Fuzzy match on ECU FW versions (#20687)

* Fuzzy match on 3+ ECUs

* reuse dict

* exclude some shared ecus to be sure

* show alert for fuzzy match

* use title case

* require community toggle

* refactor

* do both exact and fuzzy in test script

* update test script

* add fuzz test and lower matches to >= 2

* strip alert length

* sort mismatches

* add fw tests to test_startup

* bump cereal

cereal

@@ -1 +1 @@
-Subproject commit 957147cb8428d984a776ca468f866160f3b71bbc
+Subproject commit b39c6fc26d93ca776b27a2e4005b12ae85e7bacc

selfdrive/car/car_helpers.py

@@ -13,7 +13,7 @@ from cereal import car
 EventName = car.CarEvent.EventName
 
 
-def get_startup_event(car_recognized, controller_available):
+def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint):
   if comma_remote and tested_branch:
     event = EventName.startup
   else:
@@ -23,6 +23,8 @@ def get_startup_event(car_recognized, controller_available):
     event = EventName.startupNoCar
   elif car_recognized and not controller_available:
     event = EventName.startupNoControl
+  elif car_recognized and fuzzy_fingerprint:
+    event = EventName.startupFuzzyFingerprint
   return event
 
 
@@ -104,10 +106,10 @@ def fingerprint(logcan, sendcan):
       _, vin = get_vin(logcan, sendcan, bus)
       car_fw = get_fw_versions(logcan, sendcan, bus)
 
-    fw_candidates = match_fw_to_car(car_fw)
+    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
     vin = VIN_UNKNOWN
-    fw_candidates, car_fw = set(), []
+    exact_fw_match, fw_candidates, car_fw = True, set(), []
 
   cloudlog.warning("VIN %s", vin)
   Params().put("CarVin", vin)
@@ -152,23 +154,25 @@ def fingerprint(logcan, sendcan):
 
     frame += 1
 
+  exact_match = True
   source = car.CarParams.FingerprintSource.can
 
   # If FW query returns exactly 1 candidate, use it
   if len(fw_candidates) == 1:
     car_fingerprint = list(fw_candidates)[0]
     source = car.CarParams.FingerprintSource.fw
+    exact_match = exact_fw_match
 
   if fixed_fingerprint:
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.warning("fingerprinted %s", car_fingerprint)
-  return car_fingerprint, finger, vin, car_fw, source
+  return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
 def get_car(logcan, sendcan):
-  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan)
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
@@ -179,5 +183,6 @@ def get_car(logcan, sendcan):
   car_params.carVin = vin
   car_params.carFw = car_fw
   car_params.fingerprintSource = source
+  car_params.fuzzyFingerprint = not exact_match
 
   return CarInterface(car_params, CarController, CarState), car_params

selfdrive/car/fw_versions.py

@@ -2,6 +2,7 @@
 import struct
 import traceback
 from typing import Any
+from collections import defaultdict
 
 from tqdm import tqdm
 
@@ -136,15 +137,67 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def match_fw_to_car(fw_versions):
-  candidates = FW_VERSIONS
-  invalid = []
-
+def build_fw_dict(fw_versions):
   fw_versions_dict = {}
   for fw in fw_versions:
     addr = fw.address
     sub_addr = fw.subAddress if fw.subAddress != 0 else None
     fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
+  return fw_versions_dict
+
+
+def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
+  """Do a fuzzy FW match. This function will return a match, and the number of firmware version
+  that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
+  the match is rejected."""
+
+  # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
+  # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
+  # impossible to get 3 matching versions, even if two models with shared parts are released at the same
+  # time and only one is in our database.
+  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps]
+
+  # Build lookup table from (addr, subaddr, fw) to list of candidate cars
+  all_fw_versions = defaultdict(list)
+  for candidate, fw_by_addr in FW_VERSIONS.items():
+    if candidate == exclude:
+      continue
+
+    for addr, fws in fw_by_addr.items():
+      if addr[0] in exclude_types:
+        continue
+      for f in fws:
+        all_fw_versions[(addr[1], addr[2], f)].append(candidate)
+
+  match_count = 0
+  candidate = None
+  for addr, version in fw_versions_dict.items():
+    # All cars that have this FW response on the specified address
+    candidates = all_fw_versions[(addr[0], addr[1], version)]
+
+    if len(candidates) == 1:
+      match_count += 1
+      if candidate is None:
+        candidate = candidates[0]
+      # We uniquely matched two different cars. No fuzzy match possible
+      elif candidate != candidates[0]:
+        return set()
+
+  if match_count >= 2:
+    if log:
+      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
+    return set([candidate])
+  else:
+    return set()
+
+
+def match_fw_to_car_exact(fw_versions_dict):
+  """Do an exact FW match. Returns all cars that match the given
+  FW versions for a list of "essential" ECUs. If an ECU is not considered
+  essential the FW version can be missing to get a fingerprint, but if it's present it
+  needs to match the database."""
+  invalid = []
+  candidates = FW_VERSIONS
 
