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fix test
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@sshane
sshane committed Jun 7, 2023
1 parent e9b3175 commit 1d34269
Showing 1 changed file with 147 additions and 147 deletions.
294 changes: 147 additions & 147 deletions selfdrive/car/tests/test_fw_fingerprint.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,26 +32,26 @@ def assertFingerprints(self, candidates, expected):
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_exact_match(self, brand, car_model, ecus):
CP = car.CarParams.new_message()
for _ in range(200):
fw = []
for ecu, fw_versions in ecus.items():
if not len(fw_versions):
raise unittest.SkipTest("Car model has no FW versions")
ecu_name, addr, sub_addr = ecu
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
CP.carFw = fw
_, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
self.assertFingerprints(matches, car_model)
# @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
# def test_exact_match(self, brand, car_model, ecus):
# CP = car.CarParams.new_message()
# for _ in range(200):
# fw = []
# for ecu, fw_versions in ecus.items():
# if not len(fw_versions):
# raise unittest.SkipTest("Car model has no FW versions")
# ecu_name, addr, sub_addr = ecu
# fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
# "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
# CP.carFw = fw
# _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
# self.assertFingerprints(matches, car_model)

@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
def test_fuzzy_match(self, brand, car_model, ecus):
# TODO: speed up fuzzy matching and test more
CP = car.CarParams.new_message()
for _ in range(5):
for _ in range(1):
fw = []
for ecu, fw_versions in ecus.items():
if not len(fw_versions):
Expand All @@ -63,142 +63,142 @@ def test_fuzzy_match(self, brand, car_model, ecus):
_, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)

# Assert no match if there are not enough valid ECUs
valid_ecus = [f['ecu'] for f in fw if f['ecu'] not in FUZZY_EXCLUDE_ECUS]
if len(valid_ecus) < 2:
self.assertEqual(len(matches), 0, valid_ecus)
valid_ecus = [(f['address'], f['subAddress']) for f in fw if f['ecu'] not in FUZZY_EXCLUDE_ECUS]
if len(set(valid_ecus)) < 2:
self.assertEqual(len(matches), 0)
# There won't always be a match due to shared FW, but if there is it should be correct
elif len(matches):
self.assertFingerprints(matches, car_model)

def test_no_duplicate_fw_versions(self):
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
for ecu, ecu_fw in ecus.items():
with self.subTest(ecu):
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")

def test_all_addrs_map_to_one_ecu(self):
for brand, cars in VERSIONS.items():
addr_to_ecu = defaultdict(set)
for ecus in cars.values():
for ecu_type, addr, sub_addr in ecus.keys():
addr_to_ecu[(addr, sub_addr)].add(ecu_type)
ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")

def test_data_collection_ecus(self):
# Asserts no extra ECUs are in the fingerprinting database
for brand, config in FW_QUERY_CONFIGS.items():
for car_model, ecus in VERSIONS[brand].items():
bad_ecus = set(ecus).intersection(config.extra_ecus)
with self.subTest(car_model=car_model):
self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')

def test_blacklisted_ecus(self):
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model):
CP = interfaces[car_model][0].get_non_essential_params(car_model)
if CP.carName == 'subaru':
for ecu in ecus.keys():
self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')

elif CP.carName == "chrysler":
# Some HD trucks have a combined TCM and ECM
if CP.carFingerprint.startswith("RAM HD"):
for ecu in ecus.keys():
self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")

def test_missing_versions_and_configs(self):
brand_versions = set(VERSIONS.keys())
brand_configs = set(FW_QUERY_CONFIGS.keys())
if len(brand_configs - brand_versions):
with self.subTest():
self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")

if len(brand_versions - brand_configs):
with self.subTest():
self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")

def test_fw_request_ecu_whitelist(self):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand):
whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
brand_ecus |= {ecu[0] for ecu in config.extra_ecus}

# each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
ecus_not_whitelisted = brand_ecus - whitelisted_ecus

ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')


class TestFwFingerprintTiming(unittest.TestCase):
@staticmethod
def _benchmark(brand, num_pandas, n):
params = Params()
fake_socket = FakeSocket()

times = []
for _ in range(n):
params.put_bool("ObdMultiplexingEnabled", True)
thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
thread.start()
t = time.perf_counter()
while thread.is_alive():
time.sleep(0.02)
if not params.get_bool("ObdMultiplexingChanged"):
params.put_bool("ObdMultiplexingChanged", True)
times.append(time.perf_counter() - t)

return round(sum(times) / len(times), 2)

def _assert_timing(self, avg_time, ref_time, tol):
self.assertLess(avg_time, ref_time + tol)
self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")

def test_fw_query_timing(self):
tol = 0.1
total_ref_time = 4.6
brand_ref_times = {
1: {
'body': 0.1,
'chrysler': 0.3,
'ford': 0.2,
'honda': 0.5,
'hyundai': 0.7,
'mazda': 0.1,
'nissan': 0.3,
'subaru': 0.1,
'tesla': 0.2,
'toyota': 0.7,
'volkswagen': 0.2,
},
2: {
'hyundai': 1.1,
}
}

