def test_fw_request_ecu_whitelist(self):
passed = True
brands = set(r.brand for r in REQUESTS)
versions = get_interface_attr('FW_VERSIONS')
for brand in brands:
whitelisted_ecus = [
ecu for r in REQUESTS for ecu in r.whitelist_ecus
if r.brand == brand
]
brand_ecus = set([
fw[0] for car_fw in versions[brand].values() for fw in car_fw
])
# each ecu in brand's fw versions needs to be whitelisted at least once
ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
if len(whitelisted_ecus) and len(ecus_not_whitelisted):
ecu_strings = ", ".join(
[f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
print(
f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}'
)
passed = False
self.assertTrue(
passed, "Not all ecus in FW versions found in query whitelists")
def get_tier_car_info() -> Dict[Tier, List[CarInfo]]:
tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
for models in get_interface_attr("CAR_INFO").values():
for model, car_info in models.items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
CP = interfaces[model][0].get_params(model,
fingerprint=fingerprint,
disable_radar=True)
if CP.dashcamOnly:
continue
# A platform can include multiple car models
if not isinstance(car_info, list):
car_info = (car_info, )
for _car_info in car_info:
_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES)
tier_car_info[_car_info.tier].append(_car_info)
# Sort cars by make and model + year
for tier, cars in tier_car_info.items():
tier_car_info[tier] = natsorted(cars,
key=lambda car:
(car.make + car.model).lower())
return tier_car_info
def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO",
combine_brands=True).items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = gen_empty_fingerprint()
fingerprint[1] = {HKG_RADAR_START_ADDR: 8}
CP = interfaces[model][0].get_params(model,
fingerprint=fingerprint,
disable_radar=True)
if CP.dashcamOnly or car_info is None:
continue
# A platform can include multiple car models
if not isinstance(car_info, list):
car_info = (car_info, )
for _car_info in car_info:
if not hasattr(_car_info, "row"):
_car_info.init(CP, footnotes)
all_car_info.append(_car_info)
# Sort cars by make and model + year
sorted_cars: List[CarInfo] = natsorted(all_car_info,
key=lambda car: car.name.lower())
return sorted_cars
def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
for model, car_info in get_interface_attr("CAR_INFO",
combine_brands=True).items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
CP = interfaces[model][0].get_params(model,
fingerprint=fingerprint,
disable_radar=True)
if CP.dashcamOnly or car_info is None:
continue
# A platform can include multiple car models
if not isinstance(car_info, list):
car_info = (car_info, )
for _car_info in car_info:
all_car_info.append(
_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
# Sort cars by make and model + year
sorted_cars: List[CarInfo] = natsorted(all_car_info,
key=lambda car:
(car.make + car.model).lower())
return sorted_cars
def test_missing_car_info(self):
all_car_info_platforms = get_interface_attr(
"CAR_INFO", combine_brands=True).keys()
for platform in sorted(interfaces.keys()):
with self.subTest(platform=platform):
self.assertTrue(
platform in all_car_info_platforms,
"Platform: {} doesn't exist in CarInfo".format(platform))
def test_missing_car_info(self):
all_car_info_platforms = [
p for i in get_interface_attr("CAR_INFO").values() for p in i
]
for platform in sorted(interfaces.keys()):
if platform not in all_car_info_platforms:
self.fail(
"Platform: {} doesn't exist in CarInfo".format(platform))
def get_all_footnotes() -> Dict[Enum, int]:
all_footnotes = []
for _, footnotes in get_interface_attr("Footnote").items():
if footnotes is not None:
all_footnotes += footnotes
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
#!/usr/bin/env python3
import random
import unittest
from parameterized import parameterized
from cereal import car
from selfdrive.car.car_helpers import get_interface_attr, interfaces
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car
CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
class TestFwFingerprint(unittest.TestCase):
def assertFingerprints(self, candidates, expected):
candidates = list(candidates)
self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
self.assertEqual(candidates[0], expected)
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
def test_fw_fingerprint(self, brand, car_model, ecus):
CP = car.CarParams.new_message()
for _ in range(200):
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,
def get_all_footnotes() -> Dict[Enum, int]:
all_footnotes = []
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}