def get_car(logcan, sendcan=None, passive=True):
# TODO: timeout only useful for replays so controlsd can start before unlogger
timeout = 2. if passive else None
candidate, fingerprints = fingerprint(logcan, timeout)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r",
fingerprints)
if passive:
candidate = "mock"
else:
return None, None
else:
cloudlog.warning("car does match fingerprint: %r", fingerprints)
try:
crash.capture_warning("fingerprinted %s" % candidate)
except: # fixes occasional travis errors
pass
interface_cls = interfaces[candidate]
if interface_cls is None:
cloudlog.warning(
"car matched %s, but interface wasn't available or failed to import"
% candidate)
return None, None
params = interface_cls.get_params(candidate, fingerprints)
return interface_cls(params, sendcan), params
def crash_log2(fingerprints, fw):
while True:
if is_connected_to_internet():
crash.capture_warning("car doesn't match any fingerprints: %s" %
fingerprints)
crash.capture_warning("car doesn't match any fw: %s" % fw)
break
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
time.sleep(0.01)
cloudlog.warning("fingerprinted %s", candidate_cars[0])
crash.capture_warning("fingerprinted %s" % candidate_cars[0])
return (candidate_cars[0], finger)
def get_car(logcan, sendcan, is_panda_black=False):
candidate, fingerprints, vin = fingerprint(logcan, sendcan, is_panda_black)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
candidate = "mock"
else:
cloudlog.warning("car does match fingerprint: %r", fingerprints)
try:
crash.capture_warning("fingerprinted %s" % candidate)
except: # fixes occasional travis errors
pass
CarInterface, CarController = interfaces[candidate]
car_params = CarInterface.get_params(candidate, fingerprints[0], vin, is_panda_black)
return CarInterface(car_params, CarController), car_params
def query_thread():
global last_query_result, last_query_pos, cache_valid
#api = overpy.Overpass(url=OVERPASS_API_URL, headers=OVERPASS_HEADERS, timeout=20.)
api = overpy.Overpass(url=OVERPASS_API_URL)
while True:
time.sleep(1)
if last_gps is not None:
fix_ok = last_gps.flags & 1
if not fix_ok:
continue
if last_query_pos is not None:
cur_ecef = geodetic2ecef(
(last_gps.latitude, last_gps.longitude, last_gps.altitude))
prev_ecef = geodetic2ecef(
(last_query_pos.latitude, last_query_pos.longitude,
last_query_pos.altitude))
dist = np.linalg.norm(cur_ecef - prev_ecef)
if dist < 3000: #updated when we are 1km from the edge of the downloaded circle
continue
if dist > 4000:
cache_valid = False
q = build_way_query(last_gps.latitude,
last_gps.longitude,
radius=4000)
if connected_to_internet():
try:
try:
new_result = api.query(q)
except:
api2 = overpy.Overpass(url=OVERPASS_API_URL2)
print("Using backup Server")
new_result = api2.query(q)
# Build kd-tree
nodes = []
real_nodes = []
node_to_way = defaultdict(list)
location_info = {}
for n in new_result.nodes:
nodes.append((float(n.lat), float(n.lon), 0))
real_nodes.append(n)
for way in new_result.ways:
for n in way.nodes:
node_to_way[n.id].append(way)
for area in new_result.areas:
if area.tags.get('admin_level', '') == "2":
location_info['country'] = area.tags.get(
'ISO3166-1:alpha2', '')
if area.tags.get('admin_level', '') == "4":
location_info['region'] = area.tags.get('name', '')
nodes = np.asarray(nodes)
nodes = geodetic2ecef(nodes)
tree = spatial.cKDTree(nodes)
query_lock.acquire()
last_query_result = new_result, tree, real_nodes, node_to_way, location_info
last_query_pos = last_gps
cache_valid = True
query_lock.release()
except Exception as e:
print(e)
crash.capture_warning(e)
query_lock.acquire()
last_query_result = None
query_lock.release()
else:
query_lock.acquire()
last_query_result = None
query_lock.release()
def crash_log(candidate):
while True:
if is_connected_to_internet():
crash.capture_warning("fingerprinted %s" % candidate)
break
def log_fingerprinted(candidate):
while True:
crash.capture_warning("fingerprinted %s" % candidate)
break
def crash_log2(fingerprints):
crash.capture_warning("car doesn't match any fingerprints: %s" %
fingerprints)
def crash_log(candidate):
crash.capture_warning("fingerprinted %s" % candidate)
def event_fingerprinted_error(fingerprints, fw):
crash.capture_warning("car doesn't match any fingerprints: %s" %
fingerprints)
crash.capture_warning("car doesn't match any fw: %s" % fw)
