def fingerprint(logcan, timeout):
if os.getenv("SIMULATOR") is not None or logcan is None:
return ("simulator", None)
elif os.getenv("SIMULATOR2") is not None:
return ("simulator2", None)
finger_st = sec_since_boot()
cloudlog.warning("waiting for fingerprint...")
candidate_cars = all_known_cars()
finger = {}
st = None
while 1:
for a in messaging.drain_sock(logcan, wait_for_one=True):
if st is None:
st = sec_since_boot()
for can in a.can:
if can.src == 0:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(
can, candidate_cars)
ts = sec_since_boot()
# if we only have one car choice and it's been 100ms since we got our first message, exit
if len(candidate_cars) == 1 and st is not None and (ts - st) > 0.1:
break
# bail if no cars left or we've been waiting too long
elif len(candidate_cars) == 0 or (timeout
and ts - finger_st > timeout):
return None, finger
cloudlog.warning("fingerprinted %s", candidate_cars[0])
return (candidate_cars[0], finger)
def fingerprint(logcan, timeout):
if os.getenv("SIMULATOR2") is not None:
return ("simulator2", None)
finger_st = sec_since_boot()
cloudlog.warning("waiting for fingerprint...")
candidate_cars = all_known_cars()
finger = {}
st = None
while 1:
for a in messaging.drain_sock(logcan, wait_for_one=True):
if st is None:
st = sec_since_boot()
for can in a.can:
if can.src == 0:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
ts = sec_since_boot()
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and st is not None:
# TODO: better way to decide to wait more if Toyota
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
if (ts-st) > time_fingerprint:
break
# bail if no cars left or we've been waiting too long
elif len(candidate_cars) == 0 or (timeout and ts-finger_st > timeout):
return None, finger
cloudlog.warning("fingerprinted %s", candidate_cars[0])
return (candidate_cars[0], finger)
def fingerprint(logcan, timeout):
if os.getenv("SIMULATOR2") is not None:
return ("simulator2", None)
elif os.getenv("SIMULATOR") is not None:
return ("simulator", None)
cloudlog.warning("waiting for fingerprint...")
candidate_cars = all_known_cars()
finger = {}
st = None
st_passive = sec_since_boot() # only relevant when passive
can_seen = False
while 1:
for a in messaging.drain_sock(logcan):
for can in a.can:
can_seen = True
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints
if can.src == 0 and can.address < 0x800:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(
can, candidate_cars)
if st is None and can_seen:
st = sec_since_boot() # start time
ts = sec_since_boot()
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and st is not None:
# TODO: better way to decide to wait more if Toyota
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS"
in candidate_cars[0]) else 0.1
if (ts - st) > time_fingerprint:
break
# bail if no cars left or we've been waiting too long
elif len(candidate_cars) == 0 or (timeout and
(ts - st_passive) > timeout):
#return None, finger
print "Fingerprinting Failed: Returning Tesla (based on branch)"
return "TESLA MODEL S", finger
time.sleep(0.01)
cloudlog.warning("fingerprinted %s", candidate_cars[0])
return (candidate_cars[0], finger)
def fingerprint(logcan, sendcan, is_panda_black):
if os.getenv("SIMULATOR2") is not None:
return ("simulator2", None, "")
elif os.getenv("SIMULATOR") is not None:
return ("simulator", None, "")
params = Params()
car_params = params.get("CarParams")
if car_params is not None:
# use already stored VIN: a new VIN query cannot be done, since panda isn't in ELM327 mode
car_params = car.CarParams.from_bytes(car_params)
vin = VIN_UNKNOWN if car_params.carVin == "" else car_params.carVin
elif is_panda_black:
# Vin query only reliably works thorugh OBDII
vin = get_vin(logcan, sendcan, 1)
else:
vin = VIN_UNKNOWN
cloudlog.warning("VIN %s", vin)
Params().put("CarVin", vin)
finger = {i: {} for i in range(0, 4)} # collect on all buses
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 = messaging.recv_one(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)
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]:
finger[can.src][can.address] = len(can.dat)
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]
# bail if no cars left or we've been waiting for more than 2s
failed = all(len(cc) == 0
for cc in candidate_cars.itervalues()) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
cloudlog.warning("fingerprinted %s", car_fingerprint)
return car_fingerprint, finger, vin
def fingerprint(logcan, sendcan):
if os.getenv("SIMULATOR2") is not None:
return ("simulator2", None, "")
elif os.getenv("SIMULATOR") is not None:
return ("simulator", None, "")
finger = {}
cloudlog.warning("waiting for fingerprint...")
candidate_cars = all_known_cars()
can_seen_ts = None
can_seen = False
# works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
# Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
vin_query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
[0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
vin_cnts = [1, 2] # number of messages to wait for at each iteration
vin_step = 0
vin_cnt = 0
vin_responded = False
vin_never_responded = True
vin_dat = []
vin = ""
while 1:
for a in messaging.drain_sock(logcan):
for can in a.can:
can_seen = True
# have we got a VIN query response?
if can.src == 0 and can.address == 0x7e8:
vin_never_responded = False
# basic sanity checks on ISO-TP response
if is_vin_response_valid(can.dat, vin_step, vin_cnt):
vin_dat += can.dat[2:] if vin_step == 0 else can.dat[1:]
vin_cnt += 1
if vin_cnt == vin_cnts[vin_step]:
vin_responded = True
vin_step += 1
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints.
