Source code for selfdrive.car.hyundai.tests.test_hyundai
#!/usr/bin/env python3
from hypothesis import settings, given, strategies as st
import unittest
from cereal import car
from openpilot.selfdrive.car.fw_versions import build_fw_dict
from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
get_platform_codes
from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
# Some platforms have date codes in a different format we don't yet parse (or are missing).
# For now, assert list of expected missing date cars
NO_DATES_PLATFORMS = {
# CAN FD
CAR.KIA_SPORTAGE_5TH_GEN,
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
CAR.HYUNDAI_TUCSON_4TH_GEN,
# CAN
CAR.HYUNDAI_ELANTRA,
CAR.HYUNDAI_ELANTRA_GT_I30,
CAR.KIA_CEED,
CAR.KIA_FORTE,
CAR.KIA_OPTIMA_G4,
CAR.KIA_OPTIMA_G4_FL,
CAR.KIA_SORENTO,
CAR.HYUNDAI_KONA,
CAR.HYUNDAI_KONA_EV,
CAR.HYUNDAI_KONA_EV_2022,
CAR.HYUNDAI_KONA_HEV,
CAR.HYUNDAI_SONATA_LF,
CAR.HYUNDAI_VELOSTER,
}
CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
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class TestHyundaiFingerprint(unittest.TestCase):
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def test_can_features(self):
# Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
# Test CAN FD car not in CAN feature lists
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
for car_model in CANFD_CAR:
self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
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def test_hybrid_ev_sets(self):
self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
self.assertEqual(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):
# Asserts only expected Ecus can exist in database for CAN-FD cars
for car_model in CANFD_CAR:
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
self.assertEqual(len(ecus_not_in_whitelist), 0,
f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")
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def test_blacklisted_parts(self):
# Asserts no ECUs known to be shared across platforms exist in the database.
# Tucson having Santa Cruz camera and EPS for example
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
if b"-" not in code:
continue
part = code.split(b"-")[1]
self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
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def test_correct_ecu_response_database(self):
"""
Assert standard responses for certain ECUs, since they can
respond to multiple queries with different data
"""
expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for ecu, fws in ecus.items():
self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
f"FW from unexpected request in database: {(ecu, fws)}")
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@settings(max_examples=100)
@given(data=st.data())
def test_platform_codes_fuzzy_fw(self, data):
"""Ensure function doesn't raise an exception"""
fw_strategy = st.lists(st.binary())
fws = data.draw(fw_strategy)
get_platform_codes(fws)
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def test_expected_platform_codes(self):
# Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
# Third and fourth character are usually EV/hybrid identifiers
codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
if car_model == CAR.HYUNDAI_PALISADE:
self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
else:
self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
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def test_platform_code_ecus_available(self):
# TODO: add queries for these non-CAN FD cars to get EPS
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for platform_code_ecu in PLATFORM_CODE_ECUS:
if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
continue
if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
continue
self.assertIn(platform_code_ecu, [e[0] for e in ecus])
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def test_fw_format(self):
# Asserts:
# - every supported ECU FW version returns one platform code
# - every supported ECU FW version has a part number
# - expected parsing of ECU FW dates
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
codes = set()
for fw in fws:
result = get_platform_codes([fw])
self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
codes |= result
if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
self.assertTrue(all(date is None for _, date in codes))
else:
self.assertTrue(all(date is not None for _, date in codes))
if car_model == CAR.HYUNDAI_GENESIS:
raise unittest.SkipTest("No part numbers for car model")
# Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
self.assertTrue(all(b"-" in code for code, _ in codes),
f"FW does not have part number: {fw}")
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def test_platform_codes_spot_check(self):
# Asserts basic platform code parsing behavior for a few cases
results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
self.assertEqual(results, {(b"DH", b"150210")})
# Some cameras and all radars do not have dates
results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
self.assertEqual(results, {(b"AEhe-G2000", None)})
results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
self.assertEqual(results, {(b"CV1-CV000", None)})
results = get_platform_codes([
b"\xf1\x00DH LKAS 1.1 -150210",
b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
])
self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
results = get_platform_codes([
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222",
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720",
])
self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
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def test_fuzzy_excluded_platforms(self):
# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
# This list can be shrunk as we combine platforms and detect features
excluded_platforms = {
CAR.GENESIS_G70, # shared platform code, part number, and date
CAR.GENESIS_G70_2020,
}
excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST # shared platform codes
excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match
platforms_with_shared_codes = set()
for platform, fw_by_addr in FW_VERSIONS.items():
car_fw = []
for ecu, fw_versions in fw_by_addr.items():
ecu_name, addr, sub_addr = ecu
for fw in fw_versions:
car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
"subAddress": 0 if sub_addr is None else sub_addr})
CP = car.CarParams.new_message(carFw=car_fw)
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
if len(matches) == 1:
self.assertEqual(list(matches)[0], platform)
else:
platforms_with_shared_codes.add(platform)
self.assertEqual(platforms_with_shared_codes, excluded_platforms)
if __name__ == "__main__":
unittest.main()