total_time = 0
for num_pandas in (1, 2):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand, num_pandas=num_pandas):
multi_panda_requests = [r for r in config.requests if r.bus > 3]
if not len(multi_panda_requests) and num_pandas > 1:
raise unittest.SkipTest("No multi-panda FW queries")

avg_time = self._benchmark(brand, num_pandas, 10)
total_time += avg_time
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')

with self.subTest(brand='all_brands'):
self._assert_timing(total_time, total_ref_time, tol)
print(f'all brands, total FW query time={total_time} seconds')
# def test_no_duplicate_fw_versions(self):
# for car_model, ecus in FW_VERSIONS.items():
# with self.subTest(car_model=car_model):
# for ecu, ecu_fw in ecus.items():
# with self.subTest(ecu):
# duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
# self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
#
# def test_all_addrs_map_to_one_ecu(self):
# for brand, cars in VERSIONS.items():
# addr_to_ecu = defaultdict(set)
# for ecus in cars.values():
# for ecu_type, addr, sub_addr in ecus.keys():
# addr_to_ecu[(addr, sub_addr)].add(ecu_type)
# ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
# ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
# self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")
#
# def test_data_collection_ecus(self):
# # Asserts no extra ECUs are in the fingerprinting database
# for brand, config in FW_QUERY_CONFIGS.items():
# for car_model, ecus in VERSIONS[brand].items():
# bad_ecus = set(ecus).intersection(config.extra_ecus)
# with self.subTest(car_model=car_model):
# self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}')
#
# def test_blacklisted_ecus(self):
# blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
# for car_model, ecus in FW_VERSIONS.items():
# with self.subTest(car_model=car_model):
# CP = interfaces[car_model][0].get_non_essential_params(car_model)
# if CP.carName == 'subaru':
# for ecu in ecus.keys():
# self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
#
# elif CP.carName == "chrysler":
# # Some HD trucks have a combined TCM and ECM
# if CP.carFingerprint.startswith("RAM HD"):
# for ecu in ecus.keys():
# self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
#
# def test_missing_versions_and_configs(self):
# brand_versions = set(VERSIONS.keys())
# brand_configs = set(FW_QUERY_CONFIGS.keys())
# if len(brand_configs - brand_versions):
# with self.subTest():
# self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}")
#
# if len(brand_versions - brand_configs):
# with self.subTest():
# self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}")
#
# def test_fw_request_ecu_whitelist(self):
# for brand, config in FW_QUERY_CONFIGS.items():
# with self.subTest(brand=brand):
# whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
# brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
# brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
#
# # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
# ecus_not_whitelisted = brand_ecus - whitelisted_ecus
#
# ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
# self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
# f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
#
#
# class TestFwFingerprintTiming(unittest.TestCase):
# @staticmethod
# def _benchmark(brand, num_pandas, n):
# params = Params()
# fake_socket = FakeSocket()
#
# times = []
# for _ in range(n):
# params.put_bool("ObdMultiplexingEnabled", True)
# thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
# thread.start()
# t = time.perf_counter()
# while thread.is_alive():
# time.sleep(0.02)
# if not params.get_bool("ObdMultiplexingChanged"):
# params.put_bool("ObdMultiplexingChanged", True)
# times.append(time.perf_counter() - t)
#
# return round(sum(times) / len(times), 2)
#
# def _assert_timing(self, avg_time, ref_time, tol):
# self.assertLess(avg_time, ref_time + tol)
# self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
#
# def test_fw_query_timing(self):
# tol = 0.1
# total_ref_time = 4.6
# brand_ref_times = {
# 1: {
# 'body': 0.1,
# 'chrysler': 0.3,
# 'ford': 0.2,
# 'honda': 0.5,
# 'hyundai': 0.7,
# 'mazda': 0.1,
# 'nissan': 0.3,
# 'subaru': 0.1,
# 'tesla': 0.2,
# 'toyota': 0.7,
# 'volkswagen': 0.2,
# },
# 2: {
# 'hyundai': 1.1,
# }
# }
#
# total_time = 0
# for num_pandas in (1, 2):
# for brand, config in FW_QUERY_CONFIGS.items():
# with self.subTest(brand=brand, num_pandas=num_pandas):
# multi_panda_requests = [r for r in config.requests if r.bus > 3]
# if not len(multi_panda_requests) and num_pandas > 1:
# raise unittest.SkipTest("No multi-panda FW queries")
#
# avg_time = self._benchmark(brand, num_pandas, 10)
# total_time += avg_time
# self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
# print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
#
# with self.subTest(brand='all_brands'):
# self._assert_timing(total_time, total_ref_time, tol)
# print(f'all brands, total FW query time={total_time} seconds')


if __name__ == "__main__":
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