mirror of https://github.com/commaai/openpilot.git
316 lines
14 KiB
Python
316 lines
14 KiB
Python
import pytest
|
|
import random
|
|
import time
|
|
from collections import defaultdict
|
|
from parameterized import parameterized
|
|
|
|
from cereal import car
|
|
from openpilot.selfdrive.car.car_helpers import interfaces
|
|
from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
|
|
from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
|
|
match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
|
|
from openpilot.selfdrive.car.vin import get_vin
|
|
|
|
CarFw = car.CarParams.CarFw
|
|
Ecu = car.CarParams.Ecu
|
|
|
|
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
|
|
|
|
|
class FakeSocket:
|
|
def receive(self, non_blocking=False):
|
|
pass
|
|
|
|
def send(self, msg):
|
|
pass
|
|
|
|
|
|
class TestFwFingerprint:
|
|
def assertFingerprints(self, candidates, expected):
|
|
candidates = list(candidates)
|
|
assert len(candidates) == 1, f"got more than one candidate: {candidates}"
|
|
assert candidates[0] == expected
|
|
|
|
@parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
|
|
def test_exact_match(self, brand, car_model, ecus, test_non_essential):
|
|
config = FW_QUERY_CONFIGS[brand]
|
|
CP = car.CarParams.new_message()
|
|
for _ in range(100):
|
|
fw = []
|
|
for ecu, fw_versions in ecus.items():
|
|
# Assume non-essential ECUs apply to all cars, so we catch cases where Car A with
|
|
# missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs
|
|
if ecu[0] in config.non_essential_ecus and test_non_essential:
|
|
continue
|
|
|
|
ecu_name, addr, sub_addr = ecu
|
|
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
|
|
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
|
CP.carFw = fw
|
|
_, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_fuzzy=False)
|
|
if not test_non_essential:
|
|
self.assertFingerprints(matches, car_model)
|
|
else:
|
|
# if we're removing ECUs we expect some match loss, but it shouldn't mismatch
|
|
if len(matches) != 0:
|
|
self.assertFingerprints(matches, car_model)
|
|
|
|
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
|
def test_custom_fuzzy_match(self, brand, car_model, ecus):
|
|
# Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
|
|
config = FW_QUERY_CONFIGS[brand]
|
|
if config.match_fw_to_car_fuzzy is None:
|
|
pytest.skip("Brand does not implement custom fuzzy fingerprinting function")
|
|
|
|
CP = car.CarParams.new_message()
|
|
for _ in range(5):
|
|
fw = []
|
|
for ecu, fw_versions in ecus.items():
|
|
ecu_name, addr, sub_addr = ecu
|
|
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
|
|
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
|
CP.carFw = fw
|
|
_, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
|
|
brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, VERSIONS[brand])
|
|
|
|
# If both have matches, they must agree
|
|
if len(matches) == 1 and len(brand_matches) == 1:
|
|
assert matches == brand_matches
|
|
|
|
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
|
def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
|
|
# Asserts that fuzzy matching does not count matching FW, but ECU address keys
|
|
valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
|
|
if not len(valid_ecus):
|
|
pytest.skip("Car model has no compatible ECUs for fuzzy matching")
|
|
|
|
fw = []
|
|
for ecu in valid_ecus:
|
|
ecu_name, addr, sub_addr = ecu
|
|
for _ in range(5):
|
|
# Add multiple FW versions to simulate ECU returning to multiple queries in a brand
|
|
fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
|
|
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
|
CP = car.CarParams.new_message(carFw=fw)
|
|
_, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False)
|
|
|
|
# Assert no match if there are not enough unique ECUs
|
|
unique_ecus = {(f['address'], f['subAddress']) for f in fw}
|
|
if len(unique_ecus) < 2:
|
|
assert len(matches) == 0, car_model
|
|
# There won't always be a match due to shared FW, but if there is it should be correct
|
|
elif len(matches):
|
|
self.assertFingerprints(matches, car_model)
|
|
|
|
def test_fw_version_lists(self, subtests):
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with subtests.test(car_model=car_model.value):
|
|
for ecu, ecu_fw in ecus.items():
|
|
with subtests.test(ecu):
|
|
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
|
|
assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}'
|
|
assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}'
|
|
|
|
def test_all_addrs_map_to_one_ecu(self):
|
|
for brand, cars in VERSIONS.items():
|
|
addr_to_ecu = defaultdict(set)
|
|
for ecus in cars.values():
|
|
for ecu_type, addr, sub_addr in ecus.keys():
|
|
addr_to_ecu[(addr, sub_addr)].add(ecu_type)
|
|
ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
|
|
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
|
|
assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})"
|
|
|
|
def test_data_collection_ecus(self, subtests):
|
|
# Asserts no extra ECUs are in the fingerprinting database
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
for car_model, ecus in VERSIONS[brand].items():
|
|
bad_ecus = set(ecus).intersection(config.extra_ecus)
|
|
with subtests.test(car_model=car_model.value):
|
|
assert not len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}'
|
|
|
|
def test_blacklisted_ecus(self, subtests):
|
|
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
|
|
for car_model, ecus in FW_VERSIONS.items():
|
|
with subtests.test(car_model=car_model.value):
|
|
CP = interfaces[car_model][0].get_non_essential_params(car_model)
|
|
if CP.carName == 'subaru':
|
|
for ecu in ecus.keys():
|
|
assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})'
|
|
|
|
elif CP.carName == "chrysler":
|
|
# Some HD trucks have a combined TCM and ECM
|
|
if CP.carFingerprint.startswith("RAM HD"):
|
|
for ecu in ecus.keys():
|
|
assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})"
|
|
|
|
def test_non_essential_ecus(self, subtests):
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
with subtests.test(brand):
|
|
# These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
|
|
unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS)
|
|
assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \
|
|
f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}"
|
|
|
|
def test_missing_versions_and_configs(self, subtests):
|
|
brand_versions = set(VERSIONS.keys())
|
|
brand_configs = set(FW_QUERY_CONFIGS.keys())
|
|
if len(brand_configs - brand_versions):
|
|
with subtests.test():
|
|
pytest.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
|
|
|
|
if len(brand_versions - brand_configs):
|
|
with subtests.test():
|
|
pytest.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
|
|
|
|
# Ensure each brand has at least 1 ECU to query, and extra ECU retrieval
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
assert len(config.get_all_ecus({}, include_extra_ecus=False)) == 0
|
|
assert config.get_all_ecus({}) == set(config.extra_ecus)
|
|
assert len(config.get_all_ecus(VERSIONS[brand])) > 0
|
|
|
|
def test_fw_request_ecu_whitelist(self, subtests):
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
with subtests.test(brand=brand):
|
|
whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
|
|
brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
|
|
brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
|
|
|
|
# each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
|
|
ecus_not_whitelisted = brand_ecus - whitelisted_ecus
|
|
|
|
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
|
|
assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \
|
|
f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}'
|
|
|
|
def test_fw_requests(self, subtests):
|
|
# Asserts equal length request and response lists
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
with subtests.test(brand=brand):
|
|
for request_obj in config.requests:
|
|
assert len(request_obj.request) == len(request_obj.response)
|
|
|
|
# No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
|
|
assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), \
|
|
f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}"
|
|
|
|
def test_brand_ecu_matches(self):
|
|
empty_response = {brand: set() for brand in FW_QUERY_CONFIGS}
|
|
assert get_brand_ecu_matches(set()) == empty_response
|
|
|
|
# we ignore bus
|
|
expected_response = empty_response | {'toyota': {(0x750, 0xf)}}
|
|
assert get_brand_ecu_matches({(0x758, 0xf, 99)}) == expected_response
|
|
|
|
|
|
class TestFwFingerprintTiming:
|
|
N: int = 5
|
|
TOL: float = 0.05
|
|
|
|
# for patched functions
|
|
current_obd_multiplexing: bool
|
|
total_time: float
|
|
|
|
def fake_set_obd_multiplexing(self, _, obd_multiplexing):
|
|
"""The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change"""
|
|
if obd_multiplexing != self.current_obd_multiplexing:
|
|
self.current_obd_multiplexing = obd_multiplexing
|
|
self.total_time += 0.1 / 2
|
|
|
|
def fake_get_data(self, timeout):
|
|
self.total_time += timeout
|
|
return {}
|
|
|
|
def _benchmark_brand(self, brand, num_pandas, mocker):
|
|
fake_socket = FakeSocket()
|
|
self.total_time = 0
|
|
mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
|
|
mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
|
|
for _ in range(self.N):
|
|
# Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on
|
|
self.current_obd_multiplexing = True
|
|
|
|
t = time.perf_counter()
|
|
get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas)
|
|
self.total_time += time.perf_counter() - t
|
|
|
|
return self.total_time / self.N
|
|
|
|
def _assert_timing(self, avg_time, ref_time):
|
|
assert avg_time < ref_time + self.TOL
|
|
assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs."
