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Revert "IsoTpParallelQuery: process all functional responses (#25930)"

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This reverts commit 39e98b0456047adc253c611b1015fd1aa38f6dd2.

old-commit-hash: 9e2cca23cfefd21483f78b0712583d564a6a3539
This commit is contained in:
Shane Smiskol
2022-09-29 21:15:34 -07:00
parent f3211a9dfb
commit d7acc9fe75
1 changed files with 15 additions and 12 deletions
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selfdrive/car/isotp_parallel_query.py
+15 -12
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@@ -16,19 +16,17 @@ class IsoTpParallelQuery:
self.request = request
self.response = response
self.debug = debug
self.functional_addr = functional_addr
self.response_pending_timeout = response_pending_timeout
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.real_addrs = []
for a in addrs:
if isinstance(a, tuple):
self.real_addrs.append(a)
else:
self.real_addrs.append((a, None))
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_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_buffer = defaultdict(list)
def rx(self):
@@ -37,8 +35,13 @@ class IsoTpParallelQuery:
for packet in can_packets:
for msg in packet.can:
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))
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))
def _can_tx(self, tx_addr, dat, bus):
"""Helper function to send single message"""