diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 2bd17232ea..2e4edcffc6 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -36,6 +36,8 @@ NO_DATES_PLATFORMS = { CAR.HYUNDAI_VELOSTER, } +CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar} + class TestHyundaiFingerprint(unittest.TestCase): def test_can_features(self): @@ -51,16 +53,14 @@ class TestHyundaiFingerprint(unittest.TestCase): self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV") self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported") - 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} - + def test_canfd_ecu_whitelist(self): + # Asserts only expected Ecus can exist in database for CAN-FD cars for car_model in CANFD_CAR: ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} - ecus_not_in_whitelist = ecus - whitelisted_ecus + ecus_not_in_whitelist = ecus - CANFD_EXPECTED_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}") + f"{car_model}: Car model has unexpected ECUs: {ecu_strings}") def test_blacklisted_parts(self): # Asserts no ECUs known to be shared across platforms exist in the database. diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index a76be305bc..1477f1b3af 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -624,11 +624,6 @@ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf110) # Alt long description -HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ - p16(0xf100) - HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE) @@ -652,37 +647,25 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] -ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.parkingAdas, - Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter] - FW_QUERY_CONFIG = FwQueryConfig( requests=[ - # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD + # TODO: add back whitelists # CAN queries (OBD-II port) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], - ), - Request( - [HYUNDAI_VERSION_REQUEST_MULTI], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries (from camera) - # TODO: combine shared whitelists with CAN requests + # CAN & CAN-FD queries (from camera) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps], bus=0, auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], bus=1, auxiliary=True, obd_multiplexing=False, @@ -693,44 +676,15 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_ECU_MANUFACTURING_DATE], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera], - bus=0, - auxiliary=True, - logging=True, - ), - - # CAN & CAN FD logging queries (from camera) - Request( - [HYUNDAI_VERSION_REQUEST_LONG], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=ALL_HYUNDAI_ECUS, bus=0, auxiliary=True, logging=True, ), - Request( - [HYUNDAI_VERSION_REQUEST_MULTI], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=ALL_HYUNDAI_ECUS, - bus=0, - auxiliary=True, - logging=True, - ), - Request( - [HYUNDAI_VERSION_REQUEST_LONG], - [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=ALL_HYUNDAI_ECUS, - bus=1, - auxiliary=True, - obd_multiplexing=False, - logging=True, - ), - # CAN-FD alt request logging queries + # CAN-FD alt request logging queries for hvac and parkingAdas Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=0, auxiliary=True, logging=True, @@ -738,7 +692,6 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=1, auxiliary=True, logging=True, diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 17ffc358f1..eaef1677e7 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 8.5, 2: 9.4} + total_ref_time = {1: 8.1, 2: 8.7} brand_ref_times = { 1: { 'gm': 1.0, @@ -271,7 +271,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'chrysler': 0.3, 'ford': 1.5, 'honda': 0.45, - 'hyundai': 1.05, + 'hyundai': 0.65, 'mazda': 0.1, 'nissan': 0.8, 'subaru': 0.65, @@ -281,7 +281,7 @@ class TestFwFingerprintTiming(unittest.TestCase): }, 2: { 'ford': 1.6, - 'hyundai': 1.85, + 'hyundai': 1.15, 'tesla': 0.3, } }