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move live fingerprint debugging code to debug/car (#33308) 

* remove cereal from fw_versions

* fix it

* do ecu_addrs and vin

* do last one

* move executable-ness

* notexe

* nice test
This commit is contained in:
Shane Smiskol 2024-08-14 19:24:24 -07:00 committed by GitHub
parent bcfb50d98c
commit 2ed567b0f5
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GPG Key ID: B5690EEEBB952194
10 changed files with 149 additions and 151 deletions
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4
.importlinter
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@ -32,10 +32,6 @@ ignore_imports =
openpilot.selfdrive.car.gm.interface -> openpilot.common.basedir
openpilot.selfdrive.car.interfaces -> openpilot.common.basedir
# params will need to move to new openpilot files that just call car files
openpilot.selfdrive.car.fw_versions -> openpilot.common.params
openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
# these are okay
openpilot.selfdrive.car.card -> openpilot.common.swaglog
openpilot.selfdrive.car.card -> openpilot.common.realtime

15
selfdrive/car/disable_ecu.py Executable file → Normal file
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@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car import carlog
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@ -35,17 +34,3 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
carlog.error(f"ecu disable retry ({i + 1}) ...")
carlog.error("ecu disable failed")
return False
if __name__ == "__main__":
import time
import cereal.messaging as messaging
from openpilot.selfdrive.car.card import can_comm_callbacks
sendcan = messaging.pub_sock('sendcan')
logcan = messaging.sub_sock('can')
can_callbacks = can_comm_callbacks(logcan, sendcan)
time.sleep(1)
# honda bosch radar disable
disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
print(f"disabled: {disabled}")

41
selfdrive/car/ecu_addrs.py Executable file → Normal file
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@ -1,4 +1,3 @@
#!/usr/bin/env python3
import capnp
import time
@ -22,7 +21,7 @@ def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subad
return False
def _get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
def get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
responses = queries
@ -56,41 +55,3 @@ def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries:
except Exception:
carlog.exception("ECU addr scan exception")
return ecu_responses
if __name__ == "__main__":
import argparse
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--bus', type=int, default=1)
parser.add_argument('--no-obd', action='store_true')
parser.add_argument('--timeout', type=float, default=1.0)
args = parser.parse_args()
logcan = messaging.sub_sock('can')
sendcan = messaging.pub_sock('sendcan')
can_callbacks = can_comm_callbacks(logcan, sendcan)
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True)
obd_callback(params)(not args.no_obd)
print("Getting ECU addresses ...")
ecu_addrs = _get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
print()
print("Found ECUs on rx addresses:")
for addr, subaddr, _ in ecu_addrs:
msg = f" {hex(addr)}"
if subaddr is not None:
msg += f" (sub-address: {hex(subaddr)})"
print(msg)

1
selfdrive/car/fw_query_definitions.py Executable file → Normal file
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@ -1,4 +1,3 @@
#!/usr/bin/env python3
import capnp
import copy
from dataclasses import dataclass, field

69
selfdrive/car/fw_versions.py Executable file → Normal file
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@ -1,7 +1,6 @@
#!/usr/bin/env python3
from collections import defaultdict
from collections.abc import Callable, Iterator
from typing import Any, Protocol, TypeVar
from typing import Protocol, TypeVar
from tqdm import tqdm
import capnp
@ -327,69 +326,3 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
carlog.exception("FW query exception")
return car_fw
if __name__ == "__main__":
import time
import argparse
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.car.vin import get_vin
from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
parser.add_argument('--scan', action='store_true')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
args = parser.parse_args()
logcan = messaging.sub_sock('can')
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
can_callbacks = can_comm_callbacks(logcan, sendcan)
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True)
set_obd_multiplexing = obd_callback(params)
extra: Any = None
if args.scan:
extra = {}
# Honda
for i in range(256):
extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
extra[(Ecu.unknown, 0x700 + i, None)] = []
extra[(Ecu.unknown, 0x750, i)] = []
extra = {"any": {"debug": extra}}
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time()
print("Getting vin...")
set_obd_multiplexing(True)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
print()
t = time.time()
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers, vin)
print()
print("Found FW versions")
print("{")
padding = max([len(fw.brand) for fw in fw_vers] or [0])
for version in fw_vers:
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
print("}")
print()
print("Possible matches:", candidates)
print(f"Getting fw took {time.time() - t:.3f} s")

23
selfdrive/car/vin.py Executable file → Normal file
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@ -1,4 +1,3 @@
#!/usr/bin/env python3
import re
from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
@ -57,25 +56,3 @@ def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
carlog.error(f"vin query retry ({i+1}) ...")
return -1, -1, VIN_UNKNOWN
if __name__ == "__main__":
import argparse
import time
import cereal.messaging as messaging
from openpilot.selfdrive.car.card import can_comm_callbacks
parser = argparse.ArgumentParser(description='Get VIN of the car')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--bus', type=int, default=1)
parser.add_argument('--timeout', type=float, default=0.1)
parser.add_argument('--retry', type=int, default=5)
args = parser.parse_args()
sendcan = messaging.pub_sock('sendcan')
logcan = messaging.sub_sock('can')
can_callbacks = can_comm_callbacks(logcan, sendcan)
time.sleep(1)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

15
selfdrive/debug/car/disable_ecu.py Executable file
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@ -0,0 +1,15 @@
#!/usr/bin/env python3
import time
import cereal.messaging as messaging
from openpilot.selfdrive.car.card import can_comm_callbacks
from openpilot.selfdrive.car.disable_ecu import disable_ecu
if __name__ == "__main__":
sendcan = messaging.pub_sock('sendcan')
logcan = messaging.sub_sock('can')
can_callbacks = can_comm_callbacks(logcan, sendcan)
time.sleep(1)
# honda bosch radar disable
disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
print(f"disabled: {disabled}")

40
selfdrive/debug/car/ecu_addrs.py Executable file
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@ -0,0 +1,40 @@
#!/usr/bin/env python3
import argparse
import time
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
from openpilot.selfdrive.car.ecu_addrs import get_all_ecu_addrs
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--bus', type=int, default=1)
parser.add_argument('--no-obd', action='store_true')
parser.add_argument('--timeout', type=float, default=1.0)
args = parser.parse_args()
logcan = messaging.sub_sock('can')
sendcan = messaging.pub_sock('sendcan')
can_callbacks = can_comm_callbacks(logcan, sendcan)
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True)
obd_callback(params)(not args.no_obd)
print("Getting ECU addresses ...")
ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
print()
print("Found ECUs on rx addresses:")
for addr, subaddr, _ in ecu_addrs:
msg = f" {hex(addr)}"
if subaddr is not None:
msg += f" (sub-address: {hex(subaddr)})"
print(msg)

70
selfdrive/debug/car/fw_versions.py Executable file
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@ -0,0 +1,70 @@
#!/usr/bin/env python3
import time
import argparse
import cereal.messaging as messaging
from cereal import car
from openpilot.common.params import Params
from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
from openpilot.selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
from openpilot.selfdrive.car.vin import get_vin
from typing import Any
Ecu = car.CarParams.Ecu
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
parser.add_argument('--scan', action='store_true')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
args = parser.parse_args()
logcan = messaging.sub_sock('can')
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
can_callbacks = can_comm_callbacks(logcan, sendcan)
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
time.sleep(0.2) # thread is 10 Hz
params.put_bool("IsOnroad", True)
set_obd_multiplexing = obd_callback(params)
extra: Any = None
if args.scan:
extra = {}
# Honda
for i in range(256):
extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
extra[(Ecu.unknown, 0x700 + i, None)] = []
extra[(Ecu.unknown, 0x750, i)] = []
extra = {"any": {"debug": extra}}
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time()
print("Getting vin...")
set_obd_multiplexing(True)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
print()
t = time.time()
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers, vin)
print()
print("Found FW versions")
print("{")
padding = max([len(fw.brand) for fw in fw_vers] or [0])
for version in fw_vers:
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
print("}")
print()
print("Possible matches:", candidates)
print(f"Getting fw took {time.time() - t:.3f} s")

22
selfdrive/debug/car/vin.py Executable file
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@ -0,0 +1,22 @@
#!/usr/bin/env python3
import argparse
import time
import cereal.messaging as messaging
from openpilot.selfdrive.car.card import can_comm_callbacks
from openpilot.selfdrive.car.vin import get_vin
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Get VIN of the car')
parser.add_argument('--debug', action='store_true')
parser.add_argument('--bus', type=int, default=1)
parser.add_argument('--timeout', type=float, default=0.1)
parser.add_argument('--retry', type=int, default=5)
args = parser.parse_args()
sendcan = messaging.pub_sock('sendcan')
logcan = messaging.sub_sock('can')
can_callbacks = can_comm_callbacks(logcan, sendcan)
time.sleep(1)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')