FW_QUERY_CONFIGS: type annotate (commaai#31265)

* annotate * fix * clean up * test * clean up * space * fix
gaanthony · Feb 2, 2024 · c9bd4e4 · c9bd4e4
1 parent 4962ffa
commit c9bd4e4
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Showing 3 changed files with 8 additions and 11 deletions.
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
@@ -97,15 +97,12 @@ def __post_init__(self):
         new_request.bus += 4
         self.requests.append(new_request)
 
-  def get_all_ecus(self, offline_fw_versions: OfflineFwVersions, include_ecu_type: bool = True,
-                   include_extra_ecus: bool = True) -> set[EcuAddrSubAddr] | set[AddrType]:
+  def get_all_ecus(self, offline_fw_versions: OfflineFwVersions,
+                   include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]:
     # Add ecus in database + extra ecus
     brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
 
     if include_extra_ecus:
       brand_ecus |= set(self.extra_ecus)
 
-    if not include_ecu_type:
-      return {(addr, subaddr) for _, addr, subaddr in brand_ecus}
-
     return brand_ecus
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
@@ -8,7 +8,7 @@
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
-from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType
+from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -18,7 +18,7 @@
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
-FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
+FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
@@ -204,7 +204,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
 def get_brand_ecu_matches(ecu_rx_addrs: Set[EcuAddrBusType]) -> dict[str, set[AddrType]]:
   """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
-  brand_addrs = {brand: config.get_all_ecus(VERSIONS[brand], include_ecu_type=False) for
+  brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for
                  brand, config in FW_QUERY_CONFIGS.items()}
   brand_matches: dict[str, set[AddrType]] = {brand: set() for brand, _, _ in REQUESTS}
 
@@ -287,8 +287,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   # Get versions and build capnp list to put into CarParams
   car_fw = []
   requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
-  for addr in tqdm(addrs, disable=not progress):
-    for addr_chunk in chunks(addr):
+  for addr_group in tqdm(addrs, disable=not progress):  # split by subaddr, if any
+    for addr_chunk in chunks(addr_group):
       for brand, config, r in requests:
         # Skip query if no panda available
         if r.bus > num_pandas * 4 - 1:

diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -150,7 +150,7 @@ def test_missing_versions_and_configs(self):
     # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval
     for brand, config in FW_QUERY_CONFIGS.items():
       self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0)
-      self.assertEqual(config.get_all_ecus({}, include_ecu_type=True), set(config.extra_ecus))
+      self.assertEqual(config.get_all_ecus({}), set(config.extra_ecus))
       self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0)
 
   def test_fw_request_ecu_whitelist(self):