# also exclude VIN query response on 0x7e8
if can.src == 0 and can.address < 0x800 and can.address != 0x7e8:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(
can, candidate_cars)
if can_seen_ts is None and can_seen:
can_seen_ts = sec_since_boot() # start time
ts = sec_since_boot()
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and can_seen_ts is not None:
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS"
in candidate_cars[0]) else 0.1
if (ts - can_seen_ts) > time_fingerprint:
break
# bail if no cars left or we've been waiting for more than 2s since can_seen
elif len(candidate_cars) == 0 or (can_seen_ts is not None and
(ts - can_seen_ts) > 2.):
return None, finger, ""
# keep sending VIN qury if ECU isn't responsing.
# sendcan is probably not ready due to the zmq slow joiner syndrome
if can_seen and (vin_never_responded or
(vin_responded and vin_step < len(vin_cnts))):
sendcan.send(
can_list_to_can_capnp([vin_query_msg[vin_step]],
msgtype='sendcan'))
vin_responded = False
vin_cnt = 0
time.sleep(0.01)
# only report vin if procedure is finished
if vin_step == len(vin_cnts) and vin_cnt == vin_cnts[-1]:
vin = "".join(vin_dat[3:])
cloudlog.warning("fingerprinted %s", candidate_cars[0])
cloudlog.warning("VIN %s", vin)
return candidate_cars[0], finger, vin
def fingerprint(logcan, sendcan):
if os.getenv("SIMULATOR2") is not None:
return ("simulator2", None, "")
elif os.getenv("SIMULATOR") is not None:
return ("simulator", None, "")
finger = {0: {}, 2: {}} # collect on bus 0 or 2
cloudlog.warning("waiting for fingerprint...")
candidate_cars = all_known_cars()
can_seen_frame = None
can_seen = False
# works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
# Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
vin_query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
[0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
vin_cnts = [1, 2] # number of messages to wait for at each iteration
vin_step = 0
vin_cnt = 0
vin_responded = False
vin_never_responded = True
vin_dat = []
vin = ""
frame = 0
while True:
a = messaging.recv_one(logcan)
for can in a.can:
can_seen = True
# have we got a VIN query response?
if can.src == 0 and can.address == 0x7e8:
vin_never_responded = False
# basic sanity checks on ISO-TP response
if is_vin_response_valid(can.dat, vin_step, vin_cnt):
vin_dat += can.dat[2:] if vin_step == 0 else can.dat[1:]
vin_cnt += 1
if vin_cnt == vin_cnts[vin_step]:
vin_responded = True
vin_step += 1
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints.
# also exclude VIN query response on 0x7e8.
# 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 == 0 or (only_toyota_left(candidate_cars) and can.src == 2)) and \
can.address < 0x800 and can.address != 0x7e8:
finger[can.src][can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(
can, candidate_cars)
if can_seen_frame is None and can_seen:
can_seen_frame = frame
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and can_seen_frame is not None:
time_fingerprint = 1.0 if only_toyota_left(candidate_cars) else 0.1
if (frame - can_seen_frame) > (time_fingerprint * 100):
break
# bail if no cars left or we've been waiting for more than 2s since can_seen
elif len(candidate_cars) == 0 or (can_seen_frame is not None and
(frame - can_seen_frame) > 200):
return None, finger, ""
