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pull/31124/head
Cameron Clough 1 year ago
parent 31b53aba05
commit 7243262016
1 changed files with 62 additions and 139 deletions
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  1. 201
      selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb

201
selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb
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@ -30,7 +30,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
"model_id": "9ddb0675cd4a4f46a23b608252324ed4",
"model_id": "b0f15fd6447f48748524dbd26507cccf",
"version_major": 2,
"version_minor": 0
},
@ -63,107 +63,30 @@
},
{
"cell_type": "code",
"execution_count": 3,
"execution_count": 5,
"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",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Skipping vin: 00000000000XXXXXX platform: FORD F-150 14TH GEN, no car fw\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\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",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\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"
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Ignoring mismatch for vin: 3FTTW8E3XPRXXXXXX platform: FORD MAVERICK 1ST GEN, no radar\n",
"Success rate: 100.00%\n"
]
},
{
@ -204,97 +127,85 @@
" <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>FORD FOCUS 4TH GEN</td>\n",
" <td>FORD FOCUS 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",
" <th>2</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>8</th>\n",
" <th>3</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",
" <th>4</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>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",
" <th>8</th>\n",
" <td>fw</td>\n",
" <td>FORD FOCUS 4TH GEN</td>\n",
" <td>FORD FOCUS 4TH GEN</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>103</th>\n",
" <td>fixed</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <th>18</th>\n",
" <td>fw</td>\n",
" <td>FORD MAVERICK 1ST GEN</td>\n",
" <td>mock</td>\n",
" <td>True</td>\n",
" </tr>\n",
" <tr>\n",
" <th>119</th>\n",
" <th>27</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",
" <th>70</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",
" <tr>\n",
" <th>71</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",
" </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 "
" source expected fuzzy correct\n",
"0 fw FORD BRONCO SPORT 1ST GEN FORD BRONCO SPORT 1ST GEN True\n",
"1 fw FORD FOCUS 4TH GEN FORD FOCUS 4TH GEN True\n",
"2 fw FORD MAVERICK 1ST GEN FORD MAVERICK 1ST GEN True\n",
"3 fw FORD EXPLORER 6TH GEN FORD EXPLORER 6TH GEN True\n",
"4 fixed FORD MAVERICK 1ST GEN FORD MAVERICK 1ST GEN True\n",
"8 fw FORD ESCAPE 4TH GEN FORD ESCAPE 4TH GEN True\n",
"18 fw FORD MAVERICK 1ST GEN mock True\n",
"27 fw FORD F-150 LIGHTNING 1ST GEN FORD F-150 LIGHTNING 1ST GEN True\n",
"70 fw FORD MUSTANG MACH-E 1ST GEN FORD MUSTANG MACH-E 1ST GEN True\n",
"71 fixed FORD EXPLORER 6TH GEN FORD EXPLORER 6TH GEN True"
]
},
"execution_count": 3,
"execution_count": 5,
"metadata": {},
"output_type": "execute_result"
}
@ -323,6 +234,18 @@
" fuzzy_fingerprint = list(fuzzy_fingerprint)[0]\n",
"\n",
" correct = fuzzy_fingerprint == expected_platform\n",
"\n",
" if not correct and fuzzy_fingerprint == \"mock\":\n",
" found_radar = False\n",
" for fw in car_fw:\n",
" if fw.ecu == 0x764:\n",
" found_radar = True\n",
" break\n",
" # If the radar is missing, it should not match\n",
" if not found_radar:\n",
" print(f\"Ignoring mismatch for vin: {vin} platform: {expected_platform}, no radar\")\n",
" correct = True\n",
"\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",

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