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CAN-FD HKG: query FW versions from camera (#26063)

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* add adas essential ecus

* add adas ecu and query

* add queries

* add name

* after

* presence of adas ecu

* Revert "presence of adas ecu" (POC)

This reverts commit ab88a7e7df.

* no whitelist for debugging

* Apply suggestions from code review

* add adas response

* remove adas version

* temp

* read pandaStates

* works in debug script

* only fwdCamera on tucson

* fix pandaStates reading

* fix test_startup

* fix

* simpler

* use existing socket

* pass in number of pandas

* need to create sm using outcome of fingerprinting, which uses sm

fix

* move default argument

* use sock

* always ignore

always ignore

* add canfd fingerprint test

* Update selfdrive/car/hyundai/tests/test_hyundai.py

* set
pull/26128/head^2
Shane Smiskol 3 years ago committed by GitHub
parent dcd804e2bf
commit 7bf70bf7d8
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6 changed files with 74 additions and 52 deletions
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  1. 8
      selfdrive/car/car_helpers.py
  2. 14
      selfdrive/car/fw_versions.py
  3. 29
      selfdrive/car/hyundai/tests/test_hyundai.py
  4. 42
      selfdrive/car/hyundai/values.py
  5. 30
      selfdrive/controls/controlsd.py
  6. 3
      selfdrive/controls/tests/test_startup.py

8
selfdrive/car/car_helpers.py
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@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names)
# **** for use live only ****
def fingerprint(logcan, sendcan):
def fingerprint(logcan, sendcan, num_pandas):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
ecu_rx_addrs = set()
@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan):
cloudlog.warning("Getting VIN & FW versions")
vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
ecu_rx_addrs = get_present_ecus(logcan, sendcan)
car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
cached = False
exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan):
return car_fingerprint, finger, vin, car_fw, source, exact_match
def get_car(logcan, sendcan):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
def get_car(logcan, sendcan, num_pandas=1):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)

14
selfdrive/car/fw_versions.py
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@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs):
return brand_matches
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = []
brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
all_car_fw.extend(car_fw)
# Try to match using FW returned from this brand only
matches = match_fw_to_car_exact(build_fw_dict(car_fw))
@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
return all_car_fw
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
versions = VERSIONS.copy()
# Each brand can define extra ECUs to query for data collection
@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr):
for brand, r in requests:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
try:
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
@ -292,6 +296,7 @@ if __name__ == "__main__":
args = parser.parse_args()
logcan = messaging.sub_sock('can')
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
extra: Any = None
@ -305,6 +310,7 @@ if __name__ == "__main__":
extra = {"any": {"debug": extra}}
time.sleep(1.)
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time()
print("Getting vin...")
@ -314,7 +320,7 @@ if __name__ == "__main__":
print()
t = time.time()
fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers)
print()

29
selfdrive/car/hyundai/tests/test_hyundai.py
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@ -0,0 +1,29 @@
#!/usr/bin/env python3
import unittest
from cereal import car
from selfdrive.car.car_helpers import get_interface_attr
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
from selfdrive.car.hyundai.values import CANFD_CAR
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
class TestHyundaiFingerprint(unittest.TestCase):
def test_auxiliary_request_ecu_whitelist(self):
# Asserts only auxiliary Ecus can exist in database for CAN-FD cars
config = FW_QUERY_CONFIGS['hyundai']
whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3}
for car_model in CANFD_CAR:
ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
ecus_not_in_whitelist = ecus - whitelisted_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}')
if __name__ == "__main__":
unittest.main()

42
selfdrive/car/hyundai/values.py
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@ -300,6 +300,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
),
# CAN-FD queries
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.fwdRadar],
bus=4,
),
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.fwdCamera, Ecu.adas],
bus=5,
),
],
extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
@ -1326,15 +1339,6 @@ FW_VERSIONS = {
],
},
CAR.KIA_EV6: {
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100',
b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
@ -1346,16 +1350,6 @@ FW_VERSIONS = {
],
},
CAR.IONIQ_5: {
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
@ -1369,16 +1363,6 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391312MND0',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
],
},
}

30
selfdrive/controls/controlsd.py
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@ -82,30 +82,30 @@ class Controls:
self.log_sock = messaging.sub_sock('androidLog')
if CI is None:
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
else:
self.CI, self.CP = CI, CI.CP
params = Params()
self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
joystick_packet = ['testJoystick'] if self.joystick_mode else []
self.sm = sm
if self.sm is None:
ignore = []
ignore = ['testJoystick']
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
if params.get_bool('WideCameraOnly'):
ignore += ['roadCameraState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
if CI is None:
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
else:
self.CI, self.CP = CI, CI.CP
self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
# set alternative experiences from parameters
self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")

3
selfdrive/controls/tests/test_startup.py
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@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase):
time.sleep(2) # wait for controlsd to be ready
pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
time.sleep(0.1)
msg = messaging.new_message('pandaStates', 1)
msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
pm.send('pandaStates', msg)

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