# keep sending VIN qury if ECU isn't responsing.
# sendcan is probably not ready due to the zmq slow joiner syndrome
# TODO: VIN query temporarily disabled until we have the harness
if False and can_seen and (vin_never_responded or
(vin_responded
and vin_step < len(vin_cnts))):
sendcan.send(
can_list_to_can_capnp([vin_query_msg[vin_step]],
msgtype='sendcan'))
vin_responded = False
vin_cnt = 0
frame += 1
# only report vin if procedure is finished
if vin_step == len(vin_cnts) and vin_cnt == vin_cnts[-1]:
vin = "".join(vin_dat[3:])
cloudlog.warning("fingerprinted %s", candidate_cars[0])
cloudlog.warning("VIN %s", vin)
return candidate_cars[0], finger, vin
msgs = {}
"""""
while True:
lc = messaging.recv_sock(logcan, True)
for c in lc.can:
# read also msgs sent by EON on CAN bus 0x80 and filter out the
# addr with more than 11 bits
if c.src%0x80 == 0 and c.address < 0x800:
msgs[c.address] = len(c.dat)
fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
print "number of messages:", len(msgs)
print "fingerprint", fingerprint
""" ""
candidate_cars = all_known_cars()
finger = {}
st = None
st_passive = sec_since_boot() # only relevant when passive
can_seen = False
i = 100
while i:
i = i - 1
for a in messaging.drain_sock(logcan):
for can in a.can:
can_seen = True
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints
if can.src == 0 and can.address < 0x800:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(
def fingerprint(logcan, timeout):
if os.getenv("SIMULATOR2") is not None:
return ("simulator2", None)
elif os.getenv("SIMULATOR") is not None:
return ("simulator", None)
params = Params()
cached_fingerprint = params.get('CachedFingerprint')
if cached_fingerprint is not None and kegman.get(
"useCarCaching", True
): # if we previously identified a car and fingerprint and user hasn't disabled caching
cached_fingerprint = json.loads(cached_fingerprint)
try:
with open("/data/kegman.json", "r") as f:
cloudlog.warning(str(f.read()))
except:
pass
try:
with open("/data/params/d/ControlsParams", "r") as f:
cloudlog.warning(f.read())
except:
pass
try:
with open("/data/params/d/LiveParameters", "r") as f:
cloudlog.warning(f.read())
except:
pass
return (str(cached_fingerprint[0]), {
long(key): value
for key, value in cached_fingerprint[1].items()
}) # not sure if dict of longs is required
cloudlog.warning("waiting for fingerprint...")
candidate_cars = all_known_cars()
finger = {}
st = None
st_passive = sec_since_boot() # only relevant when passive
can_seen = False
while 1:
for a in messaging.drain_sock(logcan):
for can in a.can:
can_seen = True
# ignore everything not on bus 0 and with more than 11 bits,
# which are ussually sporadic and hard to include in fingerprints
if can.src == 0 and can.address < 0x800:
finger[can.address] = len(can.dat)
candidate_cars = eliminate_incompatible_cars(
can, candidate_cars)
if st is None and can_seen:
st = sec_since_boot() # start time
ts = sec_since_boot()
# if we only have one car choice and the time_fingerprint since we got our first
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
# broadcast immediately
if len(candidate_cars) == 1 and st is not None:
# TODO: better way to decide to wait more if Toyota
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS"
in candidate_cars[0]) else 0.1
if (ts - st) > time_fingerprint:
break
# bail if no cars left or we've been waiting too long
elif len(candidate_cars) == 0 or (timeout and
(ts - st_passive) > timeout):
return None, finger
time.sleep(0.01)
try:
with open("/data/kegman.json", "r") as f:
cloudlog.warning(str(f.read()))
except:
pass
try:
with open("/data/params/d/ControlsParams", "r") as f:
cloudlog.warning(f.read())
except:
pass
try:
with open("/data/params/d/LiveParameters", "r") as f:
cloudlog.warning(f.read())
except:
pass
cloudlog.warning("fingerprinted %s", candidate_cars[0])
params.put("CachedFingerprint",
json.dumps([
candidate_cars[0],
{int(key): value
for key, value in finger.items()}
])) # probably can remove long to int conversion
return (candidate_cars[0], finger)
"975b26878285314d|2018-12-25--14-42-13", # CHRYSLER PACIFICA HYBRID 2018
"8ae193ceb56a0efe|2018-06-18--20-07-32", # TOYOTA RAV4 HYBRID 2017
"a893a80e5c5f72c8|2019-01-14--20-02-59", # HYUNDAI GENESIS 2018
"49c73650e65ff465|2018-11-19--16-58-04", # HOLDEN ASTRA RS-V BK 2017
"d2d8152227f7cb82|2018-07-25--13-40-56", # TOYOTA CAMRY 2018
"07cb8a788c31f645|2018-06-17--18-50-29", # mock
"c9d60e5e02c04c5c|2018-01-08--16-01-49", # HONDA CR-V 2016 TOURING
"1632088eda5e6c4d|2018-06-07--08-03-18", # HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019
"fbd011384db5e669|2018-07-26--20-51-48", # TOYOTA CAMRY HYBRID 2018
]
if __name__ == "__main__":
# TODO: add routes for untested cars and fail test if we have an untested car
tested_cars = [keys["carFingerprint"] for route, keys in routes.items()]
for car_model in all_known_cars():
if car_model not in tested_cars:
print "***** WARNING: %s not tested *****" % car_model
results = {}
for route, checks in routes.items():
if route not in non_public_routes:
get_route_logs(route)
elif "UNLOGGER_PATH" not in os.environ:
continue
for _ in range(3):
shutil.rmtree('/data/params')
manager.gctx = {}
params = Params()
params.manager_start()
