mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-21 22:23:53 +08:00
ea241bf3dc
* get_fw_versions returns all fw versions with request's brand * keep track of everything received * debug * need to regen or write a hack in build_fw_dict * to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) * update test_fw_query_on_routes * clean up * better name * slightly cleaner * fix test_startup unit test del * fix imports * fix test_fw_fingerprint fix test_fw_fingerprint fix * fingerprint on all FW_VERSIONS, not just brands with requests * support old routes in test_fw_query_on_routes * regen and update refs * similar function style to before * better comment * space switch name * try to exact match first * useless else * fix debug script * simpler dictionary * bump cereal to master
123 lines
4.6 KiB
Python
Executable File
123 lines
4.6 KiB
Python
Executable File
#!/usr/bin/env python3
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import time
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import unittest
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from parameterized import parameterized
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from cereal import log, car
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import cereal.messaging as messaging
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from common.params import Params
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from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
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from selfdrive.car.fingerprints import _FINGERPRINTS
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.mazda.values import CAR as MAZDA
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from selfdrive.controls.lib.events import EVENT_NAME
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from selfdrive.test.helpers import with_processes
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EventName = car.CarEvent.EventName
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Ecu = car.CarParams.Ecu
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COROLLA_FW_VERSIONS = [
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(Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.esp, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'),
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(Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'),
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(Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'),
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(Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'),
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]
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COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')]
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COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1]
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CX5_FW_VERSIONS = [
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(Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.esp, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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(Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'),
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]
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class TestStartup(unittest.TestCase):
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@parameterized.expand([
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# TODO: test EventName.startup for release branches
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# officially supported car
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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# unrecognized car with no fw
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(EventName.startupNoFw, None, None, ""),
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(EventName.startupNoFw, None, None, ""),
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# unrecognized car
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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# fuzzy match
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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])
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@with_processes(['controlsd'])
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def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
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# TODO: this should be done without any real sockets
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controls_sock = messaging.sub_sock("controlsState")
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pm = messaging.PubMaster(['can', 'pandaStates'])
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params = Params()
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params.clear_all()
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params.put_bool("Passive", False)
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params.put_bool("OpenpilotEnabledToggle", True)
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# Build capnn version of FW array
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if fw_versions is not None:
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car_fw = []
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cp = car.CarParams.new_message()
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for ecu, addr, subaddress, version in fw_versions:
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu
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f.address = addr
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f.fwVersion = version
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f.brand = brand
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if subaddress is not None:
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f.subAddress = subaddress
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car_fw.append(f)
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cp.carVin = "1" * 17
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cp.carFw = car_fw
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params.put("CarParamsCache", cp.to_bytes())
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time.sleep(2) # wait for controlsd to be ready
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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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# fingerprint
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if (car_model is None) or (fw_versions is not None):
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finger = {addr: 1 for addr in range(1, 100)}
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else:
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finger = _FINGERPRINTS[car_model][0]
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for _ in range(1000):
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msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
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pm.send('can', can_list_to_can_capnp(msgs))
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time.sleep(0.01)
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msgs = messaging.drain_sock(controls_sock)
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if len(msgs):
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event_name = msgs[0].controlsState.alertType.split("/")[0]
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self.assertEqual(EVENT_NAME[expected_event], event_name,
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f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
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break
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else:
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self.fail(f"failed to fingerprint {car_model}")
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if __name__ == "__main__":
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unittest.main()
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