tsl/tools/car_porting/README.md

tools/car_porting

Check out this blog post for a high-level overview of porting a car.

Useful car porting utilities

Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.

Cabana

View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.

Example:

> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'

tools/car_porting/auto_fingerprint.py

Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py

Example:

> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
Attempting to add fw version for:  OUTBACK

selfdrive/car/tests/test_car_interfaces.py

Finds common bugs for car interfaces, without even requiring a route.

Example: Typo in signal name

> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on

=====================================================================
FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'

tools/car_porting/test_car_model.py

Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.

Example: panda safety mismatch for gasPressed

> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'

=====================================================================
FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
Assert that panda safety matches openpilot's carState
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}

tools/car_porting/examples/subaru_steer_temp_fault.ipynb

An example of searching through a database of segments for a specific condition, and plotting the results.

a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change

tools/car_porting/examples/subaru_long_accel.ipynb

An example of plotting the response of an actuator when it is active.

a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.

tools/car_porting/examples/ford_vin_fingerprint.ipynb

In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.

vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
vin: 00000000000XXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False
vin: 3FTTW8F98NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN       determined platform: FORD F-150 LIGHTNING 1ST GEN      correct: True
vin: 1FM5K7LC0MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN                 determined platform: mock                              correct: False
vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN                determined platform: mock                              correct: False
vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN          determined platform: mock                              correct: False
vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN        determined platform: FORD MUSTANG MACH-E 1ST GEN       correct: True
vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
vin: 1FM5K8GC7NGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
vin: 5LM5J7XC8MGXXXXXX real platform: FORD EXPLORER 6TH GEN              determined platform: mock                              correct: False
vin: 3FTTW8E31PRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False
vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN              determined platform: mock                              correct: False