Hyundai: clean up FW queries (#32022)

* mark MULTI as logging

* rm whitelists

* rm MULTI

* major clean up :D

* faster refs :D

* wow this was a broken test (can fd can be without aux, and this allowed eps)

* expected

* only for camera (needs test change)

* Revert "only for camera (needs test change)"

This reverts commit 6156bcd674f856e9a6476277d2b14b14b659f597.

* better msg

* yes we do

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -36,6 +36,8 @@ NO_DATES_PLATFORMS = {
   CAR.HYUNDAI_VELOSTER,
 }
 
+CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
+
 
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_can_features(self):
@@ -51,16 +53,14 @@ class TestHyundaiFingerprint(unittest.TestCase):
     self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
     self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
 
-  def test_auxiliary_request_ecu_whitelist(self):
-    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
-
+  def test_canfd_ecu_whitelist(self):
+    # Asserts only expected Ecus can exist in database for CAN-FD cars
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
-      ecus_not_in_whitelist = ecus - whitelisted_ecus
+      ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
       ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
       self.assertEqual(len(ecus_not_in_whitelist), 0,
-                       f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
+                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")
 
   def test_blacklisted_parts(self):
     # Asserts no ECUs known to be shared across platforms exist in the database.

selfdrive/car/hyundai/values.py

@@ -624,11 +624,6 @@ HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER])
 HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf110)  # Alt long description
 
-HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
-  p16(0xf100)
-
 HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
 
@@ -652,37 +647,25 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
-ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.parkingAdas,
-                    Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter]
-
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
-    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # TODO: add back whitelists
     # CAN queries (OBD-II port)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
 
-    # CAN-FD queries (from camera)
-    # TODO: combine shared whitelists with CAN requests
+    # CAN & CAN-FD queries (from camera)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps],
       bus=0,
       auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
       bus=1,
       auxiliary=True,
       obd_multiplexing=False,
@@ -693,44 +676,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_ECU_MANUFACTURING_DATE],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera],
       bus=0,
       auxiliary=True,
       logging=True,
     ),
 
-    # CAN & CAN FD logging queries (from camera)
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_MULTI],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=0,
-      auxiliary=True,
-      logging=True,
-    ),
-    Request(
-      [HYUNDAI_VERSION_REQUEST_LONG],
-      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=ALL_HYUNDAI_ECUS,
-      bus=1,
-      auxiliary=True,
-      obd_multiplexing=False,
-      logging=True,
-    ),
-
-    # CAN-FD alt request logging queries
+    # CAN-FD alt request logging queries for hvac and parkingAdas
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
       logging=True,
@@ -738,7 +692,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
       logging=True,

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.5, 2: 9.4}
+    total_ref_time = {1: 8.1, 2: 8.7}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -271,7 +271,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'chrysler': 0.3,
         'ford': 1.5,
         'honda': 0.45,
-        'hyundai': 1.05,
+        'hyundai': 0.65,
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.65,
@@ -281,7 +281,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
       },
       2: {
         'ford': 1.6,
-        'hyundai': 1.85,
+        'hyundai': 1.15,
         'tesla': 0.3,
       }
     }