   for candidate, fws in candidates.items():
     for ecu, expected_versions in fws.items():
@@ -155,11 +208,11 @@ def match_fw_to_car(fw_versions):
       if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER] and found_version is None:
         continue
 
-      # TODO: on some toyota, the engine can show on two different addresses
+      # On some Toyota models, the engine can show on two different addresses
       if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS, TOYOTA.AVALON] and found_version is None:
         continue
 
-      # ignore non essential ecus
+      # Ignore non essential ecus
       if ecu_type not in ESSENTIAL_ECUS and found_version is None:
         continue
 
@@ -170,6 +223,21 @@ def match_fw_to_car(fw_versions):
   return set(candidates.keys()) - set(invalid)
 
 
+def match_fw_to_car(fw_versions, allow_fuzzy=True):
+  fw_versions_dict = build_fw_dict(fw_versions)
+  matches = match_fw_to_car_exact(fw_versions_dict)
+
+  exact_match = True
+  if allow_fuzzy and len(matches) == 0:
+    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+
+    # Fuzzy match found
+    if len(matches) == 1:
+      exact_match = False
+
+  return exact_match, matches
+
+
 def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
   ecu_types = {}
 
@@ -264,7 +332,7 @@ if __name__ == "__main__":
 
   t = time.time()
   fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
-  candidates = match_fw_to_car(fw_vers)
+  _, candidates = match_fw_to_car(fw_vers)
 
   print()
   print("Found FW versions")

selfdrive/car/tests/test_fw_fingerprint.py

@@ -28,7 +28,8 @@ class TestFwFingerprint(unittest.TestCase):
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      self.assertFingerprints(match_fw_to_car(CP.carFw), car_model)
+      _, matches = match_fw_to_car(CP.carFw)
+      self.assertFingerprints(matches, car_model)
 
   def test_no_duplicate_fw_versions(self):
     passed = True

selfdrive/controls/controlsd.py

@@ -84,9 +84,12 @@ class Controls:
     sounds_available = HARDWARE.get_sound_card_online()
 
     car_recognized = self.CP.carName != 'mock'
+    fuzzy_fingerprint = self.CP.fuzzyFingerprint
+
     # If stock camera is disconnected, we loaded car controls and it's not dashcam mode
     controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
-    community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
+    community_feature = self.CP.communityFeature or fuzzy_fingerprint
+    community_feature_disallowed = community_feature and (not community_feature_toggle)
     self.read_only = not car_recognized or not controller_available or \
                        self.CP.dashcamOnly or community_feature_disallowed
     if self.read_only:
@@ -137,7 +140,7 @@ class Controls:
     self.sm['driverMonitoringState'].faceDetected = False
     self.sm['liveParameters'].valid = True
 
-    self.startup_event = get_startup_event(car_recognized, controller_available)
+    self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)

selfdrive/controls/lib/events.py

@@ -208,6 +208,13 @@ def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: boo
     text = "Main Switch Off"
   return NoEntryAlert(text, duration_hud_alert=0.)
 
