sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

some conceptual clean up

Browse Source
pull/28641/head
Shane Smiskol 2 years ago
parent 050062d9fb
commit cb84caab73
2 changed files with 64 additions and 23 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 14
      selfdrive/car/toyota/tests/test_toyota.py
  2. 73
      selfdrive/car/toyota/values.py

14
selfdrive/car/toyota/tests/test_toyota.py
Unescape View File

@ -1,4 +1,5 @@
#!/usr/bin/env python3
from hypothesis import given, settings, strategies as st
import re
from cereal import car
import unittest
@ -10,7 +11,7 @@ from selfdrive.car.fw_versions import build_fw_dict
# EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
# PLATFORM_CODE_ECUS, get_platform_codes
from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS, FW_QUERY_CONFIG, EV_HYBRID_CAR, \
FW_PATTERN, FW_LEN_CODE, FW_PATTERN_V3, get_platform_codes
LONG_FW_PATTERN, FW_LEN_CODE, get_platform_codes # FW_PATTERN_V3
from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
Ecu = car.CarParams.Ecu
@ -51,6 +52,13 @@ class TestToyotaInterfaces(unittest.TestCase):
class TestToyotaFingerprint(unittest.TestCase):
# @settings(max_examples=100)
# @given(data=st.data())
# def test_platform_codes_fuzzy_fw(self, data):
# fw_strategy = st.lists(st.binary())
# fws = data.draw(fw_strategy)
# get_platform_codes(fws)
def test_fw_pattern(self):
for car_model, ecus in FW_VERSIONS.items():
# print()
@ -60,7 +68,9 @@ class TestToyotaFingerprint(unittest.TestCase):
for fw in fws:
print('\ninput', fw)
get_platform_codes([fw])
ret = get_platform_codes([fw])
# self.assertTrue(len(ret))
print('ret', ret)
continue
match = FW_PATTERN.search(fw)
length = FW_LEN_CODE.search(fw)

73
selfdrive/car/toyota/values.py
Unescape View File

@ -236,10 +236,12 @@ STATIC_DSU_MSGS = [
]
SHORT_FW_PATTERN = re.compile(b'(?P<platform>[A-Z0-9]{4})(?P<version>[A-Z0-9]{4})')
MED_PATTERN = re.compile(b'TODO')
FW_PATTERN = re.compile(b'(?P<part>[0-9A-Z]{4})[0-9A-Z](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<version>[A-Z0-9]{3})')
LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
FW_LEN_CODE = re.compile(b'^[\x01-\x05]') # 5 chunks max. max seen is 3 chunks, 16 bytes each
import random
def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
# Returns unique, platform-specific identification codes for a set of versions
codes = set() # (code-Optional[part], date)
@ -247,44 +249,74 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by
# FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
# and are prefixed with a byte that describes how many chunks of data there are.
# But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
has_n_chunks = fw[0] < 0xf # max seen is 3 chunks, 16 bytes each
n_chunks = 1
print(f'{has_n_chunks=}')
if has_n_chunks:
n_chunks = fw[0]
# fw = bytearray(fw)
# fw[0] = random.randint(0, 20)
length_code = 1
length_code_match = FW_LEN_CODE.search(fw)
# has_n_chunks = fw[0] <= 0x5 # max seen is 3 chunks, 16 bytes each
# assert (length_code is not None) == bool(has_n_chunks), fw
# continue
# n_chunks = 1
# print(f'{has_n_chunks=}')
if length_code_match is not None:
# n_chunks = length_code.group()[0] # fw[0]
length_code = length_code_match.group()[0]
fw = fw[1:]
assert n_chunks * 16 == len(fw)
chunks = [fw[16 * i:16 * i + 16] for i in range(n_chunks)]
# chunks = [s for s in fw.split(b'\x00') if len(s)]
# fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
if length_code * 16 != len(fw):
continue
chunks = [fw[16 * i:16 * i + 16] for i in range(length_code)]
chunks = [c.strip(b'\x00 ') for c in chunks]
# chunks = [s.strip(b'\x00 ') for s in fw.split(b'\x00') if len(s)]
# Ensure not all empty bytes
# TODO: needed since we use
if not len(chunks):
continue
# if chunks not in ([b'896634A13000', b''], [b'896634A23000', b'']):
# assert chunks == chunks_new, (chunks, chunks_new)
a = list(map(len, chunks))
print(fw, chunks, a)
# assert len(set(a)) == 1
# assert len(set(a)) == 1, (a, fw)
# only first is considered for now since second is commonly shared (TODO: understand that)
first_chunk = chunks[0]
# doesn't have a part encoded in version (OBD query?)
# short_version = sum(b > 0xf for b in first_chunk) == 8
short_version = len(first_chunk) == 8
if short_version:
# short_version = len(first_chunk) == 8
if len(first_chunk) == 8:
# TODO: some short chunks have the part number in subsequent chunks
print('short version')
code_match = SHORT_FW_PATTERN.search(first_chunk)
if code_match is not None:
code, version = code_match.groups()
print('platform code, version', code, version)
platform, version = code_match.groups()
print('platform code, version', platform, version)
codes.add((platform, version))
elif len(first_chunk) == 10:
code_match = MEDIUM_FW_PATTERN.search(first_chunk)
if code_match is not None:
# TODO: platform is a loose term here
part, platform, version = code_match.groups()
codes.add((part + b'-' + platform, version))
print('not done', first_chunk)
# not done
pass
elif len(first_chunk) == 12:
print(FW_PATTERN)
code_match = FW_PATTERN.search(first_chunk)
print(LONG_FW_PATTERN)
print('long, searching', first_chunk)
code_match = LONG_FW_PATTERN.search(first_chunk)
if code_match is not None:
print('got long match!')
part, platform, major_version, sub_version = code_match.groups()
print(first_chunk, code_match, code_match.groups())
codes.add((part + b'-' + platform, major_version + b'-' + sub_version))
else:
assert False, f'invalid length: {len(first_chunk)}'
# else:
# assert False, f'invalid length: {len(first_chunk)}'
continue
@ -405,8 +437,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
# FW_PATTERN = re.compile(b'[0-9]{4}[0-9A-Z][0-9A-Z]')
# FW_PATTERN2 = re.compile(br'(?<=\\x[0-9]{2})[0-9A-Z]{5}|^[0-9A-Z]{5}')
FW_LEN_CODE = re.compile(b'^[\x00-\x0F]')
FW_PATTERN_V3 = re.compile(b'(?P<length>^[\x00-\x0F])?(?P<part>[0-9A-Z]{4})')
# FW_PATTERN_V3 = re.compile(b'(?P<length>^[\x00-\x0F])?(?P<part>[0-9A-Z]{4})')
FW_VERSIONS = {
CAR.AVALON: {

Write Preview
Loading…
Cancel
Save