FPv2: support collecting versions for specific ecus (#25699)

* Add VMCU address for EV6

* Rename vmcu

* add to tests

add to tests

* rename to more generic name

* more explicit

* remove print

* Like this much better, removes subtle fingerprinting problems

* clean up

* add test and clean up

* remove hyundai stuffs

* global

* Fpv2Config class

* fix missing fw versions from import order

* unused

* revert for now

* test for fpv2 configs with subtests

* subtests don't work that way

* remove this

* .

* intersection

* print ecus

* shorter

* fix typing

* use config

selfdrive/car/chrysler/values.py

@@ -166,14 +166,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       bus=0,
     ),
   ],
+  extra_ecus=[
+    (Ecu.hcp, 0x7e2, None),  # manages transmission on hybrids
+    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids
+  ],
 )
 
 FW_VERSIONS = {
-  CAR.PACIFICA_2019_HYBRID: {
-    (Ecu.hcp, 0x7e2, None): [],
-    (Ecu.abs, 0x7e4, None): [],
-  },
-
   CAR.RAM_1500: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294063AH',

selfdrive/car/fw_query_definitions.py

@@ -2,7 +2,7 @@
 import capnp
 from dataclasses import dataclass, field
 import struct
-from typing import Dict, List
+from typing import Dict, List, Optional, Tuple
 
 import panda.python.uds as uds
 
@@ -64,3 +64,5 @@ class FwQueryConfig:
   requests: List[Request]
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
+  # Ecus added for data collection, not to be fingerprinted on
+  extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)

selfdrive/car/fw_versions.py

@@ -213,6 +213,11 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
 
 def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
   versions = VERSIONS.copy()
+
+  # Each brand can define extra ECUs to query for data collection
+  for brand, config in FW_QUERY_CONFIGS.items():
+    versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus}
+
   if query_brand is not None:
     versions = {query_brand: versions[query_brand]}
 

selfdrive/car/tests/test_fw_fingerprint.py

@@ -44,6 +44,13 @@ class TestFwFingerprint(unittest.TestCase):
             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_data_collection_ecus(self):
+    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():