def test_rav4_tss2(self):
CP = car.CarParams.new_message()
CP.carFw = [
{"ecu": Ecu.esp,
"fwVersion": b"\x01F15260R210\x00\x00\x00\x00\x00\x00",
"address": 1968,
"subAddress": 0},
{"ecu": Ecu.engine,
"fwVersion": b"\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00",
"address": 1792,
"subAddress": 0},
{"ecu": Ecu.eps,
"fwVersion": b"\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00",
"address": 1953,
"subAddress": 0},
{"ecu": Ecu.fwdRadar,
"fwVersion": b"\x018821F3301200\x00\x00\x00\x00",
"address": 1872,
"subAddress": 15},
{"ecu": Ecu.fwdCamera,
"fwVersion": b"\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00",
"address": 1872,
"subAddress": 109}
]
self.assertFingerprints(match_fw_to_car(CP.carFw), TOYOTA.RAV4_TSS2)
def test_fw_fingerprint(self, car_model, ecus):
CP = car.CarParams.new_message()
for _ in range(20):
fw = []
for ecu, fw_versions in ecus.items():
ecu_name, addr, sub_addr = ecu
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
CP.carFw = fw
self.assertFingerprints(match_fw_to_car(CP.carFw), car_model)
def test_fw_fingerprint_all(self, car_model, ecus):
# TODO: this is too slow, so don't run for now
return
ecu_fw_lists = [] # pylint: disable=W0101
for ecu, fw_versions in ecus.items():
ecu_name, addr, sub_addr = ecu
ecu_fw_lists.append([])
for fw in fw_versions:
ecu_fw_lists[-1].append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
"subAddress": 0 if sub_addr is None else sub_addr})
CP = car.CarParams.new_message()
for car_fw in product(*ecu_fw_lists):
CP.carFw = car_fw
self.assertFingerprints(match_fw_to_car(CP.carFw), car_model)
def test_fw_fingerprint(self, brand, car_model, ecus):
CP = car.CarParams.new_message()
for _ in range(200):
fw = []
for ecu, fw_versions in ecus.items():
if not len(fw_versions):
raise unittest.SkipTest("Car model has no FW versions")
ecu_name, addr, sub_addr = ecu
fw.append({
"ecu": ecu_name,
"fwVersion": random.choice(fw_versions),
'brand': brand,
"address": addr,
"subAddress": 0 if sub_addr is None else sub_addr
})
CP.carFw = fw
_, matches = match_fw_to_car(CP.carFw)
self.assertFingerprints(matches, car_model)
def fingerprint(logcan, sendcan):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
if not fixed_fingerprint and not skip_fw_query:
# Vin query only reliably works thorugh OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(
cached_params.carFw
) > 0 and cached_params.carVin is not VIN_UNKNOWN:
cloudlog.warning("Using cached CarParams")
vin = cached_params.carVin
car_fw = list(cached_params.carFw)
else:
cloudlog.warning("Getting VIN & FW versions")
_, vin = get_vin(logcan, sendcan, bus)
car_fw = get_fw_versions(logcan, sendcan, bus)
fw_candidates = match_fw_to_car(car_fw)
else:
vin = VIN_UNKNOWN
fw_candidates, car_fw = set(), []
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars()
for i in [0, 1]
} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
while not done:
a = get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(
can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0
for cc in candidate_cars.values()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
source = car.CarParams.FingerprintSource.can
# If FW query returns exactly 1 candidate, use it
if len(fw_candidates) == 1:
car_fingerprint = list(fw_candidates)[0]
source = car.CarParams.FingerprintSource.fw
if fixed_fingerprint:
car_fingerprint = fixed_fingerprint
source = car.CarParams.FingerprintSource.fixed
cloudlog.warning("fingerprinted %s", car_fingerprint)
return car_fingerprint, finger, vin, car_fw, source
if len(car_fw) == 0:
break
dongles.append(dongle_id)
live_fingerprint = msg.carParams.carFingerprint
if args.car is not None:
live_fingerprint = args.car
if live_fingerprint not in list(
TOYOTA_FINGERPRINTS.keys()) + list(
HONDA_FINGERPRINTS.keys()) + list(
HYUNDAI_FINGERPRINTS.keys()):
break
candidates = match_fw_to_car(car_fw)
if (len(candidates) == 1) and (list(candidates)[0]
== live_fingerprint):
good += 1
print("Correct", live_fingerprint, dongle_id)
break
print(f"{dongle_id}|{time}")
print("Old style:", live_fingerprint, "Vin",
msg.carParams.carVin)
print("New style:", candidates)
for version in car_fw:
subaddr = None if version.subAddress == 0 else hex(
version.subAddress)
print(
def fingerprint(logcan, sendcan):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
if not fixed_fingerprint and not skip_fw_query:
# Vin query only reliably works thorugh OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
cloudlog.warning("Using cached CarParams")
vin = cached_params.carVin
car_fw = list(cached_params.carFw)
else:
cloudlog.warning("Getting VIN & FW versions")
_, vin = get_vin(logcan, sendcan, bus)
car_fw = get_fw_versions(logcan, sendcan)
exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
else:
vin = VIN_UNKNOWN
exact_fw_match, fw_candidates, car_fw = True, set(), []
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
while not done:
a = get_one_can(logcan)
for can in a.can:
# The fingerprint dict is generated for all buses, this way the car interface
# can use it to detect a (valid) multipanda setup and initialize accordingly
if can.src < 128:
if can.src not in finger:
