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@ -11,6 +11,7 @@ from selfdrive.car.interfaces import get_interface_attr |
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from selfdrive.car.fingerprints import FW_VERSIONS |
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from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery |
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from system.swaglog import cloudlog |
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from selfdrive.car.hyundai.values import get_platform_codes |
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Ecu = car.CarParams.Ecu |
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ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] |
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@ -48,8 +49,8 @@ def get_brand_addrs(): |
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def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None): |
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# If make specifies a fuzzy matching function, use that instead |
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if config is not None and config.match_fw_to_car_fuzzy is not None: |
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return config.match_fw_to_car_fuzzy(fw_versions_dict) |
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# if config is not None and config.match_fw_to_car_fuzzy is not None: |
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# return config.match_fw_to_car_fuzzy(fw_versions_dict) |
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"""Do a fuzzy FW match. This function will return a match, and the number of firmware version |
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that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars |
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@ -59,35 +60,62 @@ def match_fw_to_car_fuzzy(fw_versions_dict, config, log=True, exclude=None): |
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# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost |
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# impossible to get 3 matching versions, even if two models with shared parts are released at the same |
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# time and only one is in our database. |
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exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] |
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# exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] |
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# Build lookup table from (addr, sub_addr, fw) to list of candidate cars |
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all_fw_versions = defaultdict(list) |
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all_fw_versions = defaultdict(set) |
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all_fw_versions_prefixes = defaultdict(set) |
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for candidate, fw_by_addr in FW_VERSIONS.items(): |
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if MODEL_TO_BRAND[candidate] != 'hyundai': |
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continue |
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if candidate == exclude: |
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continue |
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for addr, fws in fw_by_addr.items(): |
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if addr[0] in exclude_types: |
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# if addr[0] in exclude_types: |
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# continue |
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# hyundai works best with camera and radar (which have mostly standardized platform codes) |
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if addr[0] not in [Ecu.fwdCamera, Ecu.fwdRadar]: |
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continue |
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for f in fws: |
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all_fw_versions[(addr[1], addr[2], f)].append(candidate) |
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all_fw_versions[(addr[1], addr[2], f)].add(candidate) |
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platform_codes = get_platform_codes([f]) |
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assert len(platform_codes) < 2 |
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if len(platform_codes): |
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print(platform_codes, f) |
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platform_code = list(platform_codes)[0] |
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all_fw_versions_prefixes[(addr[1], addr[2], platform_code)].add(candidate) |
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print(all_fw_versions_prefixes) |
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match_count = 0 |
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candidate = None |
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for addr, versions in fw_versions_dict.items(): |
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for version in versions: |
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# All cars that have this FW response on the specified address |
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candidates = all_fw_versions[(addr[0], addr[1], version)] |
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print(addr) |
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print('first candidates', candidates) |
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if len(candidates) != 1: |
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platform_codes = get_platform_codes([version]) |
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assert len(platform_codes) < 2 |
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if len(platform_codes): |
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print(platform_codes, version) |
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platform_code = list(platform_codes)[0] |
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candidates = all_fw_versions_prefixes[(addr[0], addr[1], platform_code)] |
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print('second candidates', candidates) |
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print() |
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if len(candidates) == 1: |
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match_count += 1 |
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if candidate is None: |
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candidate = candidates[0] |
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candidate = list(candidates)[0] |
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# We uniquely matched two different cars. No fuzzy match possible |
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elif candidate != candidates[0]: |
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elif candidate != list(candidates)[0]: |
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return set() |
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print('match_count', match_count) |
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if match_count >= 2: |
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if log: |
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cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") |
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@ -142,6 +170,8 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): |
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# For each brand, attempt to fingerprint using all FW returned from its queries |
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matches = set() |
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for brand in VERSIONS.keys(): |
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if brand != 'hyundai': |
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continue |
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fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) |
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config = FW_QUERY_CONFIGS[brand] |
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matches |= match_func(fw_versions_dict, config) |
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Shane Smiskol
2 years ago