openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/vin.py

@@ -0,0 +1,63 @@
+#!/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 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, bus, timeout=0.1, retry=5, debug=False):
+  addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100))  # addrs to process/wait for
+  valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
+  for i in range(retry):
+    for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
+      try:
+        query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
+        results = query.get_data(timeout)
+
+        for addr in valid_vin_addrs:
+          vin = results.get((addr, None))
+          if vin is not None:
+            # Ford pads with null bytes
+            if len(vin) == 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]
+
+            return get_rx_addr_for_tx_addr(addr), vin.decode()
+
+        cloudlog.error(f"vin query retry ({i+1}) ...")
+      except Exception:
+        cloudlog.exception("VIN query exception")
+
+  return 0, 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 = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')