openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/fw_query_definitions.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+import capnp
+import copy
+from dataclasses import dataclass, field
+import struct
+from typing import Callable, Dict, List, Optional, Set, Tuple
+
+import panda.python.uds as uds
+
+AddrType = Tuple[int, Optional[int]]
+EcuAddrBusType = Tuple[int, Optional[int], int]
+EcuAddrSubAddr = Tuple[int, int, Optional[int]]
+
+LiveFwVersions = Dict[AddrType, Set[bytes]]
+OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
+
+def p16(val):
+  return struct.pack("!H", val)
+
+
+class StdQueries:
+  # FW queries
+  TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
+  TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
+
+  SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
+  SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
+
+  DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
+                                      uds.SESSION_TYPE.DEFAULT])
+  DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
+                                      uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
+
+  EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
+                                       uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
+  EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
+                                        uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
+
+  MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+  MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
+  UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
+  UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
+
+  OBD_VERSION_REQUEST = b'\x09\x04'
+  OBD_VERSION_RESPONSE = b'\x49\x04'
+
+  # VIN queries
+  OBD_VIN_REQUEST = b'\x09\x02'
+  OBD_VIN_RESPONSE = b'\x49\x02\x01'
+
+  UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
+  UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
+
+
+@dataclass
+class Request:
+  request: List[bytes]
+  response: List[bytes]
+  whitelist_ecus: List[int] = field(default_factory=list)
+  rx_offset: int = 0x8
+  bus: int = 1
+  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
+  auxiliary: bool = False
+  # FW responses from these queries will not be used for fingerprinting
+  logging: bool = False
+  # boardd toggles OBD multiplexing on/off as needed
+  obd_multiplexing: bool = True
+
+
+@dataclass
+class FwQueryConfig:
+  requests: List[Request]
+  # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
+  # Overrides and removes from essential ecus for specific models and ecus (exact matching)
+  non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
+  # Ecus added for data collection, not to be fingerprinted on
+  extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # returns set of candidates. Only will match if one candidate is returned
+  match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None
+
+  def __post_init__(self):
+    for i in range(len(self.requests)):
+      if self.requests[i].auxiliary:
+        new_request = copy.deepcopy(self.requests[i])
+        new_request.bus += 4
+        self.requests.append(new_request)