Revert "FPv2: fingerprint on all FW combinations" (#25417)

* Revert "FPv2: fingerprint on all FW combinations (#25204)"

This reverts commit ee081f278b.

* Revert "Revert "FPv2: fingerprint on all FW combinations (#25204)""

This reverts commit bb68b7bc1c28ba8c67f3051b8f99fabc42e85771.

* For breaking, match only with current brand's FW

* Add comment for fuzzy matching

* fingerprint (online) only using FW from that brand

* test_fw_query_on_routes fingerprints like online

* extend match_fw_to_car to work for test_fw_query_on_routes

* Apply suggestions from code review

selfdrive/car/fw_versions.py

@@ -337,17 +337,21 @@ def match_fw_to_car_exact(fw_versions_dict):
   return set(candidates.keys()) - set(invalid)
 
 
-def match_fw_to_car(fw_versions, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   # Try exact matching first
-  exact_matches = [(True, match_fw_to_car_exact)]
+  exact_matches = []
+  if allow_exact:
+    exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
     exact_matches.append((False, match_fw_to_car_fuzzy))
 
+  brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
   for exact_match, match_func in exact_matches:
-    # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
+    # For each brand, attempt to fingerprint using all FW returned from its queries
     matches = set()
-    fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
-    matches |= match_func(fw_versions_dict)
+    for brand in brands:
+      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+      matches |= match_func(fw_versions_dict)
 
     if len(matches):
       return exact_match, matches
@@ -416,9 +420,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
-
-    # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
-    _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
+    # Try to match using FW returned from this brand only
+    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
     if len(matches) == 1:
       break
 

selfdrive/debug/test_fw_query_on_routes.py

@@ -10,7 +10,7 @@ from tools.lib.logreader import LogReader
 from tools.lib.route import Route
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.car_helpers import interface_names
-from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
+from selfdrive.car.fw_versions import match_fw_to_car
 
 
 NO_API = "NO_API" in os.environ
@@ -89,9 +89,8 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          fw_versions_dict = build_fw_dict(car_fw)
-          exact_matches = match_fw_to_car_exact(fw_versions_dict)
-          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+          _, exact_matches = match_fw_to_car(car_fw, allow_exact=True, allow_fuzzy=False)
+          _, fuzzy_matches = match_fw_to_car(car_fw, allow_exact=False, allow_fuzzy=True)
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1