add test from hyundai

2 years ago · 018676ea70
parent 8660f69416
commit 018676ea70
3 changed files with 195 additions and 1 deletions
--- a/selfdrive/car/toyota/tests/print_platform_codes.py
+++ b/selfdrive/car/toyota/tests/print_platform_codes.py
@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from cereal import car
+from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      codes = {code for code, _ in platform_codes}
+      dates = {date for _, date in platform_codes if date is not None}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {codes}')
+      print(f'    Dates: {dates}')
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@ -1,13 +1,153 @@
 #!/usr/bin/env python3
 import unittest

+from cereal import car
+from selfdrive.car.fw_versions import build_fw_dict
+# from 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, \
+#                                          PLATFORM_CODE_ECUS, get_platform_codes
 from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR

+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 TestToyotaInterfaces(unittest.TestCase):
  def test_angle_car_set(self):
    self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)


+class TestToyotaFingerprint(unittest.TestCase):
+  # 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.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()
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -1,7 +1,8 @@
+impor re
 from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum, IntFlag
-from typing import Dict, List, Union
+from typing import Dict, List, Optional, Set, Tuple, Union

 from cereal import car
 from common.conversions import Conversions as CV
@ -215,9 +216,41 @@ STATIC_DSU_MSGS = [
  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]

+
+def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
+  # Returns unique, platform-specific identification codes for a set of versions
+  codes = set()  # (code-Optional[part], date)
+  for fw in fw_versions:
+    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
+    part_match = PART_NUMBER_FW_PATTERN.search(fw)
+    date_match = DATE_FW_PATTERN.search(fw)
+    if code_match is not None:
+      code: bytes = code_match.group()
+      part = part_match.group() if part_match else None
+      date = date_match.group() if date_match else None
+      if part is not None:
+        # part number starts with generic ECU part type, add what is specific to platform
+        code += b"-" + part[-5:]
+
+      codes.add((code, date))
+  return codes
+
+
 TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01'
 TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01'

+# # Regex patterns for parsing platform code, FW date, and part number from FW versions
+# PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
+#                                       b')[A-Z]{2}[A-Za-z0-9]{0,2})')
+# DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
+# PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
+
+# List of ECUs expected to have platform codes, camera and radar should exist on all cars
+# TODO: use abs, it has the platform code and part number on many platforms
+PLATFORM_CODE_ECUS = [Ecu.abs, Ecu.engine]
+# So far we've only seen dates in fwdCamera
+DATE_FW_ECUS = [Ecu.fwdCamera]
+
 FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    Request(