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Revert "remove notebook"

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This reverts commit 5d4ca202f2.
pull/31124/head
Cameron Clough 1 year ago
parent 50f14226cd
commit 31b53aba05
1 changed files with 378 additions and 0 deletions
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  1. 378
      selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb

378
selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb
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@ -0,0 +1,378 @@
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /mnt/c/Users/camer/AppData/Local/Programs/Microsoft VS Code\n"
]
}
],
"source": [
"from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
"from openpilot.selfdrive.car.ford.values import CAR\n",
"\n",
"database = get_comma_car_segments_database()\n",
"\n",
"platforms = [c.value for c in CAR]"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "9ddb0675cd4a4f46a23b608252324ed4",
"version_major": 2,
"version_minor": 0
},
"text/plain": [
" 0%| | 0/261 [00:00<?, ?it/s]"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import random\n",
"\n",
"from tqdm.contrib.concurrent import thread_map\n",
"\n",
"from openpilot.tools.lib.logreader import LogReader\n",
"\n",
"\n",
"def process(segment):\n",
" CP = LogReader(segment).first(\"carParams\")\n",
" return CP.carVin, CP.carFw, CP.carFingerprint, CP.fuzzyFingerprint, CP.fingerprintSource\n",
"\n",
"\n",
"FW_TO_CHECK = set(thread_map(process, [\n",
" segment for platform in platforms\n",
" for segment in random.sample(database[platform], min(len(database[platform]), 50))\n",
"]))"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"Skipping vin: 00000000000XXXXXX platform: FORD F-150 14TH GEN, no car fw\n",
"Skipping vin: 00000000000XXXXXX platform: FORD F-150 14TH GEN, no car fw\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"Skipping vin: 00000000000XXXXXX platform: FORD F-150 14TH GEN, no car fw\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"Skipping vin: 00000000000XXXXXX platform: FORD F-150 14TH GEN, no car fw\n",
"Skipping vin: 00000000000XXXXXX platform: FORD F-150 14TH GEN, no car fw\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"vin: 3FTTW8E3XPRXXXXXX expected: FORD MAVERICK 1ST GEN fuzzy: mock correct: False\n",
" source: fw\n",
" fuzzy: True\n",
" car_fw:\n",
" abs b'PZ6C-2D053-ED'\n",
" engine b'PZ6A-14C204-JE'\n",
" eps b'NZ6C-14D003-AL'\n",
" fwdCamera b'NZ6T-14F397-AC'\n",
"Success rate: 95.70%\n"
]
},
{
"data": {
"text/html": [
"<div>\n",
"<style scoped>\n",
" .dataframe tbody tr th:only-of-type {\n",
" vertical-align: middle;\n",
" }\n",
"\n",
" .dataframe tbody tr th {\n",
" vertical-align: top;\n",
" }\n",
"\n",
" .dataframe thead th {\n",
" text-align: right;\n",
" }\n",
"</style>\n",
"<table border=\"1\" class=\"dataframe\">\n",
" <thead>\n",
" <tr style=\"text-align: right;\">\n",
" <th></th>\n",
" <th>source</th>\n",
" <th>expected</th>\n",
" <th>fuzzy</th>\n",
" <th>correct</th>\n",
" </tr>\n",
" </thead>\n",
" <tbody>\n",
" <tr>\n",
" <th>0</th>\n",
" <td>fw</td>\n",
" <td>FORD BRONCO SPORT 1ST GEN</td>\n",
" <td>FORD BRONCO SPORT 1ST GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1</th>\n",
" <td>fw</td>\n",
" <td>FORD ESCAPE 4TH GEN</td>\n",
" <td>FORD ESCAPE 4TH GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>5</th>\n",
" <td>fixed</td>\n",
" <td>FORD EXPLORER 6TH GEN</td>\n",
" <td>FORD EXPLORER 6TH GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>8</th>\n",
" <td>fw</td>\n",
" <td>FORD EXPLORER 6TH GEN</td>\n",
" <td>FORD EXPLORER 6TH GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>11</th>\n",
" <td>fw</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>12</th>\n",
