248 lines
11 KiB
Python
248 lines
11 KiB
Python
from hypothesis import settings, given, strategies as st
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import pytest
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from panda import Panda
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.structs import CarParams
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from opendbc.car.fw_versions import build_fw_dict
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from opendbc.car.hyundai.interface import CarInterface
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from opendbc.car.hyundai.hyundaicanfd import CanBus
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from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
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from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
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HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
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UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
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HyundaiFlags, get_platform_codes
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from opendbc.car.hyundai.fingerprints import FW_VERSIONS
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Ecu = CarParams.Ecu
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# Some platforms have date codes in a different format we don't yet parse (or are missing).
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# For now, assert list of expected missing date cars
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NO_DATES_PLATFORMS = {
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# CAN FD
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CAR.KIA_SPORTAGE_5TH_GEN,
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CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
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CAR.HYUNDAI_TUCSON_4TH_GEN,
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# CAN
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CAR.HYUNDAI_ELANTRA,
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CAR.HYUNDAI_ELANTRA_GT_I30,
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CAR.KIA_CEED,
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CAR.KIA_FORTE,
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CAR.KIA_OPTIMA_G4,
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CAR.KIA_OPTIMA_G4_FL,
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CAR.KIA_SORENTO,
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CAR.HYUNDAI_KONA,
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CAR.HYUNDAI_KONA_EV,
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CAR.HYUNDAI_KONA_EV_2022,
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CAR.HYUNDAI_KONA_HEV,
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CAR.HYUNDAI_SONATA_LF,
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CAR.HYUNDAI_VELOSTER,
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}
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CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
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class TestHyundaiFingerprint:
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def test_feature_detection(self):
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# HDA2
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for hda2 in (True, False):
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fingerprint = gen_empty_fingerprint()
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if hda2:
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cam_can = CanBus(None, fingerprint).CAM
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fingerprint[cam_can] = [0x50, 0x110] # HDA2 steering messages
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CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False)
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assert bool(CP.flags & HyundaiFlags.CANFD_HDA2) == hda2
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# radar available
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for radar in (True, False):
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fingerprint = gen_empty_fingerprint()
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if radar:
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fingerprint[1][RADAR_START_ADDR] = 8
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CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False)
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assert CP.radarUnavailable != radar
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def test_alternate_limits(self):
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# Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
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fingerprint = gen_empty_fingerprint()
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for car_model in CAR:
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CP = CarInterface.get_params(car_model, fingerprint, [], False, False)
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assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_ALT_LIMITS)
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def test_can_features(self):
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# Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
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assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()
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# Test CAN FD car not in CAN feature lists
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can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
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for car_model in CANFD_CAR:
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assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list"
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def test_hybrid_ev_sets(self):
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assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV"
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assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported"
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def test_canfd_ecu_whitelist(self):
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# Asserts only expected Ecus can exist in database for CAN-FD cars
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for car_model in CANFD_CAR:
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ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
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ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
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ecu_strings = ", ".join([f"Ecu.{ecu}" for ecu in ecus_not_in_whitelist])
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assert len(ecus_not_in_whitelist) == 0, \
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f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"
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def test_blacklisted_parts(self, subtests):
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# Asserts no ECUs known to be shared across platforms exist in the database.
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# Tucson having Santa Cruz camera and EPS for example
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
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pytest.skip("Skip checking Santa Cruz for its parts")
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for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
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if b"-" not in code:
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continue
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part = code.split(b"-")[1]
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assert not part.startswith(b'CW'), "Car has bad part number"
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def test_correct_ecu_response_database(self, subtests):
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"""
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Assert standard responses for certain ECUs, since they can
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respond to multiple queries with different data
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"""
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expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for ecu, fws in ecus.items():
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assert all(fw.startswith(expected_fw_prefix) for fw in fws), \
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f"FW from unexpected request in database: {(ecu, fws)}"
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@settings(max_examples=100)
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@given(data=st.data())
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def test_platform_codes_fuzzy_fw(self, data):
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"""Ensure function doesn't raise an exception"""
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fw_strategy = st.lists(st.binary())
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fws = data.draw(fw_strategy)
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get_platform_codes(fws)
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def test_expected_platform_codes(self, subtests):
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# Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for ecu, fws in ecus.items():
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if ecu[0] not in PLATFORM_CODE_ECUS:
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continue
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# Third and fourth character are usually EV/hybrid identifiers
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codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
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if car_model == CAR.HYUNDAI_PALISADE:
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assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}"
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elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
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assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}"
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else:
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assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}"
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# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
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# fingerprint in the absence of full FW matches:
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def test_platform_code_ecus_available(self, subtests):
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# TODO: add queries for these non-CAN FD cars to get EPS
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no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
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CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
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# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for platform_code_ecu in PLATFORM_CODE_ECUS:
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if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
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continue
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if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
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continue
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assert platform_code_ecu in [e[0] for e in ecus]
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def test_fw_format(self, subtests):
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# Asserts:
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# - every supported ECU FW version returns one platform code
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# - every supported ECU FW version has a part number
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# - expected parsing of ECU FW dates
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for car_model, ecus in FW_VERSIONS.items():
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with subtests.test(car_model=car_model.value):
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for ecu, fws in ecus.items():
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if ecu[0] not in PLATFORM_CODE_ECUS:
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continue
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codes = set()
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for fw in fws:
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result = get_platform_codes([fw])
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assert 1 == len(result), f"Unable to parse FW: {fw}"
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codes |= result
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if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
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assert all(date is None for _, date in codes)
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else:
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assert all(date is not None for _, date in codes)
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if car_model == CAR.HYUNDAI_GENESIS:
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pytest.skip("No part numbers for car model")
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# Hyundai places the ECU part number in their FW versions, assert all parsable
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# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
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assert all(b"-" in code for code, _ in codes), \
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f"FW does not have part number: {fw}"
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def test_platform_codes_spot_check(self):
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# Asserts basic platform code parsing behavior for a few cases
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results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
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assert results == {(b"DH", b"150210")}
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# Some cameras and all radars do not have dates
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results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
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assert results == {(b"AEhe-G2000", None)}
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results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
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assert results == {(b"CV1-CV000", None)}
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results = get_platform_codes([
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b"\xf1\x00DH LKAS 1.1 -150210",
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b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
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b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
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])
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assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}
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results = get_platform_codes([
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b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222",
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b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103",
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b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405",
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b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720",
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])
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assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
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(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}
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def test_fuzzy_excluded_platforms(self):
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# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
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# This list can be shrunk as we combine platforms and detect features
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excluded_platforms = {
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CAR.GENESIS_G70, # shared platform code, part number, and date
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CAR.GENESIS_G70_2020,
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}
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excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST # shared platform codes
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excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match
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platforms_with_shared_codes = set()
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for platform, fw_by_addr in FW_VERSIONS.items():
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car_fw = []
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for ecu, fw_versions in fw_by_addr.items():
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ecu_name, addr, sub_addr = ecu
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for fw in fw_versions:
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car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
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subAddress=0 if sub_addr is None else sub_addr))
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CP = CarParams(carFw=car_fw)
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matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
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if len(matches) == 1:
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assert list(matches)[0] == platform
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else:
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platforms_with_shared_codes.add(platform)
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assert platforms_with_shared_codes == excluded_platforms
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