+def startup_fuzzy_fingerprint_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
+  return Alert(
+    "WARNING: No Exact Match on Car Model",
+    f"Closest Match: {CP.carFingerprint.title()[:40]}",
+    AlertStatus.userPrompt, AlertSize.mid,
+    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.)
+
 EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
   # ********** events with no alerts **********
 
@@ -253,6 +260,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
   },
 
+  EventName.startupFuzzyFingerprint: {
+    ET.PERMANENT: startup_fuzzy_fingerprint_alert,
+  },
+
   EventName.dashcamMode: {
     ET.PERMANENT: Alert(
       "Dashcam Mode",

selfdrive/controls/tests/test_startup.py

@@ -9,11 +9,23 @@ from common.params import Params
 from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
 from selfdrive.car.fingerprints import _FINGERPRINTS
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
+from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.car.mazda.values import CAR as MAZDA
 from selfdrive.controls.lib.events import EVENT_NAME
 from selfdrive.test.helpers import with_processes
 
 EventName = car.CarEvent.EventName
+Ecu = car.CarParams.Ecu
+
+COROLLA_TSS2_FW_VERSIONS = [
+  (Ecu.engine, 0x700, None, b'\x01896630ZG5000\x00\x00\x00\x00'),
+  (Ecu.eps, 0x7a1, None, b'\x018965B1255000\x00\x00\x00\x00'),
+  (Ecu.esp, 0x7b0, None, b'\x01F152602280\x00\x00\x00\x00\x00\x00'),
+  (Ecu.fwdRadar, 0x750, 0xf, b'\x018821F3301100\x00\x00\x00\x00'),
+  (Ecu.fwdCamera, 0x750, 0x6d, b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00'),
+]
+COROLLA_TSS2_FW_VERSIONS_FUZZY = COROLLA_TSS2_FW_VERSIONS[:-1] + [(Ecu.fwdCamera, 0x750, 0x6d, b'xxxxxx')]
+
 
 class TestStartup(unittest.TestCase):
 
@@ -21,23 +33,30 @@ class TestStartup(unittest.TestCase):
     # TODO: test EventName.startup for release branches
 
     # officially supported car
-    (EventName.startupMaster, HYUNDAI.SONATA, False),
-    (EventName.startupMaster, HYUNDAI.SONATA, True),
+    (EventName.startupMaster, HYUNDAI.SONATA, False, None),
+    (EventName.startupMaster, HYUNDAI.SONATA, True, None),
+
+    # offically supported car, FW query
+    (EventName.startupMaster, TOYOTA.COROLLA_TSS2, False, COROLLA_TSS2_FW_VERSIONS),
 
     # community supported car
-    (EventName.startupMaster, HYUNDAI.KIA_STINGER, True),
-    (EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False),
+    (EventName.startupMaster, HYUNDAI.KIA_STINGER, True, None),
+    (EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False, None),
 
     # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, True),
-    (EventName.startupNoControl, MAZDA.CX5, False),
+    (EventName.startupNoControl, MAZDA.CX5, True, None),
+    (EventName.startupNoControl, MAZDA.CX5, False, None),
 
     # unrecognized car
-    (EventName.startupNoCar, None, True),
-    (EventName.startupNoCar, None, False),
+    (EventName.startupNoCar, None, True, None),
+    (EventName.startupNoCar, None, False, None),
+
+    # fuzzy match
+    (EventName.startupFuzzyFingerprint, TOYOTA.COROLLA_TSS2, True, COROLLA_TSS2_FW_VERSIONS_FUZZY),
+    (EventName.communityFeatureDisallowed, TOYOTA.COROLLA_TSS2, False, COROLLA_TSS2_FW_VERSIONS_FUZZY),
   ])
   @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car, toggle_enabled):
+  def test_startup_alert(self, expected_event, car_model, toggle_enabled, fw_versions):
 
     # TODO: this should be done without any real sockets
     controls_sock = messaging.sub_sock("controlsState")
@@ -49,6 +68,24 @@ class TestStartup(unittest.TestCase):
     params.put_bool("OpenpilotEnabledToggle", True)
     params.put_bool("CommunityFeaturesToggle", toggle_enabled)
 
