#!/usr/bin/env python3 from hypothesis import given, settings, strategies as st import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \ FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \ get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} class TestToyotaInterfaces(unittest.TestCase): def test_car_sets(self): self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, # like looking up certain signals only in this DBC for car_model, dbc in DBC.items(): if car_model in TSS2_CAR: self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated") def test_essential_ecus(self): # Asserts standard ECUs exist for each platform common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera} for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): present_ecus = {ecu[0] for ecu in ecus} missing_ecus = common_ecus - present_ecus self.assertEqual(len(missing_ecus), 0) # Some exceptions for other common ECUs if car_model not in (CAR.ALPHARD_TSS2,): self.assertIn(Ecu.abs, present_ecus) if car_model not in (CAR.MIRAI,): self.assertIn(Ecu.engine, present_ecus) if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH): self.assertIn(Ecu.eps, present_ecus) class TestToyotaFingerprint(unittest.TestCase): # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy # fingerprint in the absence of full FW matches: @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_platform_code_ecus_available(self): # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): for platform_code_ecu in PLATFORM_CODE_ECUS: if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,): continue if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,): continue self.assertIn(platform_code_ecu, [e[0] for e in ecus]) def test_fw_format(self): # Asserts: # - every supported ECU FW version returns one platform code # - every supported ECU FW version has a part number # - expected parsing of ECU sub-versions for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue codes = dict() for fw in fws: result = get_platform_codes([fw]) # Check only one platform code and sub-version self.assertEqual(1, len(result), f"Unable to parse FW: {fw}") self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}") codes |= result # Toyota places the ECU part number in their FW versions, assert all parsable # Note that there is only one unique part number per ECU across the fleet, so this # is not important for identification, just a sanity check. self.assertTrue(all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}") def test_platform_codes_spot_check(self): # Asserts basic platform code parsing behavior for a few cases results = get_platform_codes([ b"F152607140\x00\x00\x00\x00\x00\x00", b"F152607171\x00\x00\x00\x00\x00\x00", b"F152607110\x00\x00\x00\x00\x00\x00", b"F152607180\x00\x00\x00\x00\x00\x00", ]) self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}}) results = get_platform_codes([ b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00", ]) self.assertEqual(results, {b"8646F-41-04": {b"100"}}) # Short version has no part number results = get_platform_codes([ b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", ]) self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}}) results = get_platform_codes([ b"F152607110\x00\x00\x00\x00\x00\x00", b"F152607140\x00\x00\x00\x00\x00\x00", b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00", ]) self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}}) def test_fuzzy_excluded_platforms(self): # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. platforms_with_shared_codes = set() for platform, fw_by_addr in FW_VERSIONS.items(): car_fw = [] for ecu, fw_versions in fw_by_addr.items(): ecu_name, addr, sub_addr = ecu for fw in fw_versions: car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw)) if len(matches) == 1: self.assertEqual(list(matches)[0], platform) else: # If a platform has multiple matches, add it and its matches platforms_with_shared_codes |= {platform, *matches} self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))) if __name__ == "__main__": unittest.main()