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144 lines
5.7 KiB
144 lines
5.7 KiB
#!/usr/bin/env python3
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import random
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from collections.abc import Iterable
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import capnp
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from hypothesis import settings, given, strategies as st
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from parameterized import parameterized
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from cereal import car
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from openpilot.selfdrive.car.fw_versions import build_fw_dict
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from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
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from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
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Ecu = car.CarParams.Ecu
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ECU_ADDRESSES = {
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Ecu.eps: 0x730, # Power Steering Control Module (PSCM)
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Ecu.abs: 0x760, # Anti-Lock Brake System (ABS)
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Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM)
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Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
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Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
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Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
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Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM)
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}
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ECU_PART_NUMBER = {
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Ecu.eps: [
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b"14D003",
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],
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Ecu.abs: [
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b"2D053",
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],
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Ecu.fwdRadar: [
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b"14D049",
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],
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Ecu.fwdCamera: [
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b"14F397", # Ford Q3
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b"14H102", # Ford Q4
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],
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}
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class TestFordFW:
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def test_fw_query_config(self):
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for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
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assert ecu in ECU_ADDRESSES, "Unknown ECU"
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assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
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assert subaddr is None, "Unexpected ECU subaddress"
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@parameterized.expand(FW_VERSIONS.items())
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def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
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for (ecu, addr, subaddr), fws in fw_versions.items():
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assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
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assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
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assert subaddr is None, "Unexpected ECU subaddress"
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for fw in fws:
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assert len(fw) == 24, "Expected ECU response to be 24 bytes"
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match = FW_PATTERN.match(fw)
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assert match is not None, f"Unable to parse FW: {fw!r}"
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if match:
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part_number = match.group("part_number")
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assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}"
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codes = get_platform_codes([fw])
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assert 1 == len(codes), f"Unable to parse FW: {fw!r}"
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@settings(max_examples=100)
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@given(data=st.data())
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def test_platform_codes_fuzzy_fw(self, data):
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"""Ensure function doesn't raise an exception"""
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fw_strategy = st.lists(st.binary())
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fws = data.draw(fw_strategy)
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get_platform_codes(fws)
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def test_platform_codes_spot_check(self):
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# Asserts basic platform code parsing behavior for a few cases
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results = get_platform_codes([
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b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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])
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assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}
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def test_fuzzy_match(self):
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for platform, fw_by_addr in FW_VERSIONS.items():
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# Ensure there's no overlaps in platform codes
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for _ in range(20):
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car_fw = []
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for ecu, fw_versions in fw_by_addr.items():
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ecu_name, addr, sub_addr = ecu
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fw = random.choice(fw_versions)
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car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
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"subAddress": 0 if sub_addr is None else sub_addr})
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CP = car.CarParams.new_message(carFw=car_fw)
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matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
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assert matches == {platform}
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def test_match_fw_fuzzy(self):
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offline_fw = {
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(Ecu.eps, 0x730, None): [
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b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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],
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(Ecu.abs, 0x760, None): [
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b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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],
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(Ecu.fwdRadar, 0x764, None): [
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b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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],
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# We consider all model year hints for ECU, even with different platform codes
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(Ecu.fwdCamera, 0x706, None): [
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b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
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],
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}
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expected_fingerprint = CAR.FORD_EXPLORER_MK6
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# ensure that we fuzzy match on all non-exact FW with changed revisions
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live_fw = {
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(0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
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(0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
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(0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
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(0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
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}
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candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
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assert candidates == {expected_fingerprint}
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# model year hint in between the range should match
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live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
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candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
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assert candidates == {expected_fingerprint}
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# unseen model year hint should not match
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live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
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candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
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assert len(candidates) == 0, "Should not match new model year hint"
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