+    # Build capnn version of FW array
+    if fw_versions is not None:
+      car_fw = []
+      cp = car.CarParams.new_message()
+      for ecu, addr, subaddress, version in fw_versions:
+        f = car.CarParams.CarFw.new_message()
+        f.ecu = ecu
+        f.address = addr
+        f.fwVersion = version
+
+        if subaddress is not None:
+          f.subAddress = subaddress
+
+        car_fw.append(f)
+      cp.carVin = "1" * 17
+      cp.carFw = car_fw
+      params.put("CarParamsCache", cp.to_bytes())
+
     time.sleep(2) # wait for controlsd to be ready
 
     msg = messaging.new_message('pandaState')
@@ -56,10 +93,10 @@ class TestStartup(unittest.TestCase):
     pm.send('pandaState', msg)
 
     # fingerprint
-    if car is None:
+    if (car_model is None) or (fw_versions is not None):
       finger = {addr: 1 for addr in range(1, 100)}
     else:
-      finger = _FINGERPRINTS[car][0]
+      finger = _FINGERPRINTS[car_model][0]
 
     for _ in range(500):
       msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
@@ -70,10 +107,10 @@ class TestStartup(unittest.TestCase):
       if len(msgs):
         event_name = msgs[0].controlsState.alertType.split("/")[0]
         self.assertEqual(EVENT_NAME[expected_event], event_name,
-                         f"expected {EVENT_NAME[expected_event]} for '{car}', got {event_name}")
+                         f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
         break
     else:
-      self.fail(f"failed to fingerprint {car}")
+      self.fail(f"failed to fingerprint {car_model}")
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/debug/internal/fuzz_fw_fingerprint.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+# type: ignore
+import random
+from collections import defaultdict
+
+from tqdm import tqdm
+
+from selfdrive.car.fw_versions import match_fw_to_car_fuzzy
+from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
+from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
+from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
+
+
+FWS = {}
+FWS.update(TOYOTA_FW_VERSIONS)
+FWS.update(HONDA_FW_VERSIONS)
+FWS.update(HYUNDAI_FW_VERSIONS)
+FWS.update(VW_FW_VERSIONS)
+
+if __name__ == "__main__":
+  total = 0
+  match = 0
+  wrong_match = 0
+  confusions = defaultdict(set)
+
+  for _ in tqdm(range(1000)):
+    for candidate, fws in FWS.items():
+      fw_dict = {}
+      for (tp, addr, subaddr), fw_list in fws.items():
+        fw_dict[(addr, subaddr)] = random.choice(fw_list)
+
+      matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate)
+
+      total += 1
+      if len(matches) == 1:
+        if list(matches)[0] == candidate:
+          match += 1
+        else:
+          confusions[candidate] |= matches
+          wrong_match += 1
+
+  print()
+  for candidate, wrong_matches in sorted(confusions.items()):
+    print(candidate, wrong_matches)
+
+  print()
+  print(f"Total fuzz cases: {total}")
+  print(f"Correct matches:  {match}")
+  print(f"Wrong matches:    {wrong_match}")
+
+

selfdrive/debug/test_fw_query_on_routes.py

@@ -7,7 +7,8 @@ import os
 import traceback
 from tqdm import tqdm
 from tools.lib.logreader import LogReader
-from selfdrive.car.fw_versions import match_fw_to_car
+from tools.lib.route import Route
+from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
 from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
 from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
 from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
@@ -18,6 +19,7 @@ from selfdrive.car.honda.values import FINGERPRINTS as HONDA_FINGERPRINTS
 from selfdrive.car.hyundai.values import FINGERPRINTS as HYUNDAI_FINGERPRINTS
 from selfdrive.car.volkswagen.values import FINGERPRINTS as VW_FINGERPRINTS
 
+NO_API = "NO_API" in os.environ
 SUPPORTED_CARS = list(TOYOTA_FINGERPRINTS.keys()) + list(HONDA_FINGERPRINTS.keys()) + list(HYUNDAI_FINGERPRINTS.keys())+ list(VW_FINGERPRINTS.keys())
 
 if __name__ == "__main__":
@@ -33,25 +35,37 @@ if __name__ == "__main__":
 
   mismatches = defaultdict(list)
 
