0.0 # Get the button map. @@ -128,11 +128,11 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: for btn in buf[:num_buttons]: btn_name = button_names.get(btn, f'unknown(0x{btn:03x})') - button_map.append(btn_name) + button_name_list.append(btn_name) button_states[btn_name] = 0 - print('%d axes found: %s' % (num_axes, ', '.join(axis_map))) - print('%d buttons found: %s' % (num_buttons, ', '.join(button_map))) + print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list))) + print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list))) # Enable FF import evdev @@ -147,7 +147,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: value, mtype, number = struct.unpack('4xhBB', evbuf) # print(mtype, number, value) if mtype & 0x02: # wheel & paddles - axis = axis_map[number] + axis = axis_name_list[number] if axis == "z": # gas fvalue = value / 32767.0 @@ -183,6 +183,6 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: if __name__ == '__main__': from multiprocessing import Process, Queue - q: Queue[str] = Queue() + q: 'Queue[str]' = Queue() p = Process(target=wheel_poll_thread, args=(q,)) p.start() diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index ab60fad8d3..85b4ac2387 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -5,6 +5,7 @@ from opendbc.can.parser import CANParser from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp from openpilot.selfdrive.car import crc8_pedal from openpilot.tools.sim.lib.common import SimulatorState +from panda.python import Panda class SimulatedCar: @@ -106,7 +107,8 @@ class SimulatedCar: 'pandaType': "blackPanda", 'controlsAllowed': True, 'safetyModel': 'hondaNidec', - 'alternativeExperience': self.sm["carParams"].alternativeExperience + 'alternativeExperience': self.sm["carParams"].alternativeExperience, + 'safetyParam': Panda.FLAG_HONDA_GAS_INTERCEPTOR } self.pm.send('pandaStates', dat) @@ -116,4 +118,4 @@ class SimulatedCar: if self.idx % 50 == 0: # only send panda states at 2hz self.send_panda_state(simulator_state) - self.idx += 1 \ No newline at end of file + self.idx += 1 diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py index 4520ed35ae..ebbcc6c9e8 100644 --- a/tools/sim/lib/simulated_sensors.py +++ b/tools/sim/lib/simulated_sensors.py @@ -23,7 +23,7 @@ class SimulatedSensors: def send_imu_message(self, simulator_state: 'SimulatorState'): for _ in range(5): - dat = messaging.new_message('accelerometer') + dat = messaging.new_message('accelerometer', valid=True) dat.accelerometer.sensor = 4 dat.accelerometer.type = 0x10 dat.accelerometer.timestamp = dat.logMonoTime # TODO: use the IMU timestamp @@ -32,7 +32,7 @@ class SimulatedSensors: self.pm.send('accelerometer', dat) # copied these numbers from locationd - dat = messaging.new_message('gyroscope') + dat = messaging.new_message('gyroscope', valid=True) dat.gyroscope.sensor = 5 dat.gyroscope.type = 0x10 dat.gyroscope.timestamp = dat.logMonoTime # TODO: use the IMU timestamp @@ -44,16 +44,15 @@ class SimulatedSensors: if not simulator_state.valid: return - # transform vel from carla to NED - # north is -Y in CARLA + # transform from vel to NED velNED = [ - -simulator_state.velocity.y, # north/south component of NED is negative when moving south - simulator_state.velocity.x, # positive when moving east, which is x in carla + -simulator_state.velocity.y, + simulator_state.velocity.x, simulator_state.velocity.z, ] for _ in range(10): - dat = messaging.new_message('gpsLocationExternal') + dat = messaging.new_message('gpsLocationExternal', valid=True) dat.gpsLocationExternal = { "unixTimestampMillis": int(time.time() * 1000), "flags": 1, # valid fix @@ -94,7 +93,7 @@ class SimulatedSensors: self.pm.send('driverStateV2', dat) # dmonitoringd output - dat = messaging.new_message('driverMonitoringState') + dat = messaging.new_message('driverMonitoringState', valid=True) dat.driverMonitoringState = { "faceDetected": True, "isDistracted": False, @@ -103,13 +102,13 @@ class SimulatedSensors: self.pm.send('driverMonitoringState', dat) def send_camera_images(self, world: 'World'): - with world.image_lock: - yuv = self.camerad.rgb_to_yuv(world.road_image) - self.camerad.cam_send_yuv_road(yuv) + world.image_lock.acquire() + yuv = self.camerad.rgb_to_yuv(world.road_image) + self.camerad.cam_send_yuv_road(yuv) - if world.dual_camera: - yuv = self.camerad.rgb_to_yuv(world.wide_road_image) - self.camerad.cam_send_yuv_wide_road(yuv) + if world.dual_camera: + yuv = self.camerad.rgb_to_yuv(world.wide_road_image) + self.camerad.cam_send_yuv_wide_road(yuv) def update(self, simulator_state: 'SimulatorState', world: 'World'): now = time.time() @@ -122,4 +121,4 @@ class SimulatedSensors: if (now - self.last_perp_update) > 0.25: self.send_peripheral_state() - self.last_perp_update = now \ No newline at end of file + self.last_perp_update = now diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py index 99617b181e..5f0f0d5e99 100755 --- a/tools/sim/run_bridge.py +++ b/tools/sim/run_bridge.py @@ -1,12 +1,9 @@ #!/usr/bin/env python import argparse -import os from typing import Any from multiprocessing import Queue -from openpilot.tools.sim.bridge.common import SimulatorBridge -from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge @@ -15,13 +12,6 @@ def parse_args(add_args=None): parser.add_argument('--joystick', action='store_true') parser.add_argument('--high_quality', action='store_true') parser.add_argument('--dual_camera', action='store_true') - parser.add_argument('--simulator', dest='simulator', type=str, default='metadrive') - - # Carla specific - parser.add_argument('--town', type=str, default='Town04_Opt') - parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16) - parser.add_argument('--host', dest='host', type=str, default=os.environ.get("CARLA_HOST", '127.0.0.1')) - parser.add_argument('--port', dest='port', type=int, default=2000) return parser.parse_args(add_args) @@ -29,13 +19,7 @@ if __name__ == "__main__": q: Any = Queue() args = parse_args() - simulator_bridge: SimulatorBridge - if args.simulator == "carla": - simulator_bridge = CarlaBridge(args) - elif args.simulator == "metadrive": - simulator_bridge = MetaDriveBridge(args) - else: - raise AssertionError("simulator type not supported") + simulator_bridge = MetaDriveBridge(args) p = simulator_bridge.run(q) if args.joystick: diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh deleted file mode 100755 index f14e0efd16..0000000000 --- a/tools/sim/start_carla.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker -if ! $(apt list --installed | grep -q nvidia-container-toolkit); then - read -p "Nvidia docker is required. Do you want to install it now? (y/n)"; - if [ "${REPLY}" == "y" ]; then - distribution=$(. /etc/os-release;echo $ID$VERSION_ID) - echo $distribution - curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - - curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list - sudo apt-get update && sudo apt-get install -y nvidia-docker2 # Also installs docker-ce and nvidia-container-toolkit - sudo systemctl restart docker - else - exit 0 - fi -fi - -docker pull carlasim/carla:0.9.14 - -EXTRA_ARGS="-it" -if [[ "$DETACH" ]]; then - EXTRA_ARGS="-d" -fi - -docker kill carla_sim || true -docker run \ - --name carla_sim \ - --rm \ - --gpus all \ - --net=host \ - -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ - $EXTRA_ARGS \ - carlasim/carla:0.9.14 \ - /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index 54f4995e45..3dce660579 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -10,7 +10,7 @@ if ! [[ -z "$MOUNT_OPENPILOT" ]]; then fi if [[ "$CI" ]]; then - CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py" + CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py" else # expose X to the container xhost +local:root diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py deleted file mode 100755 index dcf2b9c6e2..0000000000 --- a/tools/sim/tests/test_carla_bridge.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python3 -import subprocess -import time -import unittest - -from openpilot.selfdrive.manager.helpers import unblock_stdout -from openpilot.tools.sim.run_bridge import parse_args -from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge -from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase - - -class TestCarlaBridge(TestSimBridgeBase): - """ - Tests need Carla simulator to run - """ - carla_process = None - - def setUp(self): - super().setUp() - - # We want to make sure that carla_sim docker isn't still running. - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR) - - # Too many lagging messages in bridge.py can cause a crash. This prevents it. - unblock_stdout() - # Wait 10 seconds to startup carla - time.sleep(10) - - def create_bridge(self): - return CarlaBridge(parse_args([])) - - def tearDown(self): - super().tearDown() - - # Stop carla simulator by removing docker container - subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False) - if self.carla_process is not None: - self.carla_process.wait() - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 2c534656bb..4d784956d2 100755 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,11 +1,12 @@ #!