diff --git a/selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb b/selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb
index 4ef7a752da..ca2025f098 100644
--- a/selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb
+++ b/selfdrive/car/ford/tests/ford_fuzzy_fingerprint.ipynb
@@ -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 @@
" \n",
" | 1 | \n",
" fw | \n",
- " FORD ESCAPE 4TH GEN | \n",
- " FORD ESCAPE 4TH GEN | \n",
+ " FORD FOCUS 4TH GEN | \n",
+ " FORD FOCUS 4TH GEN | \n",
" True | \n",
"
\n",
" \n",
- " | 5 | \n",
- " fixed | \n",
- " FORD EXPLORER 6TH GEN | \n",
- " FORD EXPLORER 6TH GEN | \n",
+ " 2 | \n",
+ " fw | \n",
+ " FORD MAVERICK 1ST GEN | \n",
+ " FORD MAVERICK 1ST GEN | \n",
" True | \n",
"
\n",
" \n",
- " | 8 | \n",
+ " 3 | \n",
" fw | \n",
" FORD EXPLORER 6TH GEN | \n",
" FORD EXPLORER 6TH GEN | \n",
" True | \n",
"
\n",
" \n",
- " | 11 | \n",
- " fw | \n",
+ " 4 | \n",
+ " fixed | \n",
" FORD MAVERICK 1ST GEN | \n",
" FORD MAVERICK 1ST GEN | \n",
" True | \n",
"
\n",
" \n",
- " | 12 | \n",
- " fw | \n",
- " FORD MAVERICK 1ST GEN | \n",
- " mock | \n",
- " False | \n",
- "
\n",
- " \n",
- " | 17 | \n",
+ " 8 | \n",
" fw | \n",
- " FORD FOCUS 4TH GEN | \n",
- " FORD FOCUS 4TH GEN | \n",
+ " FORD ESCAPE 4TH GEN | \n",
+ " FORD ESCAPE 4TH GEN | \n",
" True | \n",
"
\n",
" \n",
- " | 103 | \n",
- " fixed | \n",
- " FORD MAVERICK 1ST GEN | \n",
+ " 18 | \n",
+ " fw | \n",
" FORD MAVERICK 1ST GEN | \n",
+ " mock | \n",
" True | \n",
"
\n",
" \n",
- " | 119 | \n",
+ " 27 | \n",
" fw | \n",
" FORD F-150 LIGHTNING 1ST GEN | \n",
" FORD F-150 LIGHTNING 1ST GEN | \n",
" True | \n",
"
\n",
" \n",
- " | 149 | \n",
+ " 70 | \n",
" fw | \n",
" FORD MUSTANG MACH-E 1ST GEN | \n",
" FORD MUSTANG MACH-E 1ST GEN | \n",
" True | \n",
"
\n",
+ " \n",
+ " | 71 | \n",
+ " fixed | \n",
+ " FORD EXPLORER 6TH GEN | \n",
+ " FORD EXPLORER 6TH GEN | \n",
+ " True | \n",
+ "
\n",
" \n",
"\n",
""
],
"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",