mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-27 17:02:04 +08:00
Code Issues Packages Projects Releases Wiki Activity

IsoTpParallelQuery: process all functional responses (#25930)

Browse Source 
* Revert "VIN: query physical addresses (#25122)"

This reverts commit 0697ca2239.

* try sending tester present

* do CAN fingerprinting first

* looks like we can get rid of this!

* remove import

* no cache for testing

* revert

* revert

* move function to fw_versions

* Exception

* Revert fp order, sleep to let PubSocket connect

* comment

comment

* space

* Update selfdrive/car/car_helpers.py

* at 0.06 is where it becomes more consistent

* treat functional addrs like physical addrs (process all responses)

* fixes and debugging

* fix

* revert other changes

* Update selfdrive/car/isotp_parallel_query.py

* caps
This commit is contained in:
Shane Smiskol
2022-09-29 19:07:28 -07:00
committed by GitHub
parent 4bc175bb9c
commit c5514f3440
1 changed files with 12 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/isotp_parallel_query.py
+12 -15
View File
@@ -16,17 +16,19 @@ class IsoTpParallelQuery:
self.request = request
self.response = response
self.debug = debug
self.functional_addr = functional_addr
self.response_pending_timeout = response_pending_timeout
self.real_addrs = []
for a in addrs:
if isinstance(a, tuple):
self.real_addrs.append(a)
else:
self.real_addrs.append((a, None))
if functional_addr:
assert all([a in FUNCTIONAL_ADDRS for a in addrs]), "Non-functional addresses in addrs"
real_addrs = []
if 0x7DF in addrs:
real_addrs.extend([(0x7E0 + i, None) for i in range(8)])
if 0x18DB33F1 in addrs:
real_addrs.extend([(0x18DA00F1 + (i << 8), None) for i in range(256)])
else:
real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs]
self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs}
self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
self.msg_buffer = defaultdict(list)
def rx(self):
@@ -35,13 +37,8 @@ class IsoTpParallelQuery:
for packet in can_packets:
for msg in packet.can:
if msg.src == self.bus:
if self.functional_addr:
if (0x7E8 <= msg.address <= 0x7EF) or (0x18DAF100 <= msg.address <= 0x18DAF1FF):
fn_addr = next(a for a in FUNCTIONAL_ADDRS if msg.address - a <= 32)
self.msg_buffer[fn_addr].append((msg.address, msg.busTime, msg.dat, msg.src))
elif msg.address in self.msg_addrs.values():
self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
if msg.src == self.bus and msg.address in self.msg_addrs.values():
self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
def _can_tx(self, tx_addr, dat, bus):
"""Helper function to send single message"""