openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/car/vin.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import re
+
+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 STANDARD_VIN_ADDRS, StdQueries
+from openpilot.common.swaglog import cloudlog
+
+VIN_UNKNOWN = "0" * 17
+VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
+
+
+def is_valid_vin(vin: str):
+  return re.fullmatch(VIN_RE, vin) is not None
+
+
+def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
+  for i in range(retry):
+    for bus in buses:
+      for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
+        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+        (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
+      ):
+        if bus not in valid_buses:
+          continue
+
+        # When querying functional addresses, ideally we respond to everything that sends a first frame to avoid leaving the
+        # ECU in a temporary bad state. Note that we may not cover all ECUs and response offsets. TODO: query physical addrs
+        tx_addrs = vin_addrs
+        if functional_addrs is not None:
+          tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100))
+
+        try:
+          query = IsoTpParallelQuery(sendcan, logcan, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
+                                     functional_addrs=functional_addrs, debug=debug)
+          results = query.get_data(timeout)
+
+          for addr in vin_addrs:
+            vin = results.get((addr, None))
+            if vin is not None:
+              # Ford and Nissan pads with null bytes
+              if len(vin) in (19, 24):
+                vin = re.sub(b'\x00*$', b'', vin)
+
+              # Honda Bosch response starts with a length, trim to correct length
+              if vin.startswith(b'\x11'):
+                vin = vin[1:18]
+
+              cloudlog.error(f"got vin with {request=}")
+              return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
+        except Exception:
+          cloudlog.exception("VIN query exception")
+
+    cloudlog.error(f"vin query retry ({i+1}) ...")
+
+  return -1, -1, VIN_UNKNOWN
+
+
+if __name__ == "__main__":
+  import argparse
+  import time
+
+  parser = argparse.ArgumentParser(description='Get VIN of the car')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--timeout', type=float, default=0.1)
+  parser.add_argument('--retry', type=int, default=5)
+  args = parser.parse_args()
+
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')