You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
182 lines
7.1 KiB
182 lines
7.1 KiB
#!/usr/bin/env python3
|
|
import random
|
|
import time
|
|
import unittest
|
|
from collections import defaultdict
|
|
from parameterized import parameterized
|
|
import threading
|
|
|
|
from cereal import car
|
|
from common.params import Params
|
|
from selfdrive.car.car_helpers import interfaces
|
|
from selfdrive.car.fingerprints import FW_VERSIONS
|
|
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions
|
|
|
|
CarFw = car.CarParams.CarFw
|
|
Ecu = car.CarParams.Ecu
|
|
|
|
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
|
|
|
|
|
class FakeSocket:
|
|
def receive(self, non_blocking=False):
|
|
pass
|
|
|
|
def send(self, msg):
|
|
pass
|
|
|
|
|
|
class TestFwFingerprint(unittest.TestCase):
|
|
def assertFingerprints(self, candidates, expected):
|
|
candidates = list(candidates)
|
|
self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
|
|
self.assertEqual(candidates[0], expected)
|
|
|
|
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
|
def test_fw_fingerprint(self, brand, car_model, ecus):
|
|
CP = car.CarParams.new_message()
|
|
for _ in range(200):
|
|
fw = []
|
|
for ecu, fw_versions in ecus.items():
|
|
if not len(fw_versions):
|
|
raise unittest.SkipTest("Car model has no FW versions")
|
|
ecu_name, addr, sub_addr = ecu
|
|
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
|
|
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
|
CP.carFw = fw
|
|
_, matches = match_fw_to_car(CP.carFw)
|
|
self.assertFingerprints(matches, car_model)
|
|
|
|
def test_no_duplicate_fw_versions(self):
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with self.subTest(car_model=car_model):
|
|
for ecu, ecu_fw in ecus.items():
|
|
with self.subTest(ecu):
|
|
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
|
|
self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
|
|
|
|
def test_all_addrs_map_to_one_ecu(self):
|
|
for brand, cars in VERSIONS.items():
|
|
addr_to_ecu = defaultdict(set)
|
|
for ecus in cars.values():
|
|
for ecu_type, addr, sub_addr in ecus.keys():
|
|
addr_to_ecu[(addr, sub_addr)].add(ecu_type)
|
|
ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
|
|
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
|
|
self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")
|
|
|
|
def test_data_collection_ecus(self):
|
|
# Asserts no extra ECUs are in the fingerprinting database
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
for car_model, ecus in VERSIONS[brand].items():
|
|
bad_ecus = set(ecus).intersection(config.extra_ecus)
|
|
with self.subTest(car_model=car_model):
|
|
self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
|
|
|
|
def test_blacklisted_ecus(self):
|
|
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with self.subTest(car_model=car_model):
|
|
CP = interfaces[car_model][0].get_non_essential_params(car_model)
|
|
if CP.carName == 'subaru':
|
|
for ecu in ecus.keys():
|
|
self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
|
|
|
|
elif CP.carName == "chrysler":
|
|
# Some HD trucks have a combined TCM and ECM
|
|
if CP.carFingerprint.startswith("RAM HD"):
|
|
for ecu in ecus.keys():
|
|
self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
|
|
|
|
def test_missing_versions_and_configs(self):
|
|
brand_versions = set(VERSIONS.keys())
|
|
brand_configs = set(FW_QUERY_CONFIGS.keys())
|
|
if len(brand_configs - brand_versions):
|
|
with self.subTest():
|
|
self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
|
|
|
|
if len(brand_versions - brand_configs):
|
|
with self.subTest():
|
|
self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
|
|
|
|
def test_fw_request_ecu_whitelist(self):
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
with self.subTest(brand=brand):
|
|
whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
|
|
brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
|
|
brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
|
|
|
|
# each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
|
|
ecus_not_whitelisted = brand_ecus - whitelisted_ecus
|
|
|
|
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
|
|
self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
|
|
f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
|
|
|
|
|
|
class TestFwFingerprintTiming(unittest.TestCase):
|
|
@staticmethod
|
|
def _benchmark(brand, num_pandas, n):
|
|
params = Params()
|
|
fake_socket = FakeSocket()
|
|
|
|
times = []
|
|
for _ in range(n):
|
|
params.put_bool("ObdMultiplexingEnabled", True)
|
|
thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
|
|
thread.start()
|
|
t = time.perf_counter()
|
|
while thread.is_alive():
|
|
time.sleep(0.02)
|
|
if not params.get_bool("ObdMultiplexingChanged"):
|
|
params.put_bool("ObdMultiplexingChanged", True)
|
|
times.append(time.perf_counter() - t)
|
|
|
|
return round(sum(times) / len(times), 2)
|
|
|
|
def _assert_timing(self, avg_time, ref_time, tol):
|
|
self.assertLess(avg_time, ref_time + tol)
|
|
self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
|
|
|
|
def test_fw_query_timing(self):
|
|
tol = 0.1
|
|
total_ref_time = 4.6
|
|
brand_ref_times = {
|
|
1: {
|
|
'body': 0.1,
|
|
'chrysler': 0.3,
|
|
'ford': 0.2,
|
|
'honda': 0.5,
|
|
'hyundai': 0.7,
|
|
'mazda': 0.1,
|
|
'nissan': 0.3,
|
|
'subaru': 0.1,
|
|
'tesla': 0.2,
|
|
'toyota': 0.7,
|
|
'volkswagen': 0.2,
|
|
},
|
|
2: {
|
|
'hyundai': 1.1,
|
|
}
|
|
}
|
|
|
|
total_time = 0
|
|
for num_pandas in (1, 2):
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
with self.subTest(brand=brand, num_pandas=num_pandas):
|
|
multi_panda_requests = [r for r in config.requests if r.bus > 3]
|
|
if not len(multi_panda_requests) and num_pandas > 1:
|
|
raise unittest.SkipTest("No multi-panda FW queries")
|
|
|
|
avg_time = self._benchmark(brand, num_pandas, 10)
|
|
total_time += avg_time
|
|
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
|
|
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
|
|
|
|
with self.subTest(brand='all_brands'):
|
|
self._assert_timing(total_time, total_ref_time, tol)
|
|
print(f'all brands, total FW query time={total_time} seconds')
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|