" <td>fw</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <td>mock</td>\n",
" <td>False</td>\n",
" </tr>\n",
" <tr>\n",
" <th>17</th>\n",
" <td>fw</td>\n",
" <td>FORD FOCUS 4TH GEN</td>\n",
" <td>FORD FOCUS 4TH GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>103</th>\n",
" <td>fixed</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>119</th>\n",
" <td>fw</td>\n",
" <td>FORD F-150 LIGHTNING 1ST GEN</td>\n",
" <td>FORD F-150 LIGHTNING 1ST GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>149</th>\n",
" <td>fw</td>\n",
" <td>FORD MUSTANG MACH-E 1ST GEN</td>\n",
" <td>FORD MUSTANG MACH-E 1ST GEN</td>\n",
" <td>True</td>\n",
" </tr>\n",
" </tbody>\n",
"</table>\n",
"</div>"
],
"text/plain": [
" source expected fuzzy \\\n",
"0 fw FORD BRONCO SPORT 1ST GEN FORD BRONCO SPORT 1ST GEN \n",
"1 fw FORD ESCAPE 4TH GEN FORD ESCAPE 4TH GEN \n",
"5 fixed FORD EXPLORER 6TH GEN FORD EXPLORER 6TH GEN \n",
"8 fw FORD EXPLORER 6TH GEN FORD EXPLORER 6TH GEN \n",
"11 fw FORD MAVERICK 1ST GEN FORD MAVERICK 1ST GEN \n",
"12 fw FORD MAVERICK 1ST GEN mock \n",
"17 fw FORD FOCUS 4TH GEN FORD FOCUS 4TH GEN \n",
"103 fixed FORD MAVERICK 1ST GEN FORD MAVERICK 1ST GEN \n",
"119 fw FORD F-150 LIGHTNING 1ST GEN FORD F-150 LIGHTNING 1ST GEN \n",
"149 fw FORD MUSTANG MACH-E 1ST GEN FORD MUSTANG MACH-E 1ST GEN \n",
"\n",
" correct \n",
"0 True \n",
"1 True \n",
"5 True \n",
"8 True \n",
"11 True \n",
"12 False \n",
"17 True \n",
"103 True \n",
"119 True \n",
"149 True "
]
},
"execution_count": 3,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"import pandas as pd\n",
"\n",
"from openpilot.selfdrive.car.fw_versions import build_fw_dict\n",
"from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS\n",
"from openpilot.selfdrive.car.ford.values import match_fw_to_car_fuzzy\n",
"\n",
"rows = []\n",
"success, count = 0, 0\n",
"for vin, car_fw, expected_platform, fuzzy, source in FW_TO_CHECK:\n",
" car_fw = list(filter(lambda fw: fw.brand == \"ford\" and not fw.logging, car_fw))\n",
" if len(car_fw) == 0:\n",
" print(f\"Skipping vin: {vin} platform: {expected_platform}, no car fw\")\n",
" continue\n",
"\n",
" fuzzy_fingerprint = match_fw_to_car_fuzzy(build_fw_dict(car_fw), FW_VERSIONS)\n",
" if len(fuzzy_fingerprint) == 0:\n",
" fuzzy_fingerprint = \"mock\"\n",
" elif len(fuzzy_fingerprint) > 1:\n",
" fuzzy_fingerprint = \"multiple\"\n",
" else:\n",
" fuzzy_fingerprint = list(fuzzy_fingerprint)[0]\n",
"\n",
" correct = fuzzy_fingerprint == expected_platform\n",
" rows.append((source, expected_platform, fuzzy_fingerprint, correct))\n",
" if not correct:\n",
" print(f\"vin: {vin} expected: {expected_platform: <30} fuzzy: {fuzzy_fingerprint: <30} correct: {correct}\")\n",
" print(f\" source: {source}\")\n",
" print(f\" fuzzy: {fuzzy}\")\n",
" print(\" car_fw:\")\n",
" fws = set()\n",
" for fw in car_fw:\n",
" fw_version = fw.fwVersion.rstrip(b\"\\0\")\n",
" fws.add(f\"{fw.ecu} {fw_version}\")\n",
" for fw in sorted(fws):\n",
" print(f\" {fw}\")\n",
" success += correct\n",
" count += 1\n",
"\n",
"print(f\"Success rate: {success / count * 100:.2f}%\")\n",
"\n",
"pd.set_option(\"display.max_rows\", None)\n",
"\n",
"df = pd.DataFrame(rows, columns=[\"source\", \"expected\", \"fuzzy\", \"correct\"]).drop_duplicates()\n",
"df"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": ".venv",
"language": "python",
"name": "python3"
},
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"mimetype": "text/x-python",
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"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.11.4"
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"nbformat": 4,
"nbformat_minor": 2
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