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FPv2: replace temporary variable with config (#27692)

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* query extra ecus (still need to match)

* match against extra ecus

* clean p

* clean p

* switch that around

* can clean that up

* values

* rm

* not used
old-commit-hash: 084e83cda1415189539755343e74e9342e7ec42d
This commit is contained in:
Shane Smiskol
2023-03-25 01:02:11 -07:00
committed by GitHub
parent 66a7d0b8a3
commit 5a3c857303
1 changed files with 9 additions and 14 deletions
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selfdrive/car/fw_versions.py
+9 -14
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@@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
def chunks(l, n=128):
@@ -153,7 +153,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []}
responses = set()
for brand, r in REQUESTS:
for brand, _, r in REQUESTS:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
@@ -190,9 +190,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
brand_addrs = get_brand_addrs()
brand_matches = {brand: set() for brand, _ in REQUESTS}
brand_matches = {brand: set() for brand, _, _ in REQUESTS}
brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS)
for addr, sub_addr, _ in ecu_rx_addrs:
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
for brand, rx_offset in brand_rx_offsets:
@@ -247,19 +247,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# ECUs using a subaddress need be queried one by one, the rest can be done in parallel
addrs = []
parallel_addrs = []
logging_addrs = []
ecu_types = {}
for brand, brand_versions in versions.items():
for candidate, ecu in brand_versions.items():
for ecu in brand_versions.values():
for ecu_type, addr, sub_addr in ecu.keys():
a = (brand, addr, sub_addr)
if a not in ecu_types:
ecu_types[a] = ecu_type
if a not in logging_addrs and candidate == "debug":
logging_addrs.append(a)
if sub_addr is None:
if a not in parallel_addrs:
parallel_addrs.append(a)
@@ -271,10 +267,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# Get versions and build capnp list to put into CarParams
car_fw = []
requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr):
for brand, r in requests:
for brand, config, r in requests:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
@@ -292,15 +288,14 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
f = car.CarParams.CarFw.new_message()
ecu_key = (brand, tx_addr, sub_addr)
f.ecu = ecu_types.get(ecu_key, Ecu.unknown)
f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
f.fwVersion = version
f.address = tx_addr
f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
f.request = r.request
f.brand = brand
f.bus = r.bus
f.logging = r.logging or ecu_key in logging_addrs
f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
f.obdMultiplexing = r.obd_multiplexing
if sub_addr is not None: