not clean

selfdrive/car/car_helpers.py

@@ -77,6 +77,7 @@ interfaces = load_interfaces(interface_names)
 
 # **** for use live only ****
 def fingerprint(logcan, sendcan, num_pandas):
+  # return None, {}, "", [], "source", True
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   ecu_rx_addrs = set()
@@ -110,6 +111,7 @@ def fingerprint(logcan, sendcan, num_pandas):
     vin, vin_rx_addr = VIN_UNKNOWN, 0
     exact_fw_match, fw_candidates, car_fw = True, set(), []
     cached = False
+  vin, vin_rx_addr = VIN_UNKNOWN, 0
 
   if not is_valid_vin(vin):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
@@ -128,39 +130,39 @@ def fingerprint(logcan, sendcan, num_pandas):
   car_fingerprint = None
   done = False
 
-  # drain CAN socket so we always get the latest messages
-  messaging.drain_sock_raw(logcan)
-
-  while not done:
-    a = get_one_can(logcan)
-
-    for can in a.can:
-      # The fingerprint dict is generated for all buses, this way the car interface
-      # can use it to detect a (valid) multipanda setup and initialize accordingly
-      if can.src < 128:
-        if can.src not in finger:
-          finger[can.src] = {}
-        finger[can.src][can.address] = len(can.dat)
-
-      for b in candidate_cars:
-        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
-        # fingerprint done
-        car_fingerprint = candidate_cars[b][0]
-
-    # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
-
-    frame += 1
-
+  # # drain CAN socket so we always get the latest messages
+  # messaging.drain_sock_raw(logcan)
+  #
+  # while not done:
+  #   a = get_one_can(logcan)
+  #
+  #   for can in a.can:
+  #     # The fingerprint dict is generated for all buses, this way the car interface
+  #     # can use it to detect a (valid) multipanda setup and initialize accordingly
+  #     if can.src < 128:
+  #       if can.src not in finger:
+  #         finger[can.src] = {}
+  #       finger[can.src][can.address] = len(can.dat)
+  #
+  #     for b in candidate_cars:
+  #       # Ignore extended messages and VIN query response.
+  #       if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
+  #         candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+  #
+  #   # if we only have one car choice and the time since we got our first
+  #   # message has elapsed, exit
+  #   for b in candidate_cars:
+  #     if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
+  #       # fingerprint done
+  #       car_fingerprint = candidate_cars[b][0]
+  #
+  #   # bail if no cars left or we've been waiting for more than 2s
+  #   failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
+  #   succeeded = car_fingerprint is not None
+  #   done = failed or succeeded
+  #
+  #   frame += 1
+  #
   exact_match = True
   source = car.CarParams.FingerprintSource.can
 
@@ -188,9 +190,9 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
 
   CarInterface, CarController, CarState = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
-  CP.carVin = vin
-  CP.carFw = car_fw
-  CP.fingerprintSource = source
+  # CP.carVin = vin
+  # CP.carFw = car_fw
+  # CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
 
   return CarInterface(CP, CarController, CarState), CP

selfdrive/car/fw_versions.py

@@ -2,6 +2,7 @@
 from collections import defaultdict
 from typing import Any, Dict, List, Set
 from tqdm import tqdm
+import time
 
 import panda.python.uds as uds
 from cereal import car
@@ -182,7 +183,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
 
   ecu_responses = set()
   for obd_multiplexing in queries:
-    set_obd_multiplexing(params, obd_multiplexing)
+    # set_obd_multiplexing(params, obd_multiplexing)
     for query in queries[obd_multiplexing]:
       ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
@@ -206,7 +207,10 @@ def get_brand_ecu_matches(ecu_rx_addrs):
 
 
 def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
+  print('SETTING MULTIPLEXING')
+  return
   if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
+    print('SET MULTIPLEXING')
     cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
     params.remove("ObdMultiplexingChanged")
     params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
@@ -232,6 +236,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
 
 
 def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
+  t = time.perf_counter()
   versions = VERSIONS.copy()
   params = Params()
 
@@ -270,6 +275,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   # Get versions and build capnp list to put into CarParams
   car_fw = []
   requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
+  # print('ready to query', time.perf_counter() - t)
+  t = time.perf_counter()
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
       for brand, config, r in requests:
@@ -277,15 +284,16 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
         if r.bus > num_pandas * 4 - 1:
           continue
 
