openpilot_comma/opendbc_repo/opendbc/car/fw_query_definitions.py

import copy
from dataclasses import dataclass, field
import struct
from collections.abc import Callable

from opendbc.car import uds
from opendbc.car.structs import CarParams

Ecu = CarParams.Ecu

AddrType = tuple[int, int | None]
EcuAddrBusType = tuple[int, int | None, int]
EcuAddrSubAddr = tuple[Ecu, int, int | None]

LiveFwVersions = dict[AddrType, set[bytes]]
OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]

# A global list of addresses we will only ever consider for VIN responses
# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
# TODO: move these to each brand's FW query config
STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]

ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}


def p16(val):
  return struct.pack("!H", val)


class StdQueries:
  # FW queries
  TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
  TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])

  SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
  SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])

  DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
                                      uds.SESSION_TYPE.DEFAULT])
  DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
                                      uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])

  EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
                                       uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
  EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
                                        uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])

  MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
  MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)

  SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
  SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)

  MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
  MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)

  UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
  UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)

  OBD_VERSION_REQUEST = b'\x09\x04'
  OBD_VERSION_RESPONSE = b'\x49\x04'

  # VIN queries
  OBD_VIN_REQUEST = b'\x09\x02'
  OBD_VIN_RESPONSE = b'\x49\x02\x01'

  UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
  UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)

  GM_VIN_REQUEST = b'\x1a\x90'
  GM_VIN_RESPONSE = b'\x5a\x90'

  KWP_VIN_REQUEST = b'\x21\x81'
  KWP_VIN_RESPONSE = b'\x61\x81'


@dataclass
class Request:
  request: list[bytes]
  response: list[bytes]
  whitelist_ecus: list[Ecu] = field(default_factory=list)
  rx_offset: int = 0x8
  bus: int = 1
  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
  auxiliary: bool = False
  # FW responses from these queries will not be used for fingerprinting
  logging: bool = False
  # pandad toggles OBD multiplexing on/off as needed
  obd_multiplexing: bool = True


@dataclass
class FwQueryConfig:
  requests: list[Request]
  # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
  # Overrides and removes from essential ecus for specific models and ecus (exact matching)
  non_essential_ecus: dict[Ecu, list[str]] = field(default_factory=dict)
  # Ecus added for data collection, not to be fingerprinted on
  extra_ecus: list[tuple[Ecu, int, int | None]] = field(default_factory=list)
  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
  # returns set of candidates. Only will match if one candidate is returned
  match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None

  def __post_init__(self):
    # Asserts that a request exists if extra ecus are used
    if len(self.extra_ecus):
      assert len(self.requests), "Must define a request with extra ecus"

    # All extra ecus should be used in a request
    for ecu, _, _ in self.extra_ecus:
      assert (any(ecu in request.whitelist_ecus for request in self.requests) or
              any(not request.whitelist_ecus for request in self.requests)), f"Ecu.{ECU_NAME[ecu]} not in any request"

    # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
    unnecessary_non_essential_ecus = set(self.non_essential_ecus) - set(ESSENTIAL_ECUS)
    assert unnecessary_non_essential_ecus == set(), ("Declaring non-essential ECUs non-essential is not required: " +
                                                     f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}")

    # Asserts equal length request and response lists
    for request_obj in self.requests:
      assert len(request_obj.request) == len(request_obj.response), ("Request and response lengths do not match: " +
                                                                     f"{request_obj.request} vs. {request_obj.response}")

      # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
      assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), ("OBD multiplexed request should not " +
                                                                                                     f"be marked auxiliary: {request_obj}")

    # Add aux requests (second panda) for all requests that are marked as auxiliary
    for i in range(len(self.requests)):
      if self.requests[i].auxiliary:
        new_request = copy.deepcopy(self.requests[i])
        new_request.bus += 4
        self.requests.append(new_request)

  def get_all_ecus(self, offline_fw_versions: OfflineFwVersions,
                   include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]:
    # Add ecus in database + extra ecus
    brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}

    if include_extra_ecus:
      brand_ecus |= set(self.extra_ecus)

    return brand_ecus