diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 4e7dfc5f30..e15dd06322 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -54,115 +54,7 @@ class TestFwFingerprint(unittest.TestCase): 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): - 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): - 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): - 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()}: FW query whitelist missing ecus: {ecu_strings}') - - -class TestFwFingerprintTiming(unittest.TestCase): +class TestFwFingerprintLive(unittest.TestCase): @staticmethod def _benchmark(brand, num_pandas, n): params = Params() @@ -186,7 +78,11 @@ class TestFwFingerprintTiming(unittest.TestCase): self.assertLess(avg_time, ref_time + tol) self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.") - def test_fw_query_timing(self): + def test_fw_query_live(self): + # Runs one of the functions used live to query FW versions from the car (get_fw_versions) + # This test asserts a few things: + # - Brand and whole query timings + # - Global FW versions dict that is uses to query with and match candidates against remains static tol = 0.1 total_ref_time = 4.6 brand_ref_times = { @@ -218,7 +114,7 @@ class TestFwFingerprintTiming(unittest.TestCase): avg_time = self._benchmark(brand, num_pandas, 5) total_time += avg_time - # self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol) + self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol) print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') with self.subTest(brand='all_brands'):