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FPv2 tests: test all addrs map to one ECU (#26151)

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* add test

* fix mapping
This commit is contained in:
Shane Smiskol
2022-10-24 19:08:20 -07:00
committed by GitHub
parent 92b458c709
commit e9fcef99e1
2 changed files with 16 additions and 5 deletions
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selfdrive/car/honda/values.py
+5 -5
View File
@@ -446,7 +446,7 @@ FW_VERSIONS = {
b'78109-TED-Q510\x00\x00',
b'78109-TEG-A310\x00\x00',
],
(Ecu.fwdCamera, 0x18dab0f1, None): [
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TBA-A020\x00\x00',
b'36161-TBA-A030\x00\x00',
b'36161-TBA-A040\x00\x00',
@@ -964,7 +964,7 @@ FW_VERSIONS = {
b'77959-THR-A110\x00\x00',
b'77959-THR-X010\x00\x00',
],
(Ecu.fwdCamera, 0x18dab0f1, None): [
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-THR-A020\x00\x00',
b'36161-THR-A030\x00\x00',
b'36161-THR-A110\x00\x00',
@@ -1068,7 +1068,7 @@ FW_VERSIONS = {
b'39990-TG7-A070\x00\x00',
b'39990-TGS-A230\x00\x00',
],
(Ecu.fwdCamera, 0x18dab0f1, None): [
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TG7-A310\x00\x00',
b'36161-TG7-A520\x00\x00',
b'36161-TG7-A630\x00\x00',
@@ -1176,7 +1176,7 @@ FW_VERSIONS = {
b'57114-TX5-A220\x00\x00',
b'57114-TX4-A220\x00\x00',
],
(Ecu.fwdCamera, 0x18dab0f1, None): [
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TX5-A030\x00\x00',
b'36161-TX4-A030\x00\x00',
],
@@ -1273,7 +1273,7 @@ FW_VERSIONS = {
b'39990-T6Z-A030\x00\x00',
b'39990-T6Z-A050\x00\x00',
],
(Ecu.fwdCamera, 0x18dab0f1, None): [
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T6Z-A020\x00\x00',
b'36161-T6Z-A310\x00\x00',
b'36161-T6Z-A420\x00\x00',
selfdrive/car/tests/test_fw_fingerprint.py
+11
View File
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import random
import unittest
from collections import defaultdict
from parameterized import parameterized
from cereal import car
@@ -44,6 +45,16 @@ 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_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():