this commit isn't complete yet

selfdrive/car/car_helpers.py

@@ -139,7 +139,7 @@ def fingerprint(logcan, sendcan, num_pandas):
       # VIN query only reliably works through OBDII
       vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -148,6 +148,7 @@ def fingerprint(logcan, sendcan, num_pandas):
     exact_fw_match, fw_candidates, car_fw = True, set(), []
     cached = False
 
+  # TODO: move up?
   if not is_valid_vin(vin):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN

selfdrive/car/fw_versions.py

@@ -144,8 +144,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
   return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], allow_exact: bool = True, allow_fuzzy: bool = True,
+def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str, allow_exact: bool = True,
-                    log: bool = True) -> tuple[bool, set[str]]:
+                    allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
   # Try exact matching first
   exact_matches: list[tuple[bool, MatchFwToCar]] = []
   if allow_exact:
@@ -158,12 +158,18 @@ def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], al
     matches: set[str] = set()
     for brand in VERSIONS.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
-      matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
+      cur_matches = match_func(fw_versions_dict, match_brand=brand, log=log)
 
       # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
       config = FW_QUERY_CONFIGS[brand]
-      if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
+      if not exact_match and not len(cur_matches) and config.match_fw_to_car_fuzzy is not None:
-        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
+        cur_matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
+
+      # FIXME: this is super ugly
+      if len(cur_matches) != 1 and config.match_fw_to_car_custom is not None:
+        cur_matches = config.match_fw_to_car_custom(fw_versions_dict, vin, VERSIONS[brand])
+
+      matches |= cur_matches
 
     if len(matches):
       return exact_match, matches
@@ -237,7 +243,7 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
     cloudlog.warning("OBD multiplexing set successfully")
 
 
-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
+def get_fw_versions_ordered(logcan, sendcan, vin: str, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
                             debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
@@ -253,7 +259,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs: set[EcuAddrBusType],
     all_car_fw.extend(car_fw)
 
     # If there is a match using this brand's FW alone, finish querying early
-    _, matches = match_fw_to_car(car_fw, log=False)
+    _, matches = match_fw_to_car(car_fw, vin, log=False)
     if len(matches) == 1:
       break