/usr/bin/env python3 +import pytest import unittest from openpilot.tools.sim.run_bridge import parse_args from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase - +@pytest.mark.slow class TestMetaDriveBridge(TestSimBridgeBase): def create_bridge(self): return MetaDriveBridge(parse_args([])) diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index b00527b322..850fd83bac 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -3,7 +3,7 @@ import subprocess import time import unittest -from multiprocessing import Queue +from multiprocessing import Queue, Value from cereal import messaging from openpilot.common.basedir import BASEDIR @@ -14,7 +14,7 @@ class TestSimBridgeBase(unittest.TestCase): @classmethod def setUpClass(cls): if cls is TestSimBridgeBase: - raise unittest.SkipTest("Don't run this base class, run test_carla_bridge.py instead") + raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead") def setUp(self): self.processes = [] @@ -24,17 +24,18 @@ class TestSimBridgeBase(unittest.TestCase): p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR) self.processes.append(p_manager) - sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState']) + sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState']) q = Queue() - carla_bridge = self.create_bridge() - p_bridge = carla_bridge.run(q, retries=10) + bridge = self.create_bridge() + bridge.started = Value('b', False) + p_bridge = bridge.run(q, retries=10) self.processes.append(p_bridge) max_time_per_step = 60 # Wait for bridge to startup start_waiting = time.monotonic() - while not carla_bridge.started and time.monotonic() < start_waiting + max_time_per_step: + while not bridge.started and time.monotonic() < start_waiting + max_time_per_step: time.sleep(0.1) self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}") @@ -46,7 +47,7 @@ class TestSimBridgeBase(unittest.TestCase): sm.update() not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning] - car_event_issues = [event.name for event in sm['carEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])] + car_event_issues = [event.name for event in sm['onroadEvents'] if any([event.noEntry, event.softDisable, event.immediateDisable])] if sm.all_alive() and len(car_event_issues) == 0 and len(not_running) == 0: no_car_events_issues_once = True diff --git a/tools/sim/tmux_script.sh b/tools/sim/tmux_script.sh deleted file mode 100755 index 2a1e74958a..0000000000 --- a/tools/sim/tmux_script.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/bash -tmux new -d -s carla-sim -tmux send-keys "./launch_openpilot.sh" ENTER -tmux neww -tmux send-keys "./run_bridge.py $*" ENTER -tmux a -t carla-sim diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index c615608852..f804b328de 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogReader def sigint_handler(signal, frame): exit(0) @@ -51,8 +51,8 @@ class SteeringAccuracyTool: standstill = sm['carState'].standstill steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2 overriding = sm['carState'].steeringPressed - changing_lanes = sm['lateralPlan'].laneChangeState != 0 - d_path_points = sm['lateralPlan'].dPathPoints + changing_lanes = sm['modelV2'].meta.laneChangeState != 0 + model_points = sm['modelV2'].position.y # must be engaged, not at standstill, not overriding steering, and not changing lanes if active and not standstill and not overriding and not changing_lanes: self.cnt += 1 @@ -75,8 +75,8 @@ class SteeringAccuracyTool: self.speed_group_stats[group][angle_abs]["cnt"] += 1 self.speed_group_stats[group][angle_abs]["err"] += angle_error self.speed_group_stats[group][angle_abs]["steer"] += abs(steer) - if len(d_path_points): - self.speed_group_stats[group][angle_abs]["dpp"] += abs(d_path_points[0]) + if len(model_points): + self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0]) if steer_limited: self.speed_group_stats[group][angle_abs]["limited"] += 1 if control_state.saturated: @@ -105,10 +105,10 @@ class SteeringAccuracyTool: print(f" {'-'*118}") for k in sorted(self.speed_group_stats[group].keys()): v = self.speed_group_stats[group][k] - print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \ - | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \ - | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \ - | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') + print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' + + f'| error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% ' + + f'| =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} ' + + f'| sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') print("") @@ -128,7 +128,7 @@ if __name__ == "__main__": if args.route is not None: print(f"loading {args.route}...") - lr = logreader_from_route_or_segment(args.route, sort_by_time=True) + lr = LogReader(args.route, sort_by_time=True) sm = {} for msg in lr: @@ -138,10 +138,10 @@ if __name__ == "__main__": sm['carControl'] = msg.carControl elif msg.which() == 'controlsState': sm['controlsState'] = msg.controlsState - elif msg.which() == 'lateralPlan': - sm['lateralPlan'] = msg.lateralPlan + elif msg.which() == 'modelV2': + sm['modelV2'] = msg.modelV2 - if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'lateralPlan' in sm: + if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'modelV2' in sm: tool.update(sm) else: @@ -150,7 +150,7 @@ if __name__ == "__main__": messaging.context = messaging.Context() carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) - sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'lateralPlan'], addr=args.addr) + sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'modelV2'], addr=args.addr) time.sleep(1) # Make sure all submaster data is available before going further print("waiting for messages...") diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 237e07cdb6..709e8514c7 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -1,5 +1,3 @@ -# NOTE: this README is outdated. #24590 tracks adding back webcam support - # Run openpilot with webcam on PC What's needed: @@ -24,9 +22,6 @@ git clone https://github.com/commaai/openpilot.git ## Build openpilot for webcam ``` cd ~/openpilot -``` -- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down -``` USE_WEBCAM=1 scons -j$(nproc) ``` @@ -38,7 +33,7 @@ USE_WEBCAM=1 scons -j$(nproc) ## GO ``` cd ~/openpilot/selfdrive/manager -PASSIVE=0 NOSENSOR=1 USE_WEBCAM=1 ./manager.py +NOSENSOR=1 USE_WEBCAM=1 ./manager.py ``` - Start the car, then the UI should show the road webcam's view - Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera) diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py new file mode 100644 index 0000000000..22438f0c98 --- /dev/null +++ b/tools/webcam/camera.py @@ -0,0 +1,29 @@ +import cv2 as cv +import numpy as np + +class Camera: + def __init__(self, cam_type_state, stream_type, camera_id): + self.cam_type_state = cam_type_state + self.stream_type = stream_type + self.cur_frame_id = 0 + + self.cap = cv.VideoCapture(camera_id) + self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH) + self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT) + + @classmethod + def bgr2nv12(self, bgr): + yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420) + uv_row_cnt = yuv.shape[0] // 3 + uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0]) + yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1) + return yuv + + def read_frames(self): + while True: + sts , frame = self.cap.read() + if not sts: + break + yuv = Camera.bgr2nv12(frame) + yield yuv.data.tobytes() + self.cap.release() diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py new file mode 100755 index 0000000000..caf044e7b6 --- /dev/null +++ b/tools/webcam/camerad.