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Squashed 'panda/' changes from 869f12321..49ffbe99f

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49ffbe99f disable non-universal checks in hyundai safety
3a85f4c25 use whole route when running safety replay from CLI
098f47a5b Fix leaf brake rx check (#547)
b8267341a Add pre commit checks + CI (#545)
339976c3c document tx message addresses better (#543)
a618e64d1 fix typing errors
9bece64e8 use mazda init
08db086d5 mazda cleanup
89658d0bd Mazda: safety tests add missing safety checks (#525)
bdec1398e Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544)
b48c74c2e Adding UNO to automated tests (#538)
a5802cdd1 Hyundai: remove unused message from RX checks
9ebde2535 Reset state on safety mode init (#542)
d4f3f15c3 Refactor addr check (#541)
5210e51b8 remove unused files
065706459 Hyundai checksum (#540)
07e668eca Fast CI (#539)
5307bf727 Fix multi message iso tp requests
0610ed1e2 Hyundai wheel speed counter is actually 4 bits spread over two signals
0d581aa5f dockerfile optimization
eaefa2f6c fix docker file path
243a65f30 pull base image
0dd9470af only push to dockerhub from master
55b79b472 GitHub Actions (#535)
b2c720bf4 Dos (#533)
01bf74024 remove 0x1BE checksum test
0bd06c9e0 remove 0x1BE check (breaks some vehicles)
c31b899a5 honda bosch longitudinal safety
66250c41d Disable docker layer caching (#534)
6b19fa496 include nissan safety in release build
db31886ad gate mazda safety behind debug flag
e4558c073 Safety: message length check on RX and TX (#529)

git-subtree-dir: panda
git-subtree-split: 49ffbe99f65e64d23d27d9d3e37f68bc2368dccd
This commit is contained in:
Vehicle Researcher
2020-05-31 13:22:43 -07:00
parent eb0dff8438
commit 771a8b7a55
60 changed files with 1229 additions and 1932 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/__init__.py
+7 -6
View File
@@ -10,12 +10,13 @@ import time
import traceback
import subprocess
import sys
from .dfu import PandaDFU
from .esptool import ESPROM, CesantaFlasher # noqa: F401
from .flash_release import flash_release # noqa: F401
from .update import ensure_st_up_to_date # noqa: F401
from .serial import PandaSerial # noqa: F401
from .isotp import isotp_send, isotp_recv
from .dfu import PandaDFU # pylint: disable=import-error
from .esptool import ESPROM, CesantaFlasher # noqa pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
from .serial import PandaSerial # noqa pylint: disable=import-error
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
__version__ = '0.0.9'
python/uds.py
+28 -22
View File
@@ -2,7 +2,7 @@
import time
import struct
from collections import deque
from typing import Callable, NamedTuple, Tuple, List
from typing import Callable, NamedTuple, Tuple, List, Deque, Generator, Optional, cast
from enum import IntEnum
class SERVICE_TYPE(IntEnum):
@@ -271,12 +271,12 @@ _negative_response_codes = {
class CanClient():
def __init__(self, can_send: Callable[[Tuple[int, bytes, int]], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]], tx_addr: int, rx_addr: int, bus: int, sub_addr: int=None, debug: bool=False):
def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]], tx_addr: int, rx_addr: int, bus: int, sub_addr: int=None, debug: bool=False):
self.tx = can_send
self.rx = can_recv
self.tx_addr = tx_addr
self.rx_addr = rx_addr
self.rx_buff = deque()
self.rx_buff = deque() # type: Deque[bytes]
self.sub_addr = sub_addr
self.bus = bus
self.debug = debug
@@ -320,7 +320,7 @@ class CanClient():
if len(msgs) < 254:
return
def recv(self, drain: bool=False) -> List[bytes]:
def recv(self, drain: bool=False) -> Generator[bytes, None, None]:
# buffer rx messages in case two response messages are received at once
# (e.g. response pending and success/failure response)
self._recv_buffer(drain)
@@ -372,7 +372,7 @@ class IsoTpMessage():
self._tx_first_frame()
def _tx_first_frame(self) -> None:
if self.tx_len < 8:
if self.tx_len < self.max_len:
# single frame (send all bytes)
if self.debug: print("ISO-TP: TX - single frame")
msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00")
@@ -380,10 +380,10 @@ class IsoTpMessage():
else:
# first frame (send first 6 bytes)
if self.debug: print("ISO-TP: TX - first frame")
msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:6]).ljust(self.max_len, b"\x00")
msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00")
self._can_client.send([msg])
def recv(self) -> bytes:
def recv(self) -> Optional[bytes]:
start_time = time.time()
try:
while True:
@@ -416,7 +416,7 @@ class IsoTpMessage():
self.rx_idx = 0
self.rx_done = False
if self.debug: print(f"ISO-TP: RX - first frame - idx={self.rx_idx} done={self.rx_done}")
if self.debug: print(f"ISO-TP: TX - flow control continue")
if self.debug: print("ISO-TP: TX - flow control continue")