-  wrong = 0
-  good = 0
+  not_fingerprinted = 0
+  solved_by_fuzzy = 0
+
+  good_exact = 0
+  wrong_fuzzy = 0
+  good_fuzzy = 0
 
   dongles = []
   for route in tqdm(routes):
     route = route.rstrip()
     dongle_id, time = route.split('|')
-    qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
 
     if dongle_id in dongles:
       continue
 
+    if NO_API:
+      qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
+    else:
+      route = Route(route)
+      qlog_path = route.qlog_paths()[0]
+
+    if qlog_path is None:
+      continue
+
     try:
       lr = LogReader(qlog_path)
+      dongles.append(dongle_id)
 
       for msg in lr:
         if msg.which() == "pandaState":
-          if msg.pandaState.pandaType not in ['uno', 'blackPanda']:
-            dongles.append(dongle_id)
+          if msg.pandaState.pandaType not in ['uno', 'blackPanda', 'dos']:
             break
 
         elif msg.which() == "carParams":
@@ -61,7 +75,6 @@ if __name__ == "__main__":
           if len(car_fw) == 0:
             break
 
-          dongles.append(dongle_id)
           live_fingerprint = msg.carParams.carFingerprint
 
           if args.car is not None:
@@ -70,15 +83,28 @@ if __name__ == "__main__":
           if live_fingerprint not in SUPPORTED_CARS:
             break
 
-          candidates = match_fw_to_car(car_fw)
-          if (len(candidates) == 1) and (list(candidates)[0] == live_fingerprint):
-            good += 1
-            print("Correct", live_fingerprint, dongle_id)
+          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)
+
+          if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
+            good_exact += 1
+            print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}")
+
+            # Check if fuzzy match was correct
+            if len(fuzzy_matches) == 1:
+              if list(fuzzy_matches)[0] != live_fingerprint:
+                wrong_fuzzy += 1
+                print(f"{dongle_id}|{time}")
+                print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
+              else:
+                good_fuzzy += 1
             break
 
           print(f"{dongle_id}|{time}")
           print("Old style:", live_fingerprint, "Vin", msg.carParams.carVin)
-          print("New style:", candidates)
+          print("New style (exact):", exact_matches)
+          print("New style (fuzzy):", fuzzy_matches)
 
           for version in car_fw:
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
@@ -114,19 +140,24 @@ if __name__ == "__main__":
                 mismatches[live_fingerprint].append(mismatch)
 
           print()
-          wrong += 1
+          not_fingerprinted += 1
+
+          if len(fuzzy_matches) == 1:
+            if list(fuzzy_matches)[0] == live_fingerprint:
+              solved_by_fuzzy += 1
+            else:
+              wrong_fuzzy += 1
+              print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
+
           break
     except Exception:
       traceback.print_exc()
     except KeyboardInterrupt:
       break
 
-  print(f"Fingerprinted: {good} - Not fingerprinted: {wrong}")
-  print(f"Number of dongle ids checked: {len(dongles)}")
   print()
-
   # Print FW versions that need to be added seperated out by car and address
-  for car, m in mismatches.items():
+  for car, m in sorted(mismatches.items()):
     print(car)
     addrs = defaultdict(list)
     for (addr, sub_addr, version) in m:
@@ -138,3 +169,15 @@ if __name__ == "__main__":
         print(f"    {v},")
       print("  ]")
     print()
+
+  print()
+  print(f"Number of dongle ids checked: {len(dongles)}")
+  print(f"Fingerprinted:                {good_exact}")
+  print(f"Not fingerprinted:            {not_fingerprinted}")
+  print(f"  of which had a fuzzy match: {solved_by_fuzzy}")
+
+  print()
+  print(f"Correct fuzzy matches:        {good_fuzzy}")
+  print(f"Wrong fuzzy matches:          {wrong_fuzzy}")
+  print()
+