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108 lines
4.8 KiB
108 lines
4.8 KiB
#!/usr/bin/env python3
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import random
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import unittest
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from collections import defaultdict
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from parameterized import parameterized
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from cereal import car
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from selfdrive.car.car_helpers import get_interface_attr, interfaces
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from selfdrive.car.fingerprints import FW_VERSIONS
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from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car
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CarFw = car.CarParams.CarFw
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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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VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
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class TestFwFingerprint(unittest.TestCase):
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def assertFingerprints(self, candidates, expected):
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candidates = list(candidates)
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self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
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self.assertEqual(candidates[0], expected)
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@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
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def test_fw_fingerprint(self, brand, car_model, ecus):
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CP = car.CarParams.new_message()
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for _ in range(200):
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fw = []
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for ecu, fw_versions in ecus.items():
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if not len(fw_versions):
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raise unittest.SkipTest("Car model has no FW versions")
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ecu_name, addr, sub_addr = ecu
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fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
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"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
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CP.carFw = fw
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_, matches = match_fw_to_car(CP.carFw)
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self.assertFingerprints(matches, car_model)
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def test_no_duplicate_fw_versions(self):
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for car_model, ecus in FW_VERSIONS.items():
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with self.subTest(car_model=car_model):
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for ecu, ecu_fw in ecus.items():
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with self.subTest(ecu):
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duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
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self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
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def test_all_addrs_map_to_one_ecu(self):
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for brand, cars in VERSIONS.items():
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addr_to_ecu = defaultdict(set)
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for ecus in cars.values():
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for ecu_type, addr, sub_addr in ecus.keys():
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addr_to_ecu[(addr, sub_addr)].add(ecu_type)
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ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
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ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
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self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")
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def test_data_collection_ecus(self):
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# Asserts no extra ECUs are in the fingerprinting database
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for brand, config in FW_QUERY_CONFIGS.items():
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for car_model, ecus in VERSIONS[brand].items():
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bad_ecus = set(ecus).intersection(config.extra_ecus)
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with self.subTest(car_model=car_model):
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self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
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def test_blacklisted_ecus(self):
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blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
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for car_model, ecus in FW_VERSIONS.items():
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with self.subTest(car_model=car_model):
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CP = interfaces[car_model][0].get_params(car_model)
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if CP.carName == 'subaru':
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for ecu in ecus.keys():
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self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
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elif CP.carName == "chrysler":
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# Some HD trucks have a combined TCM and ECM
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if CP.carFingerprint.startswith("RAM HD"):
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for ecu in ecus.keys():
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self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
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def test_missing_versions_and_configs(self):
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brand_versions = set(VERSIONS.keys())
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brand_configs = set(FW_QUERY_CONFIGS.keys())
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if len(brand_configs - brand_versions):
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with self.subTest():
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self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
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if len(brand_versions - brand_configs):
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with self.subTest():
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self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
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def test_fw_request_ecu_whitelist(self):
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for brand, config in FW_QUERY_CONFIGS.items():
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with self.subTest(brand=brand):
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whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
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brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
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brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
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# each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
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ecus_not_whitelisted = brand_ecus - whitelisted_ecus
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ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
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self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
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f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
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if __name__ == "__main__":
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unittest.main()
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