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selfdrive/car: OBD callback (#33200)

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* finish

* pass empty cb

* last fix!

* i keep messing this up

* even more coverage!

* not needed
old-commit-hash: 86aeb123bc
pull/33302/head
Shane Smiskol 9 months ago committed by GitHub
parent 6fc4328de4
commit a1c2971f13
6 changed files with 45 additions and 43 deletions
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  1. 16
      selfdrive/car/car_helpers.py
  2. 15
      selfdrive/car/card.py
  3. 4
      selfdrive/car/ecu_addrs.py
  4. 37
      selfdrive/car/fw_versions.py
  5. 14
      selfdrive/car/tests/test_fw_fingerprint.py
  6. 2
      selfdrive/test/process_replay/process_replay.py

16
selfdrive/car/car_helpers.py
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@ -8,7 +8,7 @@ from openpilot.selfdrive.car import carlog
from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car
from openpilot.selfdrive.car.mock.values import CAR as MOCK from openpilot.selfdrive.car.mock.values import CAR as MOCK
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car import gen_empty_fingerprint
@ -90,7 +90,7 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
# **** for use live only **** # **** for use live only ****
def fingerprint(logcan, sendcan, num_pandas): def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
fixed_fingerprint = os.environ.get('FINGERPRINT', "") fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False) disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
@ -115,11 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas):
carlog.warning("Getting VIN & FW versions") carlog.warning("Getting VIN & FW versions")
# enable OBD multiplexing for VIN query # enable OBD multiplexing for VIN query
# NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
set_obd_multiplexing(params, True) set_obd_multiplexing(True)
# VIN query only reliably works through OBDII # VIN query only reliably works through OBDII
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1)) vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) ecu_rx_addrs = get_present_ecus(logcan, sendcan, set_obd_multiplexing, num_pandas=num_pandas)
car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
cached = False cached = False
exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin) exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
@ -134,7 +134,7 @@ def fingerprint(logcan, sendcan, num_pandas):
carlog.warning("VIN %s", vin) carlog.warning("VIN %s", vin)
# disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
set_obd_multiplexing(params, False) set_obd_multiplexing(False)
params.put_bool("FirmwareQueryDone", True) params.put_bool("FirmwareQueryDone", True)
fw_query_time = time.monotonic() - start_time fw_query_time = time.monotonic() - start_time
@ -169,8 +169,8 @@ def get_car_interface(CP):
return CarInterface(CP, CarController, CarState) return CarInterface(CP, CarController, CarState)
def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas)
if candidate is None: if candidate is None:
carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)}) carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})

15
selfdrive/car/card.py
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@ -26,6 +26,17 @@ EventName = car.CarEvent.EventName
carlog.addHandler(ForwardingHandler(cloudlog)) carlog.addHandler(ForwardingHandler(cloudlog))
def obd_callback(params: Params):
def set_obd_multiplexing(obd_multiplexing: bool):
if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
params.remove("ObdMultiplexingChanged")
params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
params.get_bool("ObdMultiplexingChanged", block=True)
cloudlog.warning("OBD multiplexing set successfully")
return set_obd_multiplexing
class Car: class Car:
CI: CarInterfaceBase CI: CarInterfaceBase
@ -49,9 +60,9 @@ class Car:
print("Waiting for CAN messages...") print("Waiting for CAN messages...")
get_one_can(self.can_sock) get_one_can(self.can_sock)
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) 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'], obd_callback(self.params), experimental_long_allowed, num_pandas)
else: else:
self.CI, self.CP = CI, CI.CP self.CI, self.CP = CI, CI.CP

4
selfdrive/car/ecu_addrs.py
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@ -62,7 +62,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
if __name__ == "__main__": if __name__ == "__main__":
import argparse import argparse
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing from openpilot.selfdrive.car.card import obd_callback
parser = argparse.ArgumentParser(description='Get addresses of all ECUs') parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
parser.add_argument('--debug', action='store_true') parser.add_argument('--debug', action='store_true')
@ -81,7 +81,7 @@ if __name__ == "__main__":
time.sleep(0.2) # thread is 10 Hz time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True) params.put_bool("IsOnroad", True)
set_obd_multiplexing(params, not args.no_obd) obd_callback(params)(not args.no_obd)
print("Getting ECU addresses ...") print("Getting ECU addresses ...")
ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)

37
selfdrive/car/fw_versions.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from collections import defaultdict from collections import defaultdict
from collections.abc import Iterator from collections.abc import Callable, Iterator
from typing import Any, Protocol, TypeVar from typing import Any, Protocol, TypeVar
from tqdm import tqdm from tqdm import tqdm
@ -27,6 +27,7 @@ MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
T = TypeVar('T') T = TypeVar('T')
ObdCallback = Callable[[bool], None]
def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]: def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
@ -171,8 +172,7 @@ def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vi
return True, set() return True, set()
def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]: def get_present_ecus(logcan, sendcan, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
params = Params()
# queries are split by OBD multiplexing mode # queries are split by OBD multiplexing mode
queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []} queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []} parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
@ -204,7 +204,7 @@ def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType
ecu_responses = set() ecu_responses = set()
for obd_multiplexing in queries: for obd_multiplexing in queries:
set_obd_multiplexing(params, obd_multiplexing) set_obd_multiplexing(obd_multiplexing)
for query in queries[obd_multiplexing]: for query in queries[obd_multiplexing]:
ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
return ecu_responses return ecu_responses
@ -228,17 +228,8 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
return brand_matches return brand_matches
def set_obd_multiplexing(params: Params, obd_multiplexing: bool): def get_fw_versions_ordered(logcan, sendcan, set_obd_multiplexing: ObdCallback, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1,
if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing: num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
carlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
params.remove("ObdMultiplexingChanged")
params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
params.get_bool("ObdMultiplexingChanged", block=True)
carlog.warning("OBD multiplexing set successfully")
def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = [] all_car_fw = []
@ -249,7 +240,7 @@ def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddr
if not len(brand_matches[brand]): if not len(brand_matches[brand]):
continue continue
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) car_fw = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
all_car_fw.extend(car_fw) all_car_fw.extend(car_fw)
# If there is a match using this brand's FW alone, finish querying early # If there is a match using this brand's FW alone, finish querying early
@ -260,10 +251,9 @@ def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddr
return all_car_fw return all_car_fw
def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, def get_fw_versions(logcan, sendcan, set_obd_multiplexing: ObdCallback, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1,
debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]: num_pandas: int = 1, debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
versions = VERSIONS.copy() versions = VERSIONS.copy()
params = Params()
if query_brand is not None: if query_brand is not None:
versions = {query_brand: versions[query_brand]} versions = {query_brand: versions[query_brand]}
@ -305,7 +295,7 @@ def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVe
# Toggle OBD multiplexing for each request # Toggle OBD multiplexing for each request
if r.bus % 4 == 1: if r.bus % 4 == 1:
set_obd_multiplexing(params, r.obd_multiplexing) set_obd_multiplexing(r.obd_multiplexing)
try: try:
query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@ -340,7 +330,9 @@ if __name__ == "__main__":
import time import time
import argparse import argparse
import cereal.messaging as messaging import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.car.vin import get_vin from openpilot.selfdrive.car.vin import get_vin
from openpilot.selfdrive.car.card import obd_callback
parser = argparse.ArgumentParser(description='Get firmware version of ECUs') parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
parser.add_argument('--scan', action='store_true') parser.add_argument('--scan', action='store_true')
@ -358,6 +350,7 @@ if __name__ == "__main__":
params.put_bool("IsOnroad", False) params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True) params.put_bool("IsOnroad", True)
set_obd_multiplexing = obd_callback(params)
extra: Any = None extra: Any = None
if args.scan: if args.scan:
@ -373,14 +366,14 @@ if __name__ == "__main__":
t = time.time() t = time.time()
print("Getting vin...") print("Getting vin...")
set_obd_multiplexing(params, True) set_obd_multiplexing(True)
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug) vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s") print(f"Getting VIN took {time.time() - t:.3f} s")
print() print()
t = time.time() t = time.time()
fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True) fw_vers = get_fw_versions(logcan, sendcan, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers, vin) _, candidates = match_fw_to_car(fw_vers, vin)
print() print()

14
selfdrive/car/tests/test_fw_fingerprint.py
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@ -9,7 +9,7 @@ from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS 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, \ 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_present_ecus 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 from openpilot.selfdrive.car.vin import get_vin
from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.pandad import can_list_to_can_capnp
@ -214,7 +214,7 @@ class TestFwFingerprintTiming:
current_obd_multiplexing: bool current_obd_multiplexing: bool
total_time: float total_time: float
def fake_set_obd_multiplexing(self, _, obd_multiplexing): def fake_set_obd_multiplexing(self, obd_multiplexing):
"""The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change""" """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
if obd_multiplexing != self.current_obd_multiplexing: if obd_multiplexing != self.current_obd_multiplexing:
self.current_obd_multiplexing = obd_multiplexing self.current_obd_multiplexing = obd_multiplexing
@ -227,14 +227,13 @@ class TestFwFingerprintTiming:
def _benchmark_brand(self, brand, num_pandas, mocker): def _benchmark_brand(self, brand, num_pandas, mocker):
fake_socket = FakeSocket() fake_socket = FakeSocket()
self.total_time = 0 self.total_time = 0
mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
for _ in range(self.N): for _ in range(self.N):
# Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
self.current_obd_multiplexing = True self.current_obd_multiplexing = True
t = time.perf_counter() t = time.perf_counter()
get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) get_fw_versions(fake_socket, fake_socket, self.fake_set_obd_multiplexing, brand, num_pandas=num_pandas)
self.total_time += time.perf_counter() - t self.total_time += time.perf_counter() - t
return self.total_time / self.N return self.total_time / self.N
@ -254,11 +253,10 @@ class TestFwFingerprintTiming:
fake_socket = FakeSocket() fake_socket = FakeSocket()
self.total_time = 0.0 self.total_time = 0.0
mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs) mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
for _ in range(self.N): for _ in range(self.N):
self.current_obd_multiplexing = True self.current_obd_multiplexing = True
get_present_ecus(fake_socket, fake_socket, num_pandas=2) get_present_ecus(fake_socket, fake_socket, self.fake_set_obd_multiplexing, num_pandas=2)
self._assert_timing(self.total_time / self.N, present_ecu_ref_time) 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') print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
@ -325,9 +323,9 @@ class TestFwFingerprintTiming:
def fake_carlog_exception(*args, **kwargs): def fake_carlog_exception(*args, **kwargs):
raise raise
mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception) mocker.patch("openpilot.selfdrive.car.carlog.exception", fake_carlog_exception)
fake_socket = FakeSocket() fake_socket = FakeSocket()
get_fw_versions_ordered(fake_socket, fake_socket, lambda obd: None, '0' * 17, set())
for brand in FW_QUERY_CONFIGS.keys(): for brand in FW_QUERY_CONFIGS.keys():
with subtests.test(brand=brand): with subtests.test(brand=brand):
get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1) get_fw_versions(fake_socket, fake_socket, lambda obd: None, brand)

2
selfdrive/test/process_replay/process_replay.py
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@ -355,7 +355,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
for m in canmsgs[:300]: for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes()) can.send(m.as_builder().to_bytes())
_, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"))
if not params.get_bool("DisengageOnAccelerator"): if not params.get_bool("DisengageOnAccelerator"):
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

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