github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
11 KiB
11 KiB
In [62]:
from opendbc.car import structs
from opendbc.car.hyundai.values import CAR, HyundaiFlags
from opendbc.car.hyundai.fingerprints import FW_VERSIONS
TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD electric vehicles only
#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD hybrid and ICE vehicles only
print(f"Found {len(TEST_PLATFORMS)} qualifying vehicles:")
for platform in TEST_PLATFORMS:
print(f" {platform}")Found 6 qualifying vehicles: KIA_EV6 HYUNDAI_KONA_EV_2ND_GEN HYUNDAI_IONIQ_5 KIA_NIRO_EV_2ND_GEN HYUNDAI_IONIQ_6 GENESIS_GV60_EV_1ST_GEN
In [63]:
import random
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database
from opendbc.car.hyundai.values import CAR
database = get_comma_car_segments_database()
TEST_SEGMENTS = []
MAX_SEGS_PER_PLATFORM = 5 # TODO: Increase this to search more segments
print("Collecting segments from commaCarSegments dataset:")
for platform in TEST_PLATFORMS:
assert(platform in database)
#if platform not in database:
# print(f"Skipping platform: {platform}, no data available")
# continue
all_segments = database[platform]
NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)
print(f"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments")
TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))
print(f"Collected {len(TEST_SEGMENTS)} segments for analysis")
Collecting segments from commaCarSegments dataset: Got 1300 segments for platform KIA_EV6, sampling 5 segments Got 9 segments for platform HYUNDAI_KONA_EV_2ND_GEN, sampling 5 segments Got 1570 segments for platform HYUNDAI_IONIQ_5, sampling 5 segments Got 34 segments for platform KIA_NIRO_EV_2ND_GEN, sampling 5 segments Got 974 segments for platform HYUNDAI_IONIQ_6, sampling 5 segments Got 157 segments for platform GENESIS_GV60_EV_1ST_GEN, sampling 5 segments Collected 30 segments for analysis
In [64]:
import copy
import matplotlib.pyplot as plt
import numpy as np
from opendbc.can.parser import CANParser
from opendbc.car.hyundai.values import DBC
from opendbc.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.pandad import can_capnp_to_list
from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source
message_names = ["GEAR_SHIFTER", "ACCELERATOR", "GEAR", "GEAR_ALT", "GEAR_ALT_2"]
for segment in TEST_SEGMENTS:
lr = LogReader(segment, sources=[comma_car_segments_source])
CP = lr.first("carParams")
if CP is None:
continue
can_msgs = [msg for msg in lr if msg.which() == "can"]
parser_messages = []
for name in message_names:
parser_messages.append((name, 0))
cp = CANParser(DBC[platform]["pt"], parser_messages, CanBus(CP).ECAN)
parsed_message_history = []
examples = []
for msg in can_msgs:
cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))
parsed_message_history.append(copy.copy(cp.vl))
print(f"Analyzing segment {segment:<44} for {CP.carFingerprint}")
for name in message_names:
if parsed_message_history[0][name]["CHECKSUM"] != 0: # Message is present for this segment
gear_prev = parsed_message_history[0][name]["GEAR"]
print(f" {name:<15} gear={gear_prev}")
for i, parsed_messages in enumerate(parsed_message_history):
gear = parsed_messages[name]["GEAR"]
if gear != gear_prev:
print(f" *** Signal transition found! ***")
examples.append(i)
gear_prev = gear
print(f"Analysis finished")
Analyzing segment ff2bd20623fcaeaa/2023-11-26--16-27-04/5/s for KIA EV6 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 3f1a6480f940cf9a/2024-01-10--23-06-11/16/s for KIA EV6 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment b0a9998109ed0053/2023-12-15--11-10-18/12/s for KIA EV6 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 6e14aa2ed85025df/2023-11-15--13-18-12/24/s for KIA EV6 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment a43f21df3a1ca12d/2024-01-25--08-56-22/16/s for KIA EV6 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 1618132d68afc876/2023-12-05--13-49-24/11/s for HYUNDAI KONA ELECTRIC 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 1618132d68afc876/2023-11-26--12-31-18/17/s for HYUNDAI KONA ELECTRIC 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 1618132d68afc876/2023-12-05--11-51-44/3/s for HYUNDAI KONA ELECTRIC 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 1618132d68afc876/2023-08-27--09-32-14/13/s for HYUNDAI KONA 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 1618132d68afc876/2024-01-25--15-07-04/24/s for HYUNDAI KONA ELECTRIC 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 223780ed74116bc2/2023-11-16--09-44-56/15/s for HYUNDAI IONIQ 5 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment ba9951252624f37d/2024-01-20--22-33-23/118/s for HYUNDAI IONIQ 5 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 8379b28e51ceb3b1/2023-11-09--23-21-58/92/s for HYUNDAI IONIQ 5 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 26fac43e27cd6091/2023-11-06--12-23-21/9/s for HYUNDAI IONIQ 5 2022 GEAR_SHIFTER gear=1.0 ACCELERATOR gear=0.0 Analyzing segment 5edb897a0ec7a477/2024-01-13--20-41-36/101/s for HYUNDAI IONIQ 5 2022 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 66cf8ea23b7c2789/2023-12-04--13-48-53/5/s for KIA NIRO EV 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment b153671049a867b3/2023-12-10--20-31-37/2/s for KIA NIRO EV 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment b153671049a867b3/2023-12-03--21-08-30/14/s for KIA NIRO EV 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment b153671049a867b3/2023-11-07--19-52-23/0/s for KIA NIRO EV 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment b153671049a867b3/2023-07-12--19-25-18/6/s for KIA NIRO EV 2ND GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 9ea4578ee2b1abcb/2023-11-18--07-59-26/11/s for HYUNDAI IONIQ 6 2023 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 0ad7facc77922c3e/2023-12-21--17-47-25/18/s for HYUNDAI IONIQ 6 2023 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 26968f888e7330d3/2024-01-02--11-18-37/8/s for HYUNDAI IONIQ 6 2023 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 9ea4578ee2b1abcb/2023-11-27--21-03-24/33/s for HYUNDAI IONIQ 6 2023 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment df7fdd56970d90fe/2024-01-07--01-04-39/26/s for HYUNDAI IONIQ 6 2023 GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 94542b2d06f7a9a6/2023-12-11--14-45-44/0/s for GENESIS GV60 ELECTRIC 1ST GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 94542b2d06f7a9a6/2023-12-11--20-57-09/8/s for GENESIS GV60 ELECTRIC 1ST GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 94542b2d06f7a9a6/2024-01-03--12-52-38/5/s for GENESIS GV60 ELECTRIC 1ST GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 94542b2d06f7a9a6/2024-01-19--19-57-52/47/s for GENESIS GV60 ELECTRIC 1ST GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analyzing segment 94542b2d06f7a9a6/2024-01-03--13-01-23/1/s for GENESIS GV60 ELECTRIC 1ST GEN GEAR_SHIFTER gear=4.0 ACCELERATOR gear=5.0 Analysis finished
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