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +import threading +import os +from collections import namedtuple + +from cereal.visionipc import VisionIpcServer, VisionStreamType +from cereal import messaging + +from openpilot.tools.webcam.camera import Camera +from openpilot.common.realtime import Ratekeeper + +DUAL_CAM = os.getenv("DUAL_CAMERA") +CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"]) +CAMERAS = [ + CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")), + CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")), +] +if DUAL_CAM: + CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM)) + +class Camerad: + def __init__(self): + self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS]) + self.vipc_server = VisionIpcServer("camerad") + + self.cameras = [] + for c in CAMERAS: + cam = Camera(c.msg_name, c.stream_type, int(c.cam_id)) + assert cam.cap.isOpened(), f"Can't find camera {c}" + self.cameras.append(cam) + self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H) + + self.vipc_server.start_listener() + + def _send_yuv(self, yuv, frame_id, pub_type, yuv_type): + eof = int(frame_id * 0.05 * 1e9) + self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof) + dat = messaging.new_message(pub_type, valid=True) + msg = { + "frameId": frame_id, + "transform": [1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0] + } + setattr(dat, pub_type, msg) + self.pm.send(pub_type, dat) + + def camera_runner(self, cam): + rk = Ratekeeper(20, None) + while cam.cap.isOpened(): + for yuv in cam.read_frames(): + self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type) + cam.cur_frame_id += 1 + rk.keep_time() + + def run(self): + threads = [] + for cam in self.cameras: + cam_thread = threading.Thread(target=self.camera_runner, args=(cam,)) + cam_thread.start() + threads.append(cam_thread) + + for t in threads: + t.join() + +if __name__ == "__main__": + camerad = Camerad() + camerad.run() diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py deleted file mode 100755 index 0b7b676f6e..0000000000 --- a/tools/webcam/front_mount_helper.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python -import numpy as np - -# copied from openpilot.common.transformations/camera.py -eon_dcam_focal_length = 860.0 # pixels -webcam_focal_length = 908.0 # pixels - -eon_dcam_intrinsics = np.array([ - [eon_dcam_focal_length, 0, 1152/2.], - [ 0, eon_dcam_focal_length, 864/2.], - [ 0, 0, 1]]) - -webcam_intrinsics = np.array([ - [webcam_focal_length, 0., 1280/2.], - [ 0., webcam_focal_length, 720/2.], - [ 0., 0., 1.]]) - -cam_id = 2 - -if __name__ == "__main__": - import cv2 - - trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) - - cap = cv2.VideoCapture(cam_id) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) - - while (True): - ret, img = cap.read() - if ret: - img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - img = img[:, -864//2:, :] - cv2.imshow('preview', img) - cv2.waitKey(10) diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh new file mode 100755 index 0000000000..fbda2be9f3 --- /dev/null +++ b/tools/webcam/start_camerad.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# export the block below when call manager.py +export BLOCK="${BLOCK},camerad" +export USE_WEBCAM="1" + +# Change camera index according to your setting +export CAMERA_ROAD_ID="0" +export CAMERA_DRIVER_ID="1" +export DUAL_CAMERA="2" # camera index for wide road camera + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +$DIR/camerad.py diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py deleted file mode 100755 index e3f1284a45..0000000000 --- a/tools/webcam/warp_vis.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python -import numpy as np - -# copied from openpilot.common.transformations/camera.py -eon_focal_length = 910.0 # pixels -eon_dcam_focal_length = 860.0 # pixels - -webcam_focal_length = -908.0/1.5 # pixels - -eon_intrinsics = np.array([ - [eon_focal_length, 0., 1164/2.], - [ 0., eon_focal_length, 874/2.], - [ 0., 0., 1.]]) - -eon_dcam_intrinsics = np.array([ - [eon_dcam_focal_length, 0, 1152/2.], - [ 0, eon_dcam_focal_length, 864/2.], - [ 0, 0, 1]]) - -webcam_intrinsics = np.array([ - [webcam_focal_length, 0., 1280/2/1.5], - [ 0., webcam_focal_length, 720/2/1.5], - [ 0., 0., 1.]]) - -if __name__ == "__main__": - import cv2 - trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics)) - trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) - print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear) - print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front) - - cap = cv2.VideoCapture(1) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480) - - while (True): - ret, img = cap.read() - if ret: - # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - print(img.shape, end='\r') - cv2.imshow('preview', img) - cv2.waitKey(10)