FPv2: log responses from data collection queries (#27345)

* log responses from logging/debugging queries

* don't add logging FW to FW dict for fingerprinting

* flip?

* fine before

* log if extra in debug ecus

* clean up

* test extra ecus too

* Revert "test extra ecus too"

This reverts commit 8f7867844db95f48631348551551148bf504e37b.

* bump to master
old-commit-hash: f29e19cf4238199eec142f9c7eab5936874e04de

selfdrive/car/fw_query_definitions.py

@@ -57,6 +57,8 @@ class Request:
   whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
+  # FW responses from these queries will not be used for fingerprinting
+  logging: bool = False
 
 
 @dataclass

selfdrive/car/fw_versions.py

@@ -29,10 +29,9 @@ def chunks(l, n=128):
 def build_fw_dict(fw_versions, filter_brand=None):
   fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
-    if filter_brand is None or fw.brand == filter_brand:
-      addr = fw.address
+    if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
-      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
+      fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
   return dict(fw_versions_dict)
 
 
@@ -232,15 +231,19 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
   addrs = []
   parallel_addrs = []
+  logging_addrs = []
   ecu_types = {}
 
   for brand, brand_versions in versions.items():
-    for c in brand_versions.values():
-      for ecu_type, addr, sub_addr in c.keys():
+    for candidate, ecu in brand_versions.items():
+      for ecu_type, addr, sub_addr in ecu.keys():
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
           ecu_types[a] = ecu_type
 
+        if a not in logging_addrs and candidate == "debug":
+          logging_addrs.append(a)
+
         if sub_addr is None:
           if a not in parallel_addrs:
             parallel_addrs.append(a)
@@ -269,13 +272,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
-              f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
+              ecu_key = (brand, tx_addr, sub_addr)
+              f.ecu = ecu_types.get(ecu_key, Ecu.unknown)
               f.fwVersion = version
               f.address = tx_addr
               f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
               f.request = r.request
               f.brand = brand
               f.bus = r.bus
+              f.logging = r.logging or ecu_key in logging_addrs
 
               if sub_addr is not None:
                 f.subAddress = sub_addr

selfdrive/car/honda/values.py

@@ -171,12 +171,14 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HONDA_VERSION_REQUEST],
       [HONDA_VERSION_RESPONSE],
       bus=1,
+      logging=True
     ),
     # Query Nidec PT bus from camera for data collection
     Request(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=0,
+      logging=True
     ),
   ],
   extra_ecus=[