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148 lines
6.2 KiB
148 lines
6.2 KiB
#!/usr/bin/env python3
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from hypothesis import given, settings, strategies as st
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import unittest
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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.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
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FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
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get_platform_codes
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Ecu = car.CarParams.Ecu
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ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
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class TestToyotaInterfaces(unittest.TestCase):
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def test_car_sets(self):
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self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
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self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0)
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def test_tss2_dbc(self):
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# We make some assumptions about TSS2 platforms,
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# like looking up certain signals only in this DBC
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for car_model, dbc in DBC.items():
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if car_model in TSS2_CAR:
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self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")
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def test_essential_ecus(self):
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# Asserts standard ECUs exist for each platform
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common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
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for car_model, ecus in FW_VERSIONS.items():
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with self.subTest(car_model=car_model.value):
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present_ecus = {ecu[0] for ecu in ecus}
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missing_ecus = common_ecus - present_ecus
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self.assertEqual(len(missing_ecus), 0)
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# Some exceptions for other common ECUs
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if car_model not in (CAR.ALPHARD_TSS2,):
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self.assertIn(Ecu.abs, present_ecus)
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if car_model not in (CAR.MIRAI,):
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self.assertIn(Ecu.engine, present_ecus)
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if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
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self.assertIn(Ecu.eps, present_ecus)
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class TestToyotaFingerprint(unittest.TestCase):
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# Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
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# fingerprint in the absence of full FW matches:
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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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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_code_ecus_available(self):
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# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
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for car_model, ecus in FW_VERSIONS.items():
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with self.subTest(car_model=car_model.value):
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for platform_code_ecu in PLATFORM_CODE_ECUS:
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if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
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continue
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if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,):
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continue
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self.assertIn(platform_code_ecu, [e[0] for e in ecus])
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def test_fw_format(self):
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# Asserts:
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# - every supported ECU FW version returns one platform code
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# - every supported ECU FW version has a part number
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# - expected parsing of ECU sub-versions
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for car_model, ecus in FW_VERSIONS.items():
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with self.subTest(car_model=car_model.value):
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for ecu, fws in ecus.items():
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if ecu[0] not in PLATFORM_CODE_ECUS:
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continue
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codes = dict()
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for fw in fws:
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result = get_platform_codes([fw])
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# Check only one platform code and sub-version
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self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
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self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}")
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codes |= result
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# Toyota places the ECU part number in their FW versions, assert all parsable
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# Note that there is only one unique part number per ECU across the fleet, so this
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# is not important for identification, just a sanity check.
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self.assertTrue(all(code.count(b"-") > 1 for code in codes),
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f"FW does not have part number: {fw} {codes}")
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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"F152607140\x00\x00\x00\x00\x00\x00",
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b"F152607171\x00\x00\x00\x00\x00\x00",
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b"F152607110\x00\x00\x00\x00\x00\x00",
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b"F152607180\x00\x00\x00\x00\x00\x00",
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])
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self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}})
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results = get_platform_codes([
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b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
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b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
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])
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self.assertEqual(results, {b"8646F-41-04": {b"100"}})
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# Short version has no part number
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results = get_platform_codes([
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b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
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b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
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])
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self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}})
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results = get_platform_codes([
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b"F152607110\x00\x00\x00\x00\x00\x00",
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b"F152607140\x00\x00\x00\x00\x00\x00",
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b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
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b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
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])
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self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}})
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def test_fuzzy_excluded_platforms(self):
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# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
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platforms_with_shared_codes = set()
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for platform, fw_by_addr in FW_VERSIONS.items():
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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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for fw in 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))
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if len(matches) == 1:
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self.assertEqual(list(matches)[0], platform)
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else:
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# If a platform has multiple matches, add it and its matches
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platforms_with_shared_codes |= {platform, *matches}
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self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))
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if __name__ == "__main__":
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unittest.main()
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