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166 lines
7.1 KiB
166 lines
7.1 KiB
from hypothesis import given, settings, strategies as st
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from cereal import car
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from openpilot.selfdrive.car.fw_versions import build_fw_dict
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from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS
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from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, \
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FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
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get_platform_codes
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Ecu = car.CarParams.Ecu
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ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
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def check_fw_version(fw_version: bytes) -> bool:
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return b'?' not in fw_version
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class TestToyotaInterfaces:
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def test_car_sets(self):
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assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0
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assert len(RADAR_ACC_CAR - TSS2_CAR) == 0
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def test_lta_platforms(self):
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# At this time, only RAV4 2023 is expected to use LTA/angle control
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assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
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def test_tss2_dbc(self):
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# We make some assumptions about TSS2 platforms,
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# like looking up certain signals only in this DBC
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for car_model, dbc in DBC.items():
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if car_model in TSS2_CAR:
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assert dbc["pt"] == "toyota_nodsu_pt_generated"
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def test_essential_ecus(self, subtests):
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# Asserts standard ECUs exist for each platform
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common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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present_ecus = {ecu[0] for ecu in ecus}
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missing_ecus = common_ecus - present_ecus
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assert len(missing_ecus) == 0
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# Some exceptions for other common ECUs
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if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,):
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assert Ecu.abs in present_ecus
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if car_model not in (CAR.TOYOTA_MIRAI,):
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assert Ecu.engine in present_ecus
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if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH):
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assert Ecu.eps in present_ecus
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class TestToyotaFingerprint:
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def test_non_essential_ecus(self, subtests):
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# Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
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assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \
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f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list"
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def test_valid_fw_versions(self, subtests):
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# Asserts all FW versions are valid
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for fws in ecus.values():
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for fw in fws:
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assert check_fw_version(fw), fw
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# Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
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# fingerprint in the absence of full FW matches:
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@settings(max_examples=100)
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@given(data=st.data())
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def test_platform_codes_fuzzy_fw(self, data):
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fw_strategy = st.lists(st.binary())
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fws = data.draw(fw_strategy)
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get_platform_codes(fws)
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def test_platform_code_ecus_available(self, subtests):
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# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for platform_code_ecu in PLATFORM_CODE_ECUS:
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if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
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continue
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if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,):
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continue
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assert platform_code_ecu in [e[0] for e in ecus]
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def test_fw_format(self, subtests):
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# Asserts:
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# - every supported ECU FW version returns one platform code
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# - every supported ECU FW version has a part number
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# - expected parsing of ECU sub-versions
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for ecu, fws in ecus.items():
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if ecu[0] not in PLATFORM_CODE_ECUS:
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continue
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codes = dict()
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for fw in fws:
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result = get_platform_codes([fw])
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# Check only one platform code and sub-version
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assert 1 == len(result), f"Unable to parse FW: {fw}"
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assert 1 == len(list(result.values())[0]), f"Unable to parse FW: {fw}"
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codes |= result
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# Toyota places the ECU part number in their FW versions, assert all parsable
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# Note that there is only one unique part number per ECU across the fleet, so this
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# is not important for identification, just a sanity check.
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assert all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}"
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def test_platform_codes_spot_check(self):
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# Asserts basic platform code parsing behavior for a few cases
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results = get_platform_codes([
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b"F152607140\x00\x00\x00\x00\x00\x00",
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b"F152607171\x00\x00\x00\x00\x00\x00",
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b"F152607110\x00\x00\x00\x00\x00\x00",
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b"F152607180\x00\x00\x00\x00\x00\x00",
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])
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assert results == {b"F1526-07-1": {b"10", b"40", b"71", b"80"}}
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results = get_platform_codes([
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b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
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b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00",
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])
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assert results == {b"8646F-41-04": {b"100"}}
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# Short version has no part number
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results = get_platform_codes([
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b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
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b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00",
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])
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assert results == {b"58-70": {b"000"}, b"58-83": {b"000"}}
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results = get_platform_codes([
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b"F152607110\x00\x00\x00\x00\x00\x00",
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b"F152607140\x00\x00\x00\x00\x00\x00",
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b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00",
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b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00",
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])
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assert results == {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}}
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def test_fuzzy_excluded_platforms(self):
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# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
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platforms_with_shared_codes = set()
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for platform, fw_by_addr in FW_VERSIONS.items():
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car_fw = []
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for ecu, fw_versions in fw_by_addr.items():
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ecu_name, addr, sub_addr = ecu
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for fw in fw_versions:
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car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
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"subAddress": 0 if sub_addr is None else sub_addr})
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CP = car.CarParams.new_message(carFw=car_fw)
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matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
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if len(matches) == 1:
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assert list(matches)[0] == platform
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else:
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# If a platform has multiple matches, add it and its matches
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platforms_with_shared_codes |= {str(platform), *matches}
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assert platforms_with_shared_codes == FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))
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