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remove cereal from fw_versions

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pull/33208/head
Shane Smiskol 8 months ago
parent 39982ae7e4
commit 232b37cd40
6 changed files with 77 additions and 77 deletions
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  1. 2
      .importlinter
  2. 83
      selfdrive/car/fw_versions.py
  3. 0
      selfdrive/debug/car/disable_ecu.py
  4. 0
      selfdrive/debug/car/ecu_addrs.py
  5. 69
      selfdrive/debug/car/fw_versions.py
  6. 0
      selfdrive/debug/car/vin.py

2
.importlinter
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@ -37,12 +37,10 @@ ignore_imports =
openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
# params will need to move to new openpilot files that just call car files
openpilot.selfdrive.car.fw_versions -> openpilot.common.params
openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
openpilot.selfdrive.car.vin -> cereal.messaging
openpilot.selfdrive.car.disable_ecu -> cereal.messaging
openpilot.selfdrive.car.ecu_addrs -> cereal.messaging
openpilot.selfdrive.car.fw_versions -> cereal.messaging
# these are okay
openpilot.selfdrive.car.card -> openpilot.common.swaglog

83
selfdrive/car/fw_versions.py
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@ -1,21 +1,20 @@
#!/usr/bin/env python3
from collections import defaultdict
from collections.abc import Callable, Iterator
from typing import Any, Protocol, TypeVar
from typing import Protocol, TypeVar
from tqdm import tqdm
import panda.python.uds as uds
from openpilot.selfdrive.car import carlog
from openpilot.selfdrive.car import carlog, structs
from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
Ecu = CarParams.Ecu
Ecu = structs.CarParams.Ecu
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
@ -39,7 +38,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
return filter_brand is None or brand == filter_brand
def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
def build_fw_dict(fw_versions: list[structs.CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
for fw in fw_versions:
if is_brand(fw.brand, filter_brand) and not fw.logging:
@ -144,7 +143,7 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
return set(candidates.keys()) - invalid
def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: bool = True,
def match_fw_to_car(fw_versions: list[structs.CarParams.CarFw], vin: str, allow_exact: bool = True,
allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
# Try exact matching first
exact_matches: list[tuple[bool, MatchFwToCar]] = []
@ -229,7 +228,7 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
progress: bool = False) -> list[CarParams.CarFw]:
progress: bool = False) -> list[structs.CarParams.CarFw]:
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = []
@ -254,7 +253,7 @@ def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable
def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
progress: bool = False) -> list[CarParams.CarFw]:
progress: bool = False) -> list[structs.CarParams.CarFw]:
versions = VERSIONS.copy()
if query_brand is not None:
@ -306,7 +305,7 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
if query_addrs:
query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
f = CarParams.CarFw()
f = structs.CarParams.CarFw()
f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
f.fwVersion = version
@ -326,69 +325,3 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
carlog.exception("FW query exception")
return car_fw
if __name__ == "__main__":
import time
import argparse
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.car.vin import get_vin
from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
parser.add_argument('--scan', action='store_true')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
args = parser.parse_args()
logcan = messaging.sub_sock('can')
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
can_callbacks = can_comm_callbacks(logcan, sendcan)
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True)
set_obd_multiplexing = obd_callback(params)
extra: Any = None
if args.scan:
extra = {}
# Honda
for i in range(256):
extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
extra[(Ecu.unknown, 0x700 + i, None)] = []
extra[(Ecu.unknown, 0x750, i)] = []
extra = {"any": {"debug": extra}}
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time()
print("Getting vin...")
set_obd_multiplexing(True)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
print()
t = time.time()
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers, vin)
print()
print("Found FW versions")
print("{")
padding = max([len(fw.brand) for fw in fw_vers] or [0])
for version in fw_vers:
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion!r}]")
print("}")
print()
print("Possible matches:", candidates)
print(f"Getting fw took {time.time() - t:.3f} s")

0
selfdrive/debug/car/disable_ecu.py
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0
selfdrive/debug/car/ecu_addrs.py
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69
selfdrive/debug/car/fw_versions.py
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@ -0,0 +1,69 @@
import time
import argparse
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
from openpilot.selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
from openpilot.selfdrive.car.vin import get_vin
from typing import Any
Ecu = structs.CarParams.Ecu
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
parser.add_argument('--scan', action='store_true')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
args = parser.parse_args()
logcan = messaging.sub_sock('can')
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
can_callbacks = can_comm_callbacks(logcan, sendcan)
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True)
set_obd_multiplexing = obd_callback(params)
extra: Any = None
if args.scan:
extra = {}
# Honda
for i in range(256):
extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
extra[(Ecu.unknown, 0x700 + i, None)] = []
extra[(Ecu.unknown, 0x750, i)] = []
extra = {"any": {"debug": extra}}
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time()
print("Getting vin...")
set_obd_multiplexing(True)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
print()
t = time.time()
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers, vin)
print()
print("Found FW versions")
print("{")
padding = max([len(fw.brand) for fw in fw_vers] or [0])
for version in fw_vers:
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion!r}]")
print("}")
print()
print("Possible matches:", candidates)
print(f"Getting fw took {time.time() - t:.3f} s")

0
selfdrive/debug/car/vin.py
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