You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
177 lines
7.6 KiB
177 lines
7.6 KiB
#!/usr/bin/env python3
|
|
import unittest
|
|
|
|
from cereal import car
|
|
from openpilot.selfdrive.car.fw_versions import build_fw_dict
|
|
from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
|
|
EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
|
|
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
|
|
|
|
Ecu = car.CarParams.Ecu
|
|
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
|
|
|
# Some platforms have date codes in a different format we don't yet parse (or are missing).
|
|
# For now, assert list of expected missing date cars
|
|
NO_DATES_PLATFORMS = {
|
|
# CAN FD
|
|
CAR.KIA_SPORTAGE_5TH_GEN,
|
|
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
|
|
CAR.SANTA_CRUZ_1ST_GEN,
|
|
CAR.TUCSON_4TH_GEN,
|
|
CAR.TUCSON_HYBRID_4TH_GEN,
|
|
# CAN
|
|
CAR.ELANTRA,
|
|
CAR.KIA_CEED,
|
|
CAR.KIA_FORTE,
|
|
CAR.KIA_OPTIMA_G4,
|
|
CAR.KIA_OPTIMA_G4_FL,
|
|
CAR.KIA_SORENTO,
|
|
CAR.KONA,
|
|
CAR.KONA_EV,
|
|
CAR.KONA_EV_2022,
|
|
CAR.KONA_HEV,
|
|
CAR.SONATA_LF,
|
|
CAR.VELOSTER,
|
|
}
|
|
|
|
|
|
class TestHyundaiFingerprint(unittest.TestCase):
|
|
def test_canfd_not_in_can_features(self):
|
|
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
|
|
for car_model in CANFD_CAR:
|
|
self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
|
|
|
|
def test_auxiliary_request_ecu_whitelist(self):
|
|
# Asserts only auxiliary Ecus can exist in database for CAN-FD cars
|
|
whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
|
|
|
|
for car_model in CANFD_CAR:
|
|
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
|
|
ecus_not_in_whitelist = ecus - whitelisted_ecus
|
|
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}")
|
|
|
|
def test_blacklisted_parts(self):
|
|
# Asserts no ECUs known to be shared across platforms exist in the database.
|
|
# Tucson having Santa Cruz camera and EPS for example
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with self.subTest(car_model=car_model):
|
|
if car_model == CAR.SANTA_CRUZ_1ST_GEN:
|
|
raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
|
|
|
|
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
|
|
if b"-" not in code:
|
|
continue
|
|
part = code.split(b"-")[1]
|
|
self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
|
|
|
|
# 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):
|
|
# 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, CAR.KIA_OPTIMA_H,
|
|
CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
|
|
|
|
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with self.subTest(car_model=car_model):
|
|
for platform_code_ecu in PLATFORM_CODE_ECUS:
|
|
if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
|
|
continue
|
|
if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
|
|
continue
|
|
self.assertIn(platform_code_ecu, [e[0] for e in ecus])
|
|
|
|
def test_fw_format(self):
|
|
# Asserts:
|
|
# - every supported ECU FW version returns one platform code
|
|
# - every supported ECU FW version has a part number
|
|
# - expected parsing of ECU FW dates
|
|
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with self.subTest(car_model=car_model):
|
|
for ecu, fws in ecus.items():
|
|
if ecu[0] not in PLATFORM_CODE_ECUS:
|
|
continue
|
|
|
|
codes = set()
|
|
for fw in fws:
|
|
result = get_platform_codes([fw])
|
|
self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
|
|
codes |= result
|
|
|
|
if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
|
|
self.assertTrue(all(date is None for _, date in codes))
|
|
else:
|
|
self.assertTrue(all(date is not None for _, date in codes))
|
|
|
|
if car_model == CAR.HYUNDAI_GENESIS:
|
|
raise unittest.SkipTest("No part numbers for car model")
|
|
|
|
# Hyundai places the ECU part number in their FW versions, assert all parsable
|
|
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
|
|
self.assertTrue(all(b"-" in code for code, _ in codes),
|
|
f"FW does not have part number: {fw}")
|
|
|
|
def test_platform_codes_spot_check(self):
|
|
# Asserts basic platform code parsing behavior for a few cases
|
|
results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
|
|
self.assertEqual(results, {(b"DH", b"150210")})
|
|
|
|
# Some cameras and all radars do not have dates
|
|
results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
|
|
self.assertEqual(results, {(b"AEhe-G2000", None)})
|
|
|
|
results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
|
|
self.assertEqual(results, {(b"CV1-CV000", None)})
|
|
|
|
results = get_platform_codes([
|
|
b"\xf1\x00DH LKAS 1.1 -150210",
|
|
b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
|
|
b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
|
|
])
|
|
self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
|
|
|
|
results = 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 1.08 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 1.03 99211-S9100 190720",
|
|
])
|
|
self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
|
|
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
|
|
|
|
def test_fuzzy_excluded_platforms(self):
|
|
# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
|
|
# This list can be shrunk as we combine platforms and detect features
|
|
excluded_platforms = {
|
|
CAR.GENESIS_G70, # shared platform code, part number, and date
|
|
CAR.GENESIS_G70_2020,
|
|
CAR.TUCSON_4TH_GEN, # shared platform code and part number
|
|
CAR.TUCSON_HYBRID_4TH_GEN,
|
|
}
|
|
excluded_platforms |= CANFD_CAR - EV_CAR # shared platform codes
|
|
excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match
|
|
|
|
platforms_with_shared_codes = set()
|
|
for platform, fw_by_addr in FW_VERSIONS.items():
|
|
car_fw = []
|
|
for ecu, fw_versions in fw_by_addr.items():
|
|
ecu_name, addr, sub_addr = ecu
|
|
for fw in fw_versions:
|
|
car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
|
|
"subAddress": 0 if sub_addr is None else sub_addr})
|
|
|
|
CP = car.CarParams.new_message(carFw=car_fw)
|
|
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
|
|
if len(matches) == 1:
|
|
self.assertEqual(list(matches)[0], platform)
|
|
else:
|
|
platforms_with_shared_codes.add(platform)
|
|
|
|
self.assertEqual(platforms_with_shared_codes, excluded_platforms)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|