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IsoTpParallelQuery: handle response pending (#24724)

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* handle response pending

* match commit

* remove total timeout, just keep track of individual response timeouts

* fix

* add back total timeout

* this isn't reliable enough

* keep track of pending responses to print warning

* tx_addr is (addr, subaddr)

* debug

only query hyundai

import time

reponse pending

no cache

all cars

no timeout to test before

* Revert "debug"

This reverts commit abe9cfc1b668034d7fa5ca5cbe9efe8834db3e7b.

* always print pending

always debug

* Only debug

* Update selfdrive/car/isotp_parallel_query.py

* remove variable only for debugging
old-commit-hash: 30e1f282134f7693a451e783b1d2d8ee68a79c06
This commit is contained in:
Shane Smiskol
2022-06-07 17:49:07 -07:00
committed by GitHub
parent f392d45f41
commit fa9528e119
1 changed files with 15 additions and 11 deletions
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26
selfdrive/car/isotp_parallel_query.py
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@@ -10,7 +10,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
class IsoTpParallelQuery:
def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10):
self.sendcan = sendcan
self.logcan = logcan
self.bus = bus
@@ -18,6 +18,7 @@ class IsoTpParallelQuery:
self.response = response
self.debug = debug
self.functional_addr = functional_addr
self.response_pending_timeout = response_pending_timeout
self.real_addrs = []
for a in addrs:
@@ -71,10 +72,7 @@ class IsoTpParallelQuery:
messaging.drain_sock(self.logcan)
self.msg_buffer = defaultdict(list)
def get_data(self, timeout, total_timeout=None):
if total_timeout is None:
total_timeout = 10 * timeout
def get_data(self, timeout, total_timeout=60.):
self._drain_rx()
# Create message objects
@@ -100,7 +98,7 @@ class IsoTpParallelQuery:
results = {}
start_time = time.monotonic()
last_response_time = start_time
response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
while True:
self.rx()
@@ -123,7 +121,7 @@ class IsoTpParallelQuery:
response_valid = dat[:len(expected_response)] == expected_response
if response_valid:
last_response_time = time.monotonic()
response_timeouts[tx_addr] = time.monotonic() + timeout
if counter + 1 < len(self.request):
msg.send(self.request[counter + 1])
request_counter[tx_addr] += 1
@@ -131,13 +129,19 @@ class IsoTpParallelQuery:
results[tx_addr] = dat[len(expected_response):]
request_done[tx_addr] = True
else:
request_done[tx_addr] = True
cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
error_code = dat[2] if len(dat) > 2 else -1
if error_code == 0x78:
response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
if self.debug:
cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
else:
request_done[tx_addr] = True
cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
cur_time = time.monotonic()
if cur_time - last_response_time > timeout:
if cur_time - max(response_timeouts.values()) > 0:
for tx_addr in msgs:
if (request_counter[tx_addr] > 0) and (not request_done[tx_addr]):
if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
break