get_fw_versions: test the full stack (#33156)

* add the test

fix

* bump

* not sure why mypy didn't catch this

panda

@@ -1 +1 @@
-Subproject commit 8c3bb0151e8907ade344ccb293d58cd543e28baa
+Subproject commit daa739efb76e2908bf1b2ee064be9034a8e299c3

selfdrive/car/interfaces.py

@@ -52,6 +52,7 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
+SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -109,7 +110,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -462,9 +463,6 @@ class CarStateBase(ABC):
     return None
 
 
-SendCan = tuple[int, int, bytes, int]
-
-
 class CarControllerBase(ABC):
   def __init__(self, dbc_name: str, CP, VM):
     self.CP = CP

selfdrive/car/tests/test_fw_fingerprint.py

@@ -5,11 +5,13 @@ from collections import defaultdict
 from parameterized import parameterized
 
 from cereal import car
+from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.car_helpers import interfaces
 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, \
                                                 match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -19,7 +21,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 class FakeSocket:
   def receive(self, non_blocking=False):
-    pass
+    return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
+            if random.uniform(0, 1) > 0.5 else None)
 
   def send(self, msg):
     pass
@@ -313,3 +316,18 @@ class TestFwFingerprintTiming:
         total_time = round(total_times[num_pandas], 2)
         self._assert_timing(total_time, total_ref_time[num_pandas])
         print(f'all brands, total FW query time={total_time} seconds')
+
+  def test_get_fw_versions(self, subtests, mocker):
+    # some coverage on IsoTpParallelQuery and panda UDS library
+    # TODO: replace this with full fingerprint simulation testing
+    # https://github.com/commaai/panda/pull/1329
+
+    def fake_cloudlog_exception(*args, **kwargs):
+      raise
+
+    mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
+    mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception)
+    fake_socket = FakeSocket()
+    for brand in FW_QUERY_CONFIGS.keys():
+      with subtests.test(brand=brand):
+        get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1)