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https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-11 07:52:03 +08:00
CAN-FD HKG: query FW versions from camera (#26063)
* add adas essential ecus * add adas ecu and query * add queries * add name * after * presence of adas ecu * Revert "presence of adas ecu" (POC) This reverts commit ab88a7e7df32e1c02a175b81848bd4112b2e5c69. * no whitelist for debugging * Apply suggestions from code review * add adas response * remove adas version * temp * read pandaStates * works in debug script * only fwdCamera on tucson * fix pandaStates reading * fix test_startup * fix * simpler * use existing socket * pass in number of pandas * need to create sm using outcome of fingerprinting, which uses sm fix * move default argument * use sock * always ignore always ignore * add canfd fingerprint test * Update selfdrive/car/hyundai/tests/test_hyundai.py * set
This commit is contained in:
Shane Smiskol
@@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names)
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# **** for use live only ****
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def fingerprint(logcan, sendcan):
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def fingerprint(logcan, sendcan, num_pandas):
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fixed_fingerprint = os.environ.get('FINGERPRINT', "")
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skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
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ecu_rx_addrs = set()
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@@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan):
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cloudlog.warning("Getting VIN & FW versions")
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vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
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ecu_rx_addrs = get_present_ecus(logcan, sendcan)
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car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
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car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
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cached = False
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exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
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@@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan):
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return car_fingerprint, finger, vin, car_fw, source, exact_match
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def get_car(logcan, sendcan):
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candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
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def get_car(logcan, sendcan, num_pandas=1):
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candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
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if candidate is None:
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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@@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs):
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return brand_matches
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def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
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def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
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"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
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all_car_fw = []
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brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
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for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
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car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
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car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
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all_car_fw.extend(car_fw)
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# Try to match using FW returned from this brand only
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matches = match_fw_to_car_exact(build_fw_dict(car_fw))
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@@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
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return all_car_fw
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def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
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def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
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versions = VERSIONS.copy()
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# Each brand can define extra ECUs to query for data collection
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@@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
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for addr in tqdm(addrs, disable=not progress):
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for addr_chunk in chunks(addr):
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for brand, r in requests:
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# Skip query if no panda available
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if r.bus > num_pandas * 4 - 1:
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continue
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try:
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addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
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(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
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@@ -292,6 +296,7 @@ if __name__ == "__main__":
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args = parser.parse_args()
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logcan = messaging.sub_sock('can')
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pandaStates_sock = messaging.sub_sock('pandaStates')
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sendcan = messaging.pub_sock('sendcan')
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extra: Any = None
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@@ -305,6 +310,7 @@ if __name__ == "__main__":
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extra = {"any": {"debug": extra}}
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time.sleep(1.)
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num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
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t = time.time()
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print("Getting vin...")
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@@ -314,7 +320,7 @@ if __name__ == "__main__":
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print()
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t = time.time()
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fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
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fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
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_, candidates = match_fw_to_car(fw_vers)
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print()
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Executable
+29
@@ -0,0 +1,29 @@
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#!/usr/bin/env python3
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import unittest
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from cereal import car
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from selfdrive.car.car_helpers import get_interface_attr
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from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
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from selfdrive.car.hyundai.values import CANFD_CAR
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Ecu = car.CarParams.Ecu
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ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
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VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
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class TestHyundaiFingerprint(unittest.TestCase):
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def test_auxiliary_request_ecu_whitelist(self):
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# Asserts only auxiliary Ecus can exist in database for CAN-FD cars
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config = FW_QUERY_CONFIGS['hyundai']
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whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3}
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for car_model in CANFD_CAR:
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ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
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ecus_not_in_whitelist = ecus - whitelisted_ecus
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ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
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self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
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if __name__ == "__main__":
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unittest.main()
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@@ -300,6 +300,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
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[HYUNDAI_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
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),
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# CAN-FD queries
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Request(
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[HYUNDAI_VERSION_REQUEST_LONG],
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[HYUNDAI_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.fwdRadar],
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bus=4,
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),
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Request(
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[HYUNDAI_VERSION_REQUEST_LONG],
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[HYUNDAI_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.fwdCamera, Ecu.adas],
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bus=5,
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),
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],
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extra_ecus=[
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(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
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@@ -1326,15 +1339,6 @@ FW_VERSIONS = {
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],
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},
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CAR.KIA_EV6: {
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(Ecu.abs, 0x7d1, None): [
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b'\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
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b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100',
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b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
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b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425',
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],
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
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b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
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@@ -1346,16 +1350,6 @@ FW_VERSIONS = {
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],
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},
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CAR.IONIQ_5: {
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(Ecu.abs, 0x7d1, None): [
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b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
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b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
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b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
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b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
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b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
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],
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
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b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
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@@ -1369,16 +1363,6 @@ FW_VERSIONS = {
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
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],
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
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],
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x87391312MND0',
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],
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
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b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
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],
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},
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}
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@@ -82,30 +82,30 @@ class Controls:
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self.log_sock = messaging.sub_sock('androidLog')
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if CI is None:
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# wait for one pandaState and one CAN packet
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print("Waiting for CAN messages...")
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get_one_can(self.can_sock)
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self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
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else:
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self.CI, self.CP = CI, CI.CP
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params = Params()
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self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
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joystick_packet = ['testJoystick'] if self.joystick_mode else []
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self.sm = sm
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if self.sm is None:
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ignore = []
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ignore = ['testJoystick']
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if SIMULATION:
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ignore += ['driverCameraState', 'managerState']
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if params.get_bool('WideCameraOnly'):
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ignore += ['roadCameraState']
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self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
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'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
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'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet,
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ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
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'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
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ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
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if CI is None:
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# wait for one pandaState and one CAN packet
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print("Waiting for CAN messages...")
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get_one_can(self.can_sock)
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num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
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self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
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else:
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self.CI, self.CP = CI, CI.CP
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self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
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# set alternative experiences from parameters
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self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
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@@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase):
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time.sleep(2) # wait for controlsd to be ready
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pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
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time.sleep(0.1)
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msg = messaging.new_message('pandaStates', 1)
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msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
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pm.send('pandaStates', msg)
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