-        # Toggle OBD multiplexing for each request
-        if r.bus % 4 == 1:
-          set_obd_multiplexing(params, r.obd_multiplexing)
+        # # Toggle OBD multiplexing for each request
+        # if r.bus % 4 == 1:
+        #   set_obd_multiplexing(params, r.obd_multiplexing)
 
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
                    (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if addrs:
+            print(addrs)
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
@@ -307,6 +315,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
         except Exception:
           cloudlog.exception("FW query exception")
 
+  # print('query took', time.perf_counter() - t)
+
   return car_fw
 
 

selfdrive/car/tests/test_fw_fingerprint_metrics.py

@@ -16,7 +16,6 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 class TestFwFingerprint(unittest.TestCase):
-  # TODO: test multiple pandas
   @parameterized.expand([(1,), (2,)])
   def test_fw_query_metrics(self, num_pandas):
     for brand, config in FW_QUERY_CONFIGS.items():
@@ -32,9 +31,9 @@ class TestFwFingerprint(unittest.TestCase):
         for r in requests:
           total_time += 0.1
 
-          if r.obd_multiplexing != obd_multiplexing and r.bus % 4 == 1:
-            obd_multiplexing = r.obd_multiplexing
-            total_time += 0.1
+          # if r.obd_multiplexing != obd_multiplexing and r.bus % 4 == 1:
+          #   obd_multiplexing = r.obd_multiplexing
+          #   total_time += 0.1
 
         total_time = round(total_time, 2)
         self.assertLessEqual(total_time, 1.1)

selfdrive/controls/controlsd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import time
 import math
 from typing import SupportsFloat
 
@@ -98,9 +99,13 @@ class Controls:
       print("Waiting for CAN messages...")
       get_one_can(self.can_sock)
 
+      t = time.perf_counter()
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      print('took {} to get num pandas'.format(time.perf_counter() - t))
+      t = time.perf_counter()
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch()
       self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+      print('took {} to get car'.format(time.perf_counter() - t))
     else:
       self.CI, self.CP = CI, CI.CP
 

selfdrive/controls/tests/test_startup.py

@@ -39,31 +39,8 @@ CX5_FW_VERSIONS = [
 
 class TestStartup(unittest.TestCase):
 
-  @parameterized.expand([
-    # TODO: test EventName.startup for release branches
-
-    # officially supported car
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-
-    # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-
-    # unrecognized car with no fw
-    (EventName.startupNoFw, None, None, ""),
-    (EventName.startupNoFw, None, None, ""),
-
-    # unrecognized car
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
-
-    # fuzzy match
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  ])
   @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
+  def test_startup_time(self):
 
     # TODO: this should be done without any real sockets
     controls_sock = messaging.sub_sock("controlsState")
@@ -74,42 +51,47 @@ class TestStartup(unittest.TestCase):
     params.put_bool("Passive", False)
     params.put_bool("OpenpilotEnabledToggle", True)
 
-    # Build capnn version of FW array
-    if fw_versions is not None:
-      car_fw = []
-      cp = car.CarParams.new_message()
-      for ecu, addr, subaddress, version in fw_versions:
-        f = car.CarParams.CarFw.new_message()
-        f.ecu = ecu
-        f.address = addr
-        f.fwVersion = version
-        f.brand = brand
-
-        if subaddress is not None:
-          f.subAddress = subaddress
-
-        car_fw.append(f)
-      cp.carVin = "1" * 17
-      cp.carFw = car_fw
-      params.put("CarParamsCache", cp.to_bytes())
+    # # Build capnp version of FW array
+    # if fw_versions is not None:
+    #   car_fw = []
+    #   cp = car.CarParams.new_message()
+    #   for ecu, addr, subaddress, version in fw_versions:
+    #     f = car.CarParams.CarFw.new_message()
+    #     f.ecu = ecu
+    #     f.address = addr
+    #     f.fwVersion = version
+    #     f.brand = brand
+    #
+    #     if subaddress is not None:
+    #       f.subAddress = subaddress
+    #
+    #     car_fw.append(f)
+    #   cp.carVin = "1" * 17
+    #   cp.carFw = car_fw
+    #   params.put("CarParamsCache", cp.to_bytes())
 
     time.sleep(2)  # wait for controlsd to be ready
 
     pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
     time.sleep(0.1)
 
+    # TODO: test multi pandas
     msg = messaging.new_message('pandaStates', 1)
     msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
     pm.send('pandaStates', msg)
+    print('NOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOWNOW Time started now', flush=True)
+    start_t = time.perf_counter()
 
     # fingerprint
-    if (car_model is None) or (fw_versions is not None):
+    car_model = None  # "TOYOTA COROLLA 2017"
+    if (car_model is None):# or (fw_versions is not None):
       finger = {addr: 1 for addr in range(1, 100)}
     else:
       finger = _FINGERPRINTS[car_model][0]
 
     for _ in range(1000):
       # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+      # TODO: do we need some decimation to replicate 0.1s time online?
       if not params.get_bool("ObdMultiplexingChanged"):
         params.put_bool("ObdMultiplexingChanged", True)
 
@@ -118,14 +100,104 @@ class TestStartup(unittest.TestCase):
 
       time.sleep(0.01)
       msgs = messaging.drain_sock(controls_sock)
-      if len(msgs):
-        event_name = msgs[0].controlsState.alertType.split("/")[0]
-        self.assertEqual(EVENT_NAME[expected_event], event_name,
-                         f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
+      if params.get_bool("FirmwareQueryDone"):
+      # if len(msgs):
+        print('total_time:', time.perf_counter() - start_t, 's')
+        # event_name = msgs[0].controlsState.alertType.split("/")[0]
+        # print('event_name', event_name)
+        # self.assertEqual(EVENT_NAME[expected_event], event_name,
+        #                  f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
         break
     else:
       self.fail(f"failed to fingerprint {car_model}")
 
+  # @parameterized.expand([
+  #   # TODO: test EventName.startup for release branches
+  #
+  #   # officially supported car
+  #   (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  #   (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  #
+  #   # dashcamOnly car
+  #   (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  #   (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  #
+  #   # unrecognized car with no fw
+  #   (EventName.startupNoFw, None, None, ""),
+  #   (EventName.startupNoFw, None, None, ""),
+  #
+  #   # unrecognized car
+  #   (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+  #   (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+  #
+  #   # fuzzy match
+  #   (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  #   (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  # ])
+  # @with_processes(['controlsd'])
+  # def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
+  #
+  #   # TODO: this should be done without any real sockets
+  #   controls_sock = messaging.sub_sock("controlsState")
+  #   pm = messaging.PubMaster(['can', 'pandaStates'])
+  #
+  #   params = Params()
+  #   params.clear_all()
+  #   params.put_bool("Passive", False)
+  #   params.put_bool("OpenpilotEnabledToggle", True)
+  #
+  #   # Build capnn version of FW array
+  #   if fw_versions is not None:
+  #     car_fw = []
+  #     cp = car.CarParams.new_message()
+  #     for ecu, addr, subaddress, version in fw_versions:
+  #       f = car.CarParams.CarFw.new_message()
+  #       f.ecu = ecu
+  #       f.address = addr
+  #       f.fwVersion = version
+  #       f.brand = brand
+  #
+  #       if subaddress is not None:
+  #         f.subAddress = subaddress
+  #
+  #       car_fw.append(f)
+  #     cp.carVin = "1" * 17
+  #     cp.carFw = car_fw
+  #     params.put("CarParamsCache", cp.to_bytes())
+  #
+  #   time.sleep(2)  # wait for controlsd to be ready
+  #
+  #   pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+  #   time.sleep(0.1)
+  #
+  #   msg = messaging.new_message('pandaStates', 1)
+  #   msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
+  #   pm.send('pandaStates', msg)
+  #
+  #   # fingerprint
+  #   if (car_model is None) or (fw_versions is not None):
+  #     finger = {addr: 1 for addr in range(1, 100)}
+  #   else:
+  #     finger = _FINGERPRINTS[car_model][0]
+  #
+  #   for _ in range(1000):
+  #     # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+  #     if not params.get_bool("ObdMultiplexingChanged"):
+  #       params.put_bool("ObdMultiplexingChanged", True)
+  #
+  #     msgs = [[addr, 0, b'\x00' * length, 0] for addr, length in finger.items()]
+  #     pm.send('can', can_list_to_can_capnp(msgs))
+  #
+  #     time.sleep(0.01)
+  #     msgs = messaging.drain_sock(controls_sock)
+  #     if len(msgs):
+  #       event_name = msgs[0].controlsState.alertType.split("/")[0]
+  #       self.assertEqual(EVENT_NAME[expected_event], event_name,
+  #                        f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
+  #       break
+  #   else:
+  #     self.fail(f"failed to fingerprint {car_model}")
+
 
 if __name__ == "__main__":
   unittest.main()