IsoTpParallelQuery: don't return rx_addr (#25934)

* revert isotpparallelquery returning rx addr for functional special case

* we don't really use the tx addr (and soon won't make sense with fun querying)
old-commit-hash: 4d7f4b4c9d

selfdrive/car/car_helpers.py

@@ -97,7 +97,7 @@ def fingerprint(logcan, sendcan):
       car_fw = list(cached_params.carFw)
     else:
       cloudlog.warning("Getting VIN & FW versions")
-      _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      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)
 

selfdrive/car/fw_versions.py

@@ -253,13 +253,13 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            for (addr, rx_addr), version in query.get_data(timeout).items():
+            for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
-              f.ecu = ecu_types.get((brand, addr[0], addr[1]), Ecu.unknown)
+              f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
               f.fwVersion = version
               f.address = addr[0]
-              f.responseAddress = rx_addr
+              f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
               f.request = r.request
               f.brand = brand
               f.bus = r.bus
@@ -303,8 +303,8 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 

selfdrive/car/isotp_parallel_query.py

@@ -123,7 +123,7 @@ class IsoTpParallelQuery:
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:
-            results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):]
+            results[tx_addr] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
           error_code = dat[2] if len(dat) > 2 else -1

selfdrive/car/vin.py

@@ -2,6 +2,7 @@
 import re
 
 import cereal.messaging as messaging
+from panda.python.uds import get_rx_addr_for_tx_addr
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.fw_query_definitions import StdQueries
 from system.swaglog import cloudlog
@@ -20,18 +21,18 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
     for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
       try:
         query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug)
-        for (addr, rx_addr), vin in query.get_data(timeout).items():
+        for (tx_addr, _), vin in query.get_data(timeout).items():
 
           # Honda Bosch response starts with a length, trim to correct length
           if vin.startswith(b'\x11'):
             vin = vin[1:18]
 
-          return addr[0], rx_addr, vin.decode()
+          return get_rx_addr_for_tx_addr(tx_addr), vin.decode()
         cloudlog.error(f"vin query retry ({i+1}) ...")
       except Exception:
         cloudlog.exception("VIN query exception")
 
-  return 0, 0, VIN_UNKNOWN
+  return 0, VIN_UNKNOWN
 
 
 if __name__ == "__main__":
@@ -49,5 +50,5 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock('can')
   time.sleep(1)
 
-  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
-  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')