FW query: specify bus in request (#24080)

old-commit-hash: 5550aa6f57698f8cb8dac358ba5f603294be02f5

selfdrive/car/car_helpers.py

@@ -109,7 +109,7 @@ def fingerprint(logcan, sendcan):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
-      car_fw = get_fw_versions(logcan, sendcan, bus)
+      car_fw = get_fw_versions(logcan, sendcan)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:

selfdrive/car/fw_versions.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 import struct
 import traceback
-from typing import Any
+from typing import Any, List
 from collections import defaultdict
+from dataclasses import dataclass
 
 from tqdm import tqdm
 
@@ -90,92 +91,89 @@ SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
 
-# brand, request, response, response offset
-REQUESTS = [
+@dataclass
+class Request:
+  brand: str
+  request: List[bytes]
+  response: List[bytes]
+  rx_offset: int = DEFAULT_RX_OFFSET
+  bus: int = 1
+
+REQUESTS: List[Request] = [
   # Subaru
-  (
+  Request(
     "subaru",
     [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
   # Hyundai
-  (
+  Request(
     "hyundai",
     [HYUNDAI_VERSION_REQUEST_LONG],
     [HYUNDAI_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
-  (
+  Request(
     "hyundai",
     [HYUNDAI_VERSION_REQUEST_MULTI],
     [HYUNDAI_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
   # Honda
-  (
+  Request(
     "honda",
     [UDS_VERSION_REQUEST],
     [UDS_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
   # Toyota
-  (
+  Request(
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
-  (
+  Request(
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
-  (
+  Request(
     "toyota",
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
   # Volkswagen
-  (
+  Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
-    VOLKSWAGEN_RX_OFFSET,
+    rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
-  (
+  Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
   # Mazda
-  (
+  Request(
     "mazda",
     [MAZDA_VERSION_REQUEST],
     [MAZDA_VERSION_RESPONSE],
-    DEFAULT_RX_OFFSET,
   ),
   # Nissan
-  (
+  Request(
     "nissan",
     [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
     [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-    DEFAULT_RX_OFFSET,
   ),
-  (
+  Request(
     "nissan",
     [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
     [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-    NISSAN_RX_OFFSET,
+    rx_offset=NISSAN_RX_OFFSET,
   ),
-  (
+  Request(
     "nissan",
     [NISSAN_VERSION_REQUEST_STANDARD],
     [NISSAN_VERSION_RESPONSE_STANDARD],
-    NISSAN_RX_OFFSET,
+    rx_offset=NISSAN_RX_OFFSET,
   ),
 ]
 
@@ -286,7 +284,7 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True):
   return exact_match, matches
 
 
-def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
   ecu_types = {}
 
   # Extract ECU addresses to query from fingerprints
@@ -317,12 +315,12 @@ def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False,
   fw_versions = {}
   for i, addr in enumerate(tqdm(addrs, disable=not progress)):
     for addr_chunk in chunks(addr):
-      for brand, request, response, response_offset in REQUESTS:
+      for r in REQUESTS:
         try:
-          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any')]
+          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any')]
 
           if addrs:
-            query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, request, response, response_offset, debug=debug)
+            query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
             t = 2 * timeout if i == 0 else timeout
             fw_versions.update(query.get_data(t))
         except Exception:
@@ -379,7 +377,7 @@ if __name__ == "__main__":
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, extra=extra, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers)
 
   print()