|
|
|
|
def test_startup_timing(self, subtests, mocker):
|
|
# Tests worse-case VIN query time and typical present ECU query time
|
|
vin_ref_times = {'worst': 1.4, 'best': 0.7} # best assumes we go through all queries to get a match
|
|
present_ecu_ref_time = 0.45
|
|
|
|
def fake_get_ecu_addrs(*_, timeout):
|
|
self.total_time += timeout
|
|
return set()
|
|
|
|
fake_socket = FakeSocket()
|
|
self.total_time = 0.0
|
|
mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing)
|
|
mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)
|
|
for _ in range(self.N):
|
|
self.current_obd_multiplexing = True
|
|
get_present_ecus(fake_socket, fake_socket, num_pandas=2)
|
|
self._assert_timing(self.total_time / self.N, present_ecu_ref_time)
|
|
print(f'get_present_ecus, query time={self.total_time / self.N} seconds')
|
|
|
|
for name, args in (('worst', {}), ('best', {'retry': 1})):
|
|
with subtests.test(name=name):
|
|
self.total_time = 0.0
|
|
mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)
|
|
for _ in range(self.N):
|
|
get_vin(fake_socket, fake_socket, (0, 1), **args)
|
|
self._assert_timing(self.total_time / self.N, vin_ref_times[name])
|
|
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
|
|
|
|
def test_fw_query_timing(self, subtests, mocker):
|
|
total_ref_time = {1: 7.2, 2: 7.8}
|
|
brand_ref_times = {
|
|
1: {
|
|
'gm': 1.0,
|
|
'body': 0.1,
|
|
'chrysler': 0.3,
|
|
'ford': 1.5,
|
|
'honda': 0.45,
|
|
'hyundai': 0.65,
|
|
'mazda': 0.1,
|
|
'nissan': 0.8,
|
|
'subaru': 0.65,
|
|
'tesla': 0.3,
|
|
'toyota': 0.7,
|
|
'volkswagen': 0.65,
|
|
},
|
|
2: {
|
|
'ford': 1.6,
|
|
'hyundai': 1.15,
|
|
'tesla': 0.3,
|
|
}
|
|
}
|
|
|
|
total_times = {1: 0.0, 2: 0.0}
|
|
for num_pandas in (1, 2):
|
|
for brand, config in FW_QUERY_CONFIGS.items():
|
|
with subtests.test(brand=brand, num_pandas=num_pandas):
|
|
avg_time = self._benchmark_brand(brand, num_pandas, mocker)
|
|
total_times[num_pandas] += avg_time
|
|
avg_time = round(avg_time, 2)
|
|
|
|
ref_time = brand_ref_times[num_pandas].get(brand)
|
|
if ref_time is None:
|
|
# ref time should be same as 1 panda if no aux queries
|
|
ref_time = brand_ref_times[num_pandas - 1][brand]
|
|
|
|
self._assert_timing(avg_time, ref_time)
|
|
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
|
|
|
|
for num_pandas in (1, 2):
|
|
with subtests.test(brand='all_brands', num_pandas=num_pandas):
|
|
total_time = round(total_times[num_pandas], 2)
|
|
self._assert_timing(total_time, total_ref_time[num_pandas])
|
|
print(f'all brands, total FW query time={total_time} seconds')
|