get_fw_versions: test the full stack

selfdrive/car/interfaces.py

@@ -52,6 +52,7 @@ class LatControlInputs(NamedTuple):
  aego: float
 
 
+SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -109,7 +110,7 @@ def __init__(self, CP, CarController, CarState):
  dbc_name = "" if self.cp is None else self.cp.dbc_name
  self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
- def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+ def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
  return self.CC.update(c, self.CS, now_nanos)
 
  @staticmethod
@@ -462,9 +463,6 @@ def get_loopback_can_parser(CP):
  return None
 
 
-SendCan = tuple[int, int, bytes, int]
-
-
 class CarControllerBase(ABC):
  def __init__(self, dbc_name: str, CP, VM):
  self.CP = CP

selfdrive/car/tests/test_fw_fingerprint.py

@@ -5,11 +5,13 @@
 from parameterized import parameterized
 
 from cereal import car
+from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
  match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus
 from openpilot.selfdrive.car.vin import get_vin
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -19,7 +21,8 @@
 
 class FakeSocket:
  def receive(self, non_blocking=False):
- pass
+ return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)])
+ if random.uniform(0, 1) > 0.5 else None)
 
  def send(self, msg):
  pass
@@ -313,3 +316,18 @@ def test_fw_query_timing(self, subtests, mocker):
  total_time = round(total_times[num_pandas], 2)
  self._assert_timing(total_time, total_ref_time[num_pandas])
  print(f'all brands, total FW query time={total_time} seconds')
+
+ def test_get_fw_versions(self, subtests, mocker):
+ # some coverage on IsoTpParallelQuery and panda UDS library
+ # TODO: replace this with full fingerprint simulation testing
+ # https://github.com/commaai/panda/pull/1329
+
+ def fake_cloudlog_exception(*args, **kwargs):
+ raise
+
+ mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None)
+ mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception)
+ fake_socket = FakeSocket()
+ for brand in FW_QUERY_CONFIGS.keys():
+ with subtests.test(brand=brand):
+ get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1)