Add UDS VIN query (#24311)

* Switch to UDS VIN query

* try both

* fall back to obd

selfdrive/car/vin.py

@@ -1,25 +1,32 @@
 #!/usr/bin/env python3
+import struct
 import traceback
 
 import cereal.messaging as messaging
+import panda.python.uds as uds
 from panda.python.uds import FUNCTIONAL_ADDRS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.swaglog import cloudlog
 
-VIN_REQUEST = b'\x09\x02'
+OBD_VIN_REQUEST = b'\x09\x02'
-VIN_RESPONSE = b'\x49\x02\x01'
+OBD_VIN_RESPONSE = b'\x49\x02\x01'
+
+UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
+UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
+
 VIN_UNKNOWN = "0" * 17
 
 
 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
-  for i in range(retry):
+  for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
-    try:
+    for i in range(retry):
-      query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [VIN_REQUEST], [VIN_RESPONSE], functional_addr=True, debug=debug)
+      try:
-      for addr, vin in query.get_data(timeout).items():
+        query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug)
-        return addr[0], vin.decode()
+        for addr, vin in query.get_data(timeout).items():
-      print(f"vin query retry ({i+1}) ...")
+          return addr[0], vin.decode()
-    except Exception:
+        print(f"vin query retry ({i+1}) ...")
-      cloudlog.warning(f"VIN query exception: {traceback.format_exc()}")
+      except Exception:
+        cloudlog.warning(f"VIN query exception: {traceback.format_exc()}")
 
   return 0, VIN_UNKNOWN