openpilot_comma/selfdrive/car/tests/test_fw_fingerprint.py

#!/usr/bin/env python3
import pytest
import random
import time
import unittest
from collections import defaultdict
from parameterized import parameterized
import threading

from cereal import car
from openpilot.common.params import Params
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
                                                match_fw_to_car, get_fw_versions, get_present_ecus
from openpilot.selfdrive.car.vin import get_vin

CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu

ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}


class FakeSocket:
  def receive(self, non_blocking=False):
    pass

  def send(self, msg):
    pass


class TestFwFingerprint(unittest.TestCase):
  def assertFingerprints(self, candidates, expected):
    candidates = list(candidates)
    self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
    self.assertEqual(candidates[0], expected)

  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
  def test_exact_match(self, brand, car_model, ecus):
    CP = car.CarParams.new_message()
    for _ in range(200):
      fw = []
      for ecu, fw_versions in ecus.items():
        ecu_name, addr, sub_addr = ecu
        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
      CP.carFw = fw
      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
      self.assertFingerprints(matches, car_model)

  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
  def test_custom_fuzzy_match(self, brand, car_model, ecus):
    # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
    config = FW_QUERY_CONFIGS[brand]
    if config.match_fw_to_car_fuzzy is None:
      raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")

    CP = car.CarParams.new_message()
    for _ in range(5):
      fw = []
      for ecu, fw_versions in ecus.items():
        ecu_name, addr, sub_addr = ecu
        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
      CP.carFw = fw
      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))

      # If both have matches, they must agree
      if len(matches) == 1 and len(brand_matches) == 1:
        self.assertEqual(matches, brand_matches)

  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
  def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
    # Asserts that fuzzy matching does not count matching FW, but ECU address keys
    valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
    if not len(valid_ecus):
      raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")

    fw = []
    for ecu in valid_ecus:
      ecu_name, addr, sub_addr = ecu
      for _ in range(5):
        # Add multiple FW versions to simulate ECU returning to multiple queries in a brand
        fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
      CP = car.CarParams.new_message(carFw=fw)
      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)

      # Assert no match if there are not enough unique ECUs
      unique_ecus = {(f['address'], f['subAddress']) for f in fw}
      if len(unique_ecus) < 2:
        self.assertEqual(len(matches), 0, car_model)
      # There won't always be a match due to shared FW, but if there is it should be correct
      elif len(matches):
        self.assertFingerprints(matches, car_model)

  def test_fw_version_lists(self):
    for car_model, ecus in FW_VERSIONS.items():
      with self.subTest(car_model=car_model.value):
        for ecu, ecu_fw in ecus.items():
          with self.subTest(ecu):
            duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
            self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
            self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')

  def test_all_addrs_map_to_one_ecu(self):
    for brand, cars in VERSIONS.items():
      addr_to_ecu = defaultdict(set)
      for ecus in cars.values():
        for ecu_type, addr, sub_addr in ecus.keys():
          addr_to_ecu[(addr, sub_addr)].add(ecu_type)
          ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
          ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
          self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")

  def test_data_collection_ecus(self):
    # Asserts no extra ECUs are in the fingerprinting database
    for brand, config in FW_QUERY_CONFIGS.items():
      for car_model, ecus in VERSIONS[brand].items():
        bad_ecus = set(ecus).intersection(config.extra_ecus)
        with self.subTest(car_model=car_model.value):
          self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')

  def test_blacklisted_ecus(self):
    blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
    for car_model, ecus in FW_VERSIONS.items():
      with self.subTest(car_model=car_model.value):
        CP = interfaces[car_model][0].get_non_essential_params(car_model)
        if CP.carName == 'subaru':
          for ecu in ecus.keys():
            self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')

        elif CP.carName == "chrysler":
          # Some HD trucks have a combined TCM and ECM
          if CP.carFingerprint.startswith("RAM HD"):
            for ecu in ecus.keys():
              self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")

  def test_missing_versions_and_configs(self):
    brand_versions = set(VERSIONS.keys())
    brand_configs = set(FW_QUERY_CONFIGS.keys())
    if len(brand_configs - brand_versions):
      with self.subTest():
        self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")

    if len(brand_versions - brand_configs):
      with self.subTest():
        self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")

  def test_fw_request_ecu_whitelist(self):
    for brand, config in FW_QUERY_CONFIGS.items():
      with self.subTest(brand=brand):
        whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
        brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
        brand_ecus |= {ecu[0] for ecu in config.extra_ecus}

        # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
        ecus_not_whitelisted = brand_ecus - whitelisted_ecus

        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
        self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')

  def test_fw_requests(self):
    # Asserts equal length request and response lists
    for brand, config in FW_QUERY_CONFIGS.items():
      with self.subTest(brand=brand):
        for request_obj in config.requests:
          self.assertEqual(len(request_obj.request), len(request_obj.response))

          # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
          self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing,
                           f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}")


class TestFwFingerprintTiming(unittest.TestCase):
  N: int = 5
  TOL: float = 0.12

  @staticmethod
  def _run_thread(thread: threading.Thread) -> float:
    params = Params()
    params.put_bool("ObdMultiplexingEnabled", True)
    thread.start()
    t = time.perf_counter()
    while thread.is_alive():
      time.sleep(0.02)
      if not params.get_bool("ObdMultiplexingChanged"):
        params.put_bool("ObdMultiplexingChanged", True)
    return time.perf_counter() - t

  def _benchmark_brand(self, brand, num_pandas):
    fake_socket = FakeSocket()
    brand_time = 0
    for _ in range(self.N):
      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
                                kwargs=dict(num_pandas=num_pandas))
      brand_time += self._run_thread(thread)

    return brand_time / self.N

  def _assert_timing(self, avg_time, ref_time):
    self.assertLess(avg_time, ref_time + self.TOL)
    self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")

  def test_startup_timing(self):
    # Tests worse-case VIN query time and typical present ECU query time
    vin_ref_time = 1.0
    present_ecu_ref_time = 0.8

    fake_socket = FakeSocket()
    present_ecu_time = 0.0
    for _ in range(self.N):
      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
                                kwargs=dict(num_pandas=2))
      present_ecu_time += self._run_thread(thread)
    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')

    vin_time = 0.0
    for _ in range(self.N):
      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
      vin_time += self._run_thread(thread)
    self._assert_timing(vin_time / self.N, vin_ref_time)
    print(f'get_vin, query time={vin_time / self.N} seconds')

  @pytest.mark.timeout(60)
  def test_fw_query_timing(self):
    total_ref_time = 6.41
    brand_ref_times = {
      1: {
        'body': 0.11,
        'chrysler': 0.3,
        'ford': 0.2,
        'honda': 0.52,
        'hyundai': 0.72,
        'mazda': 0.2,
        'nissan': 0.4,
        'subaru': 0.52,
        'tesla': 0.2,
        'toyota': 1.6,
        'volkswagen': 0.2,
      },
      2: {
        'ford': 0.3,
        'hyundai': 1.12,
      }
    }

    total_time = 0
    for num_pandas in (1, 2):
      for brand, config in FW_QUERY_CONFIGS.items():
        with self.subTest(brand=brand, num_pandas=num_pandas):
          multi_panda_requests = [r for r in config.requests if r.bus > 3]
          if not len(multi_panda_requests) and num_pandas > 1:
            raise unittest.SkipTest("No multi-panda FW queries")

          avg_time = self._benchmark_brand(brand, num_pandas)
          total_time += avg_time
          avg_time = round(avg_time, 2)
          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
          print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')

    with self.subTest(brand='all_brands'):
      total_time = round(total_time, 2)
      self._assert_timing(total_time, total_ref_time)
      print(f'all brands, total FW query time={total_time} seconds')


if __name__ == "__main__":
  unittest.main()