Merge remote-tracking branch 'upstream/master' into gm-fpv2-logging

selfdrive/car/fw_query_definitions.py

@@ -59,6 +59,9 @@ class StdQueries:
   UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
   UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
 
+  GM_VIN_REQUEST = b'\x1a\x90'
+  GM_VIN_RESPONSE = b'\x5a\x90'
+
 
 @dataclass
 class Request:

selfdrive/car/fw_versions.py

@@ -361,7 +361,7 @@ if __name__ == "__main__":
 
   # Set up params for boardd
   params = Params()
-  params.delete("FirmwareQueryDone")
+  params.remove("FirmwareQueryDone")
   params.put_bool("IsOnroad", False)
   time.sleep(0.2)  # thread is 10 Hz
   params.put_bool("IsOnroad", True)
@@ -380,7 +380,7 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (1, 0), retry=10, debug=args.debug)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, 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()

selfdrive/car/tests/test_fw_fingerprint.py

@@ -212,7 +212,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_time = 1.2
+    vin_ref_times = {'worst': 1.5, 'best': 0.5}  # best assumes we go through all queries to get a match
     present_ecu_ref_time = 0.75
 
     def fake_get_ecu_addrs(*_, timeout):
@@ -229,12 +229,14 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
     print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
 
-    self.total_time = 0.0
-    with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
-      for _ in range(self.N):
-        get_vin(fake_socket, fake_socket, (0, 1))
-    self._assert_timing(self.total_time / self.N, vin_ref_time)
-    print(f'get_vin, query time={self.total_time / self.N} seconds')
+    for name, args in (('worst', {}), ('best', {'retry': 1})):
+      with self.subTest(name=name):
+        self.total_time = 0.0
+        with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)):
+          for _ in range(self.N):
+            get_vin(fake_socket, fake_socket, (0, 1), **args)
+        self._assert_timing(self.total_time / self.N, vin_ref_times[name])
+        print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   @pytest.mark.timeout(60)
   def test_fw_query_timing(self):

selfdrive/car/vin.py

@@ -18,12 +18,20 @@ def is_valid_vin(vin: str):
 def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
   for i in range(retry):
     for bus in buses:
-      for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
+      for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
+        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+      ):
+        if bus not in valid_buses:
+          continue
+
         try:
-          query = IsoTpParallelQuery(sendcan, logcan, bus, STANDARD_VIN_ADDRS, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
+          query = IsoTpParallelQuery(sendcan, logcan, bus, vin_addrs, [request, ], [response, ], response_offset=rx_offset,
+                                     functional_addrs=functional_addrs, debug=debug)
           results = query.get_data(timeout)
 
-          for addr in STANDARD_VIN_ADDRS:
+          for addr in vin_addrs:
             vin = results.get((addr, None))
             if vin is not None:
               # Ford pads with null bytes