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FwQueryConfig: remove platform codes (#28538)

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* bring platform codes out of config for now (can re-introduce later)

* clean that up

* flake8

* comment

* comments and better test names

* typo

* Update selfdrive/car/hyundai/tests/test_hyundai.py

* Update selfdrive/car/hyundai/tests/test_hyundai.py
old-commit-hash: 572a221a86
vw-mqb-aeb
Shane Smiskol 2 years ago committed by GitHub
parent 5a13d234d4
commit 4120ee014d
4 changed files with 34 additions and 43 deletions
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  1. 8
      selfdrive/car/fw_query_definitions.py
  2. 46
      selfdrive/car/hyundai/tests/test_hyundai.py
  3. 8
      selfdrive/car/hyundai/values.py
  4. 15
      selfdrive/car/tests/test_fw_fingerprint.py

8
selfdrive/car/fw_query_definitions.py
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@ -3,7 +3,7 @@ import capnp
import copy import copy
from dataclasses import dataclass, field from dataclasses import dataclass, field
import struct import struct
from typing import Callable, Dict, List, Optional, Set, Tuple from typing import Dict, List, Optional, Tuple
import panda.python.uds as uds import panda.python.uds as uds
@ -75,12 +75,6 @@ class FwQueryConfig:
# Ecus added for data collection, not to be fingerprinted on # Ecus added for data collection, not to be fingerprinted on
extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
# Brand-specific fuzzy fingerprinting config options:
# A function to get unique, platform-specific identification codes for a set of versions
fuzzy_get_platform_codes: Optional[Callable[[List[bytes]], Set[bytes]]] = None
# List of ECUs expected to have platform codes
platform_code_ecus: List[capnp.lib.capnp._EnumModule] = field(default_factory=list)
def __post_init__(self): def __post_init__(self):
for i in range(len(self.requests)): for i in range(len(self.requests)):
if self.requests[i].auxiliary: if self.requests[i].auxiliary:

46
selfdrive/car/hyundai/tests/test_hyundai.py
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@ -3,7 +3,8 @@ import unittest
from cereal import car from cereal import car
from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, FW_QUERY_CONFIG, \ from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, FW_QUERY_CONFIG, \
FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, PART_NUMBER_FW_PATTERN FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, PART_NUMBER_FW_PATTERN, PLATFORM_CODE_ECUS, \
get_platform_codes
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
@ -25,21 +26,24 @@ class TestHyundaiFingerprint(unittest.TestCase):
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist]) ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}') self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
def test_platform_code_ecus_available(self): def test_platform_code_ecus_available(self):
# TODO: add queries for these non-CAN FD cars to get EPS
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL,
CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80} CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model): with self.subTest(car_model=car_model):
for fuzzy_ecu in FW_QUERY_CONFIG.platform_code_ecus: for platform_code_ecu in PLATFORM_CODE_ECUS:
if fuzzy_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS: if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
continue continue
if fuzzy_ecu == Ecu.eps and car_model in no_eps_platforms: if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
continue continue
self.assertIn(fuzzy_ecu, [e[0] for e in ecus]) self.assertIn(platform_code_ecu, [e[0] for e in ecus])
def test_fw_part_number(self): def test_fw_part_numbers(self):
# Hyundai places the ECU part number in their FW versions, assert all parsable # Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: '56310-L0010', '56310L0010', '56310/M6300' # Some examples of valid formats: '56310-L0010', '56310L0010', '56310/M6300'
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():
@ -48,42 +52,50 @@ class TestHyundaiFingerprint(unittest.TestCase):
raise unittest.SkipTest("No part numbers for car model") raise unittest.SkipTest("No part numbers for car model")
for ecu, fws in ecus.items(): for ecu, fws in ecus.items():
if ecu[0] not in FW_QUERY_CONFIG.platform_code_ecus: if ecu[0] not in PLATFORM_CODE_ECUS:
continue continue
for fw in fws: for fw in fws:
match = PART_NUMBER_FW_PATTERN.search(fw) match = PART_NUMBER_FW_PATTERN.search(fw)
self.assertIsNotNone(match, fw) self.assertIsNotNone(match, fw)
def test_fuzzy_fw_dates(self): def test_fw_dates(self):
# Some newer platforms have date codes in a different format we don't yet parse, # Some newer platforms have date codes in a different format we don't yet parse,
# for now assert date format is consistent for all FW across each platform # for now assert date format is consistent for all FW across each platform
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model): with self.subTest(car_model=car_model):
for ecu, fws in ecus.items(): for ecu, fws in ecus.items():
if ecu[0] not in FW_QUERY_CONFIG.platform_code_ecus: if ecu[0] not in PLATFORM_CODE_ECUS:
continue continue
codes = set() codes = set()
for fw in fws: for fw in fws:
codes |= FW_QUERY_CONFIG.fuzzy_get_platform_codes([fw]) codes |= get_platform_codes([fw])
# Either no dates should be parsed or all dates should be parsed # Either no dates should be parsed or all dates should be parsed
self.assertEqual(len({b'-' in code for code in codes}), 1) self.assertEqual(len({b'-' in code for code in codes}), 1)
def test_fuzzy_platform_codes(self): def test_platform_codes_all_parsable(self):
# Asserts basic platform code parsing behavior # Assert every supported ECU FW version returns one platform code
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00DH LKAS 1.1 -150210']) for fw_by_addr in FW_VERSIONS.values():
for addr, fws in fw_by_addr.items():
if addr[0] in PLATFORM_CODE_ECUS:
for f in fws:
self.assertEqual(1, len(get_platform_codes([f])), f"Unable to parse FW: {f}")
def test_platform_codes_spot_check(self):
# Asserts basic platform code parsing behavior for a few cases
codes = get_platform_codes([b'\xf1\x00DH LKAS 1.1 -150210'])
self.assertEqual(codes, {b"DH-1502"}) self.assertEqual(codes, {b"DH-1502"})
# Some cameras and all radars do not have dates # Some cameras and all radars do not have dates
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ']) codes = get_platform_codes([b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 '])
self.assertEqual(codes, {b"AEhe"}) self.assertEqual(codes, {b"AEhe"})
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ']) codes = get_platform_codes([b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 '])
self.assertEqual(codes, {b"CV1"}) self.assertEqual(codes, {b"CV1"})
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([ codes = get_platform_codes([
b'\xf1\x00DH LKAS 1.1 -150210', b'\xf1\x00DH LKAS 1.1 -150210',
b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ',
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
@ -91,7 +103,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
self.assertEqual(codes, {b"DH-1502", b"AEhe", b"CV1"}) self.assertEqual(codes, {b"DH-1502", b"AEhe", b"CV1"})
# Returned platform codes must inclusively contain start/end dates # Returned platform codes must inclusively contain start/end dates
codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([ codes = get_platform_codes([
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222', b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222',
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103', b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103',
b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405', b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405',

8
selfdrive/car/hyundai/values.py
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@ -398,6 +398,10 @@ PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)') DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
# List of ECUs expected to have platform codes, camera and radar should exist on all cars
# TODO: use abs, it has the platform code and part number on many platforms
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
FW_QUERY_CONFIG = FwQueryConfig( FW_QUERY_CONFIG = FwQueryConfig(
requests=[ requests=[
# TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@ -454,10 +458,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
(Ecu.cornerRadar, 0x7b7, None), (Ecu.cornerRadar, 0x7b7, None),
], ],
fuzzy_get_platform_codes=get_platform_codes,
# Camera and radar should exist on all cars
# TODO: use abs, it has the platform code and part number on many platforms
platform_code_ecus=[Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps],
) )
FW_VERSIONS = { FW_VERSIONS = {

15
selfdrive/car/tests/test_fw_fingerprint.py
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@ -123,21 +123,6 @@ class TestFwFingerprint(unittest.TestCase):
with self.subTest(): with self.subTest():
self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
def test_fuzzy_fingerprint_config(self):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand):
if config.fuzzy_get_platform_codes is None:
self.assertEqual(len(config.platform_code_ecus), 0, "Cannot specify platform code ECUs without full config")
else:
self.assertGreater(len(config.platform_code_ecus), 0, "Need to specify platform code ECUs")
# Assert every supported ECU FW version returns one platform code
for fw_by_addr in VERSIONS[brand].values():
for addr, fws in fw_by_addr.items():
if addr[0] in config.platform_code_ecus:
for f in fws:
self.assertEqual(1, len(config.fuzzy_get_platform_codes([f])), f"Unable to parse FW: {f}")
def test_fw_request_ecu_whitelist(self): def test_fw_request_ecu_whitelist(self):
for brand, config in FW_QUERY_CONFIGS.items(): for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand): with self.subTest(brand=brand):

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