FPv2: add ECU whitelisting support (#24730)

* reduce fw queries for hyundai

* no whitelisting yet

* formatting

* fix

* clean up test

* clean up variables, comments, error

* update error
old-commit-hash: 29a1bf5a4667de9de74e977956145132b2301fd7

selfdrive/car/fw_versions.py

@@ -2,7 +2,7 @@
 import struct
 import traceback
 from collections import defaultdict
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from typing import Any, List
 from tqdm import tqdm
 
@@ -96,9 +96,11 @@ class Request:
   brand: str
   request: List[bytes]
   response: List[bytes]
+  whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = DEFAULT_RX_OFFSET
   bus: int = 1
 
+
 REQUESTS: List[Request] = [
   # Subaru
   Request(
@@ -328,7 +330,8 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
     for addr_chunk in chunks(addr):
       for r in REQUESTS:
         try:
-          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any')]
+          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
+                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)

selfdrive/car/tests/test_fw_fingerprint.py

@@ -4,9 +4,9 @@ import unittest
 from parameterized import parameterized
 
 from cereal import car
-from selfdrive.car.car_helpers import interfaces
+from selfdrive.car.car_helpers import get_interface_attr, interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import match_fw_to_car
+from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -57,6 +57,23 @@ class TestFwFingerprint(unittest.TestCase):
 
     self.assertTrue(passed, "Blacklisted FW versions found")
 
+  def test_fw_request_ecu_whitelist(self):
+    passed = True
+    brands = set(r.brand for r in REQUESTS)
+    versions = get_interface_attr('FW_VERSIONS')
+    for brand in brands:
+      whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
+      brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
+
+      # each ecu in brand's fw versions needs to be whitelisted at least once
+      ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
+      if len(whitelisted_ecus) and len(ecus_not_whitelisted):
+        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
+        print(f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
+        passed = False
+
+    self.assertTrue(passed, "Not all ecus in FW versions found in query whitelists")
+
 
 if __name__ == "__main__":
   unittest.main()