fuzzy ecus

selfdrive/car/fw_query_definitions.py

@@ -81,6 +81,7 @@ class FwQueryConfig:
   # A function to get uniquely identifiable codes for a version
   # TODO: take list of versions and return set of platform codes
   fuzzy_get_platform_codes: Optional[Callable] = None
+  fuzzy_ecus: List[capnp.lib.capnp._EnumModule] = field(default_factory=set)
 
   # TODO: below func is to be replaced by above two
   # A function that each make can provide to fuzzy fingerprint reliably on that make

selfdrive/car/fw_versions.py

@@ -59,7 +59,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
   # 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, Ecu.debug]
+  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
   # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(set)
@@ -77,16 +77,18 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None):
       if addr[0] not in [Ecu.fwdCamera, Ecu.fwdRadar]:
         continue
       for f in fws:
-        all_fw_versions[(addr[1], addr[2], f)].add(candidate)
+        if addr[0] not in exclude_types:
+          all_fw_versions[(addr[1], addr[2], f)].add(candidate)
 
         # Add platform codes to lookup dict if config specifies a function
         if config.fuzzy_get_platform_codes is not None:
-          platform_codes = config.fuzzy_get_platform_codes([f])
+          if addr[0] in config.fuzzy_ecus:
-          assert len(platform_codes) < 2  # TODO: remove and test?
+            platform_codes = config.fuzzy_get_platform_codes([f])
-          if len(platform_codes) == 1:
+            assert len(platform_codes) < 2  # TODO: remove and test?
-            print(platform_codes, f)
+            if len(platform_codes) == 1:
-            platform_code = list(platform_codes)[0]
+              print(platform_codes, f)
-            all_platform_codes[(addr[1], addr[2], platform_code)].add(candidate)
+              platform_code = list(platform_codes)[0]
+              all_platform_codes[(addr[1], addr[2], platform_code)].add(candidate)
 
   print(all_platform_codes)
   match_count = 0

selfdrive/car/hyundai/values.py

@@ -451,6 +451,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # Just one platform code match from radar or camera is enough
   fuzzy_min_match_count=1,
   fuzzy_get_platform_codes=get_platform_codes,
+  fuzzy_ecus=[Ecu.fwdRadar, Ecu.fwdCamera],
 
   # TODO: old, remove
   match_fw_to_car_fuzzy=match_fw_to_hyundai_fuzzy,