finger[can.src] = {}
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
# Ignore extended messages and VIN query response.
if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
exact_match = True
source = car.CarParams.FingerprintSource.can
# If FW query returns exactly 1 candidate, use it
if len(fw_candidates) == 1:
car_fingerprint = list(fw_candidates)[0]
source = car.CarParams.FingerprintSource.fw
exact_match = exact_fw_match
if fixed_fingerprint:
car_fingerprint = fixed_fingerprint
source = car.CarParams.FingerprintSource.fixed
cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint,
source=source, fuzzy=not exact_match, fw_count=len(car_fw))
return car_fingerprint, finger, vin, car_fw, source, exact_match
def fingerprint(logcan, sendcan, has_relay):
params = Params()
car_params = params.get("CarParams")
if not travis:
cached_fingerprint = params.get('CachedFingerprint')
else:
cached_fingerprint = None
if car_params is not None:
car_params = car.CarParams.from_bytes(car_params)
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
if has_relay and not fixed_fingerprint and not skip_fw_query:
# Vin query only reliably works thorugh OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
cloudlog.warning("Using cached CarParams")
vin = cached_params.carVin
car_fw = list(cached_params.carFw)
else:
cloudlog.warning("Getting VIN & FW versions")
_, vin = get_vin(logcan, sendcan, bus)
car_fw = get_fw_versions(logcan, sendcan, bus)
fw_candidates = match_fw_to_car(car_fw)
else:
vin = VIN_UNKNOWN
fw_candidates, car_fw = set(), []
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None
done = False
if cached_fingerprint is not None and use_car_caching: # if we previously identified a car and fingerprint and user hasn't disabled caching
cached_fingerprint = json.loads(cached_fingerprint)
if cached_fingerprint[0] is None or len(cached_fingerprint) < 3:
params.delete('CachedFingerprint')
else:
finger[0] = {int(key): value for key, value in cached_fingerprint[2].items()}
source = car.CarParams.FingerprintSource.can
return (str(cached_fingerprint[0]), finger, vin, car_fw, cached_fingerprint[1])
while not done:
a = messaging.get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work
# for the combo black_panda and honda_bosch. Ignore extended messages
# and VIN query response.
# Include bus 2 for toyotas to disambiguate cars using camera messages
# (ideally should be done for all cars but we can't for Honda Bosch)
if can.src in range(0, 4):
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
# Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
if only_toyota_left(candidate_cars[b]):
frame_fingerprint = 100 # 1s
if len(candidate_cars[b]) == 1:
if frame > frame_fingerprint:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
elif len(candidate_cars[b]) < 4: # For the RAV4 2019 and Corolla 2020 LE Fingerprint problem
if frame > 180:
if any(("TOYOTA COROLLA TSS2 2019" in c) for c in candidate_cars[b]):
car_fingerprint = "TOYOTA COROLLA TSS2 2019"
if any(("TOYOTA COROLLA HYBRID TSS2 2019" in c) for c in candidate_cars[b]):
car_fingerprint = "TOYOTA COROLLA HYBRID TSS2 2019"
if any(("HYUNDAI IONIQ ELECTRIC LIMITED 2019" in c) for c in candidate_cars[b]):
car_fingerprint = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
source = car.CarParams.FingerprintSource.can
# If FW query returns exactly 1 candidate, use it
if len(fw_candidates) == 1:
car_fingerprint = list(fw_candidates)[0]
source = car.CarParams.FingerprintSource.fw
if fixed_fingerprint:
car_fingerprint = fixed_fingerprint
source = car.CarParams.FingerprintSource.fixed
cloudlog.warning("fingerprinted %s", car_fingerprint)
params.put("CachedFingerprint", json.dumps([car_fingerprint, source, {int(key): value for key, value in finger[0].items()}]))
return car_fingerprint, finger, vin, car_fw, source
print("no fw")
break
live_fingerprint = CP.carFingerprint
live_fingerprint = migration.get(live_fingerprint,
live_fingerprint)
if args.car is not None:
live_fingerprint = args.car
if live_fingerprint not in SUPPORTED_CARS:
print("not in supported cars")
break
_, exact_matches = match_fw_to_car(car_fw,
allow_exact=True,
allow_fuzzy=False)
_, fuzzy_matches = match_fw_to_car(car_fw,
allow_exact=False,
allow_fuzzy=True)
if (len(exact_matches) == 1) and (list(exact_matches)[0]
== live_fingerprint):
good_exact += 1
print(
f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}"
)
# Check if fuzzy match was correct
if len(fuzzy_matches) == 1:
if list(fuzzy_matches)[0] != live_fingerprint:
