From 17b29f42af73aca89e00cded4877b0f809fa6112 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 24 Sep 2024 20:44:49 -0400 Subject: [PATCH] tools: notebook for HKG alt message validation (#33647) --- .../examples/hkg_canfd_gear_message.ipynb | 277 ++++++++++++++++++ 1 file changed, 277 insertions(+) create mode 100644 tools/car_porting/examples/hkg_canfd_gear_message.ipynb diff --git a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb new file mode 100644 index 00000000000000..5fdbdda6842ca5 --- /dev/null +++ b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb @@ -0,0 +1,277 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 62, + "id": "228a6736-de31-4255-9d72-a6ff391b968d", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Found 6 qualifying vehicles:\n", + " KIA_EV6\n", + " HYUNDAI_KONA_EV_2ND_GEN\n", + " HYUNDAI_IONIQ_5\n", + " KIA_NIRO_EV_2ND_GEN\n", + " HYUNDAI_IONIQ_6\n", + " GENESIS_GV60_EV_1ST_GEN\n" + ] + } + ], + "source": [ + "from opendbc.car import structs\n", + "from opendbc.car.hyundai.values import CAR, HyundaiFlags\n", + "from opendbc.car.hyundai.fingerprints import FW_VERSIONS\n", + "\n", + "TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD electric vehicles only\n", + "#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD hybrid and ICE vehicles only\n", + "\n", + "print(f\"Found {len(TEST_PLATFORMS)} qualifying vehicles:\")\n", + "for platform in TEST_PLATFORMS:\n", + " print(f\" {platform}\")" + ] + }, + { + "cell_type": "code", + "execution_count": 63, + "id": "ed1c8aec-c274-4c61-b83d-711ea194bf86", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Collecting segments from commaCarSegments dataset:\n", + "Got 1300 segments for platform KIA_EV6, sampling 5 segments\n", + "Got 9 segments for platform HYUNDAI_KONA_EV_2ND_GEN, sampling 5 segments\n", + "Got 1570 segments for platform HYUNDAI_IONIQ_5, sampling 5 segments\n", + "Got 34 segments for platform KIA_NIRO_EV_2ND_GEN, sampling 5 segments\n", + "Got 974 segments for platform HYUNDAI_IONIQ_6, sampling 5 segments\n", + "Got 157 segments for platform GENESIS_GV60_EV_1ST_GEN, sampling 5 segments\n", + "Collected 30 segments for analysis\n" + ] + } + ], + "source": [ + "import random\n", + "\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", + "from opendbc.car.hyundai.values import CAR\n", + "\n", + "database = get_comma_car_segments_database()\n", + "TEST_SEGMENTS = []\n", + "\n", + "MAX_SEGS_PER_PLATFORM = 5 # TODO: Increase this to search more segments\n", + "\n", + "print(\"Collecting segments from commaCarSegments dataset:\")\n", + "for platform in TEST_PLATFORMS:\n", + " assert(platform in database)\n", + " #if platform not in database:\n", + " # print(f\"Skipping platform: {platform}, no data available\")\n", + " # continue\n", + " \n", + " all_segments = database[platform]\n", + "\n", + " NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n", + "\n", + " print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n", + "\n", + " TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n", + "\n", + "print(f\"Collected {len(TEST_SEGMENTS)} segments for analysis\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": 64, + "id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Analyzing segment ff2bd20623fcaeaa/2023-11-26--16-27-04/5/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 3f1a6480f940cf9a/2024-01-10--23-06-11/16/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b0a9998109ed0053/2023-12-15--11-10-18/12/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 6e14aa2ed85025df/2023-11-15--13-18-12/24/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment a43f21df3a1ca12d/2024-01-25--08-56-22/16/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-12-05--13-49-24/11/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-11-26--12-31-18/17/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-12-05--11-51-44/3/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-08-27--09-32-14/13/s for HYUNDAI KONA 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2024-01-25--15-07-04/24/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 223780ed74116bc2/2023-11-16--09-44-56/15/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment ba9951252624f37d/2024-01-20--22-33-23/118/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 8379b28e51ceb3b1/2023-11-09--23-21-58/92/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 26fac43e27cd6091/2023-11-06--12-23-21/9/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=1.0\n", + " ACCELERATOR gear=0.0\n", + "Analyzing segment 5edb897a0ec7a477/2024-01-13--20-41-36/101/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 66cf8ea23b7c2789/2023-12-04--13-48-53/5/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-12-10--20-31-37/2/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-12-03--21-08-30/14/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-11-07--19-52-23/0/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-07-12--19-25-18/6/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 9ea4578ee2b1abcb/2023-11-18--07-59-26/11/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 0ad7facc77922c3e/2023-12-21--17-47-25/18/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 26968f888e7330d3/2024-01-02--11-18-37/8/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 9ea4578ee2b1abcb/2023-11-27--21-03-24/33/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment df7fdd56970d90fe/2024-01-07--01-04-39/26/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2023-12-11--14-45-44/0/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2023-12-11--20-57-09/8/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2024-01-03--12-52-38/5/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2024-01-19--19-57-52/47/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2024-01-03--13-01-23/1/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analysis finished\n" + ] + } + ], + "source": [ + "import copy\n", + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "from opendbc.car.hyundai.values import DBC\n", + "from opendbc.car.hyundai.hyundaicanfd import CanBus\n", + "\n", + "from openpilot.selfdrive.pandad import can_capnp_to_list\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "\n", + "message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n", + "\n", + "for segment in TEST_SEGMENTS:\n", + " lr = LogReader(segment)\n", + " CP = lr.first(\"carParams\")\n", + " if CP is None:\n", + " continue\n", + "\n", + " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", + " parser_messages = []\n", + " for name in message_names:\n", + " parser_messages.append((name, 0))\n", + " cp = CANParser(DBC[platform][\"pt\"], parser_messages, CanBus(CP).ECAN)\n", + "\n", + " parsed_message_history = []\n", + " examples = []\n", + "\n", + " for msg in can_msgs:\n", + " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", + " parsed_message_history.append(copy.copy(cp.vl))\n", + "\n", + " print(f\"Analyzing segment {segment:<44} for {CP.carFingerprint}\")\n", + " for name in message_names:\n", + " if parsed_message_history[0][name][\"CHECKSUM\"] != 0: # Message is present for this segment\n", + " gear_prev = parsed_message_history[0][name][\"GEAR\"]\n", + " print(f\" {name:<15} gear={gear_prev}\")\n", + " for i, parsed_messages in enumerate(parsed_message_history):\n", + " gear = parsed_messages[name][\"GEAR\"]\n", + " if gear != gear_prev:\n", + " print(f\" *** Signal transition found! ***\")\n", + " examples.append(i)\n", + " gear_prev = gear\n", + "\n", + "print(f\"Analysis finished\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7724dd97-f62e-4fd3-9f64-63d49be669d2", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "9f393e00-8efd-40fb-a41e-d312531a83e8", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.3" + } + }, + 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