# send flow control message (send all bytes)
msg = b"\x30\x00\x00".ljust(self.max_len, b"\x00")
self._can_client.send([msg])
@@ -505,6 +505,10 @@ class UdsClient():
isotp_msg.send(req)
while True:
resp = isotp_msg.recv()
if resp is None:
continue
resp_sid = resp[0] if len(resp) > 0 else None
# negative response
@@ -518,7 +522,7 @@ class UdsClient():
try:
error_desc = _negative_response_codes[error_code]
except BaseException:
error_desc = resp[3:]
error_desc = resp[3:].hex()
# wait for another message if response pending
if error_code == 0x78:
if self.debug: print("UDS-RX: response pending")
@@ -534,7 +538,7 @@ class UdsClient():
resp_sfn = resp[1] if len(resp) > 1 else None
if subfunction != resp_sfn:
resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None
raise InvalidSubFunctioneError('invalid response subfunction: {}'.format(hex(resp_sfn_hex)))
raise InvalidSubFunctioneError(f'invalid response subfunction: {resp_sfn_hex:x}')
# return data (exclude service id and sub-function id)
return resp[(1 if subfunction is None else 2):]
@@ -595,7 +599,7 @@ class UdsClient():
def response_on_event(self, response_event_type: RESPONSE_EVENT_TYPE, store_event: bool, window_time: int, event_type_record: int, service_response_record: int):
if store_event:
response_event_type |= 0x20
response_event_type |= 0x20 # type: ignore
# TODO: split record parameters into arrays
data = bytes([window_time, event_type_record, service_response_record])
resp = self._uds_request(SERVICE_TYPE.RESPONSE_ON_EVENT, subfunction=response_event_type, data=data)
@@ -613,9 +617,11 @@ class UdsClient():
}
def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE=None):
data : Optional[bytes]
if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
# baud_rate_type = BAUD_RATE_TYPE
data = bytes([baud_rate_type])
data = bytes([cast(int, baud_rate_type)])
elif link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE:
# baud_rate_type = custom value (3 bytes big-endian)
data = struct.pack('!I', baud_rate_type)[1:]
@@ -671,16 +677,16 @@ class UdsClient():
data = struct.pack('!H', dynamic_data_identifier)
if dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_IDENTIFIER:
for s in source_definitions:
data += struct.pack('!H', s["data_identifier"]) + bytes([s["position"], s["memory_size"]])
data += struct.pack('!H', s.data_identifier) + bytes([s.position, s.memory_size])
elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.DEFINE_BY_MEMORY_ADDRESS:
data += bytes([memory_size_bytes<<4 | memory_address_bytes])
for s in source_definitions:
if s["memory_address"] >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(s["memory_address"]))
data += struct.pack('!I', s["memory_address"])[4-memory_address_bytes:]
if s["memory_size"] >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(s["memory_size"]))
data += struct.pack('!I', s["memory_size"])[4-memory_size_bytes:]
if s.memory_address >= 1<<(memory_address_bytes*8):
raise ValueError('invalid memory_address: {}'.format(s.memory_address))
data += struct.pack('!I', s.memory_address)[4-memory_address_bytes:]
if s.memory_size >= 1<<(memory_size_bytes*8):
raise ValueError('invalid memory_size: {}'.format(s.memory_size))
data += struct.pack('!I', s.memory_size)[4-memory_size_bytes:]
elif dynamic_definition_type == DYNAMIC_DEFINITION_TYPE.CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER:
pass
else:
@@ -736,7 +742,7 @@ class UdsClient():
if dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_IDENTIFICATION or \
dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.DTC_SNAPSHOT_RECORD_BY_RECORD_NUMBER:
data += ord(dtc_snapshot_record_num)
data += bytes([dtc_snapshot_record_num])
# dtc_extended_record_num
if dtc_report_type == DTC_REPORT_TYPE.DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER or \
dtc_report_type == DTC_REPORT_TYPE.MIRROR_MEMORY_DTC_EXTENDED_DATA_RECORD_BY_DTC_NUMBER:
@@ -784,7 +790,7 @@ class UdsClient():
data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
resp = self._uds_request(SERVICE_TYPE.REQUEST_DOWNLOAD, subfunction=None, data=data)
max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else None
max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0
if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
max_num_bytes = struct.unpack('!I', (b"\x00"*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
else:
@@ -809,7 +815,7 @@ class UdsClient():
data += struct.pack('!I', memory_size)[4-memory_size_bytes:]
resp = self._uds_request(SERVICE_TYPE.REQUEST_UPLOAD, subfunction=None, data=data)
max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else None
max_num_bytes_len = resp[0] >> 4 if len(resp) > 0 else 0
if max_num_bytes_len >= 1 and max_num_bytes_len <= 4:
max_num_bytes = struct.unpack('!I', (b"\x00"*(4-max_num_bytes_len))+resp[1:max_num_bytes_len+1])[0]
else: