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fix this too

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pull/33208/head
Shane Smiskol 1 year ago
parent 94ef0f8e85
commit 593b0a50f6
1 changed files with 21 additions and 23 deletions
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  1. 44
      selfdrive/car/tests/test_fw_fingerprint.py

44
selfdrive/car/tests/test_fw_fingerprint.py
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@ -4,18 +4,16 @@ import time
from collections import defaultdict
from parameterized import parameterized
from cereal import car
from openpilot.selfdrive.car.can_definitions import CanData
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.data_structures import CarParams
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_fw_versions_ordered, get_present_ecus
from openpilot.selfdrive.car.vin import get_vin
CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
CarFw = CarParams.CarFw
Ecu = CarParams.Ecu
class TestFwFingerprint:
@ -27,7 +25,7 @@ class TestFwFingerprint:
@parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
def test_exact_match(self, brand, car_model, ecus, test_non_essential):
config = FW_QUERY_CONFIGS[brand]
CP = car.CarParams.new_message()
CP = CarParams()
for _ in range(100):
fw = []
for ecu, fw_versions in ecus.items():
@ -37,8 +35,8 @@ class TestFwFingerprint:
continue
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})
fw.append(CarFw(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, CP.carVin, allow_fuzzy=False)
if not test_non_essential:
@ -55,13 +53,13 @@ class TestFwFingerprint:
if config.match_fw_to_car_fuzzy is None:
pytest.skip("Brand does not implement custom fuzzy fingerprinting function")
CP = car.CarParams.new_message()
CP = CarParams()
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})
fw.append(CarFw(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, CP.carVin, allow_exact=False, log=False)
brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, VERSIONS[brand])
@ -82,13 +80,13 @@ class TestFwFingerprint:
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)
fw.append(CarFw(ecu=ecu_name, fwVersion=random.choice(ecus[ecu]), brand=brand,
address=addr, subAddress=0 if sub_addr is None else sub_addr))
CP = CarParams(carFw=fw)
_, matches = match_fw_to_car(CP.carFw, CP.carVin, 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}
unique_ecus = {(f.address, f.subAddress) for f in fw}
if len(unique_ecus) < 2:
assert len(matches) == 0, car_model
# There won't always be a match due to shared FW, but if there is it should be correct
@ -101,8 +99,8 @@ class TestFwFingerprint:
for ecu, ecu_fw in ecus.items():
with subtests.test((ecu[0].value, ecu[1], ecu[2])):
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}'
assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}'
assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ecu[0]}, {duplicates}'
assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ecu[0]}'
def test_all_addrs_map_to_one_ecu(self):
for brand, cars in VERSIONS.items():
@ -111,7 +109,7 @@ class TestFwFingerprint:
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])
ecu_strings = ", ".join([f'Ecu.{ecu}' for ecu in ecus_for_addr])
assert 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, subtests):
@ -129,13 +127,13 @@ class TestFwFingerprint:
CP = interfaces[car_model][0].get_non_essential_params(car_model)
if CP.carName == 'subaru':
for ecu in ecus.keys():
assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})'
assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ecu[0]}, {hex(ecu[1])})'
elif CP.carName == "chrysler":
# Some HD trucks have a combined TCM and ECM
if CP.carFingerprint.startswith("RAM HD"):
if CP.carFingerprint.startswith("RAM_HD"):
for ecu in ecus.keys():
assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})"
assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ecu[0]}, {hex(ecu[1])})"
def test_non_essential_ecus(self, subtests):
for brand, config in FW_QUERY_CONFIGS.items():
@ -143,7 +141,7 @@ class TestFwFingerprint:
# These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
unnecessary_non_essential_ecus = set(config.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])}"
f"{', '.join([f'Ecu.{ecu}' for ecu in unnecessary_non_essential_ecus])}"
def test_missing_versions_and_configs(self, subtests):
brand_versions = set(VERSIONS.keys())
@ -172,7 +170,7 @@ class TestFwFingerprint:
# 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])
ecu_strings = ", ".join([f'Ecu.{ecu}' for ecu in ecus_not_whitelisted])
assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \
f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}'

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