FPv2: fingerprint on all FW combinations (#25204)

* Try to fingerprint on all possible combinations

* build_fw_dict creates set dict, tries each fw version for addr, subaddr

* clean up

* static analysis

* comment

* fix comment

* revert changes to test_fw_query_on_routes

* remove comment
old-commit-hash: ee081f278b

selfdrive/car/fw_versions.py

@@ -228,13 +228,13 @@ def chunks(l, n=128):
 
 
 def build_fw_dict(fw_versions, filter_brand=None):
-  fw_versions_dict = {}
+  fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
     if filter_brand is None or fw.brand == filter_brand:
       addr = fw.address
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
-      fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
+      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
-  return fw_versions_dict
+  return dict(fw_versions_dict)
 
 
 def get_brand_addrs():
@@ -271,7 +271,8 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
 
   match_count = 0
   candidate = None
-  for addr, version in fw_versions_dict.items():
+  for addr, versions in fw_versions_dict.items():
+    for version in versions:
       # All cars that have this FW response on the specified address
       candidates = all_fw_versions[(addr[0], addr[1], version)]
 
@@ -303,23 +304,23 @@ def match_fw_to_car_exact(fw_versions_dict):
     for ecu, expected_versions in fws.items():
       ecu_type = ecu[0]
       addr = ecu[1:]
-      found_version = fw_versions_dict.get(addr, None)
+      found_versions = fw_versions_dict.get(addr, set())
-      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # Ignore non essential ecus
-      if ecu_type not in ESSENTIAL_ECUS and found_version is None:
+      if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
         continue
 
       # Virtual debug ecu doesn't need to match the database
       if ecu_type == Ecu.debug:
         continue
 
-      if found_version not in expected_versions:
+      if not any([found_version in expected_versions for found_version in found_versions]):
         invalid.append(candidate)
         break
 
@@ -327,18 +328,15 @@ def match_fw_to_car_exact(fw_versions_dict):
 
 
 def match_fw_to_car(fw_versions, allow_fuzzy=True):
-  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
-
   # Try exact matching first
   exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
     exact_matches.append((False, match_fw_to_car_fuzzy))
 
   for exact_match, match_func in exact_matches:
-    # For each brand, attempt to fingerprint using FW returned from its queries
+    # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
     matches = set()
-    for brand in versions.keys():
+    fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
-      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
     matches |= match_func(fw_versions_dict)
 
     if len(matches):
@@ -408,7 +406,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
-    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
+
+    # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
+    _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
     if len(matches) == 1:
       break
 

selfdrive/debug/test_fw_query_on_routes.py

@@ -89,24 +89,9 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          # Older routes only have carFw from their brand
+          fw_versions_dict = build_fw_dict(car_fw)
-          old_route = not any([len(fw.brand) for fw in car_fw])
-          brands = SUPPORTED_BRANDS if not old_route else [None]
-
-          # Exact match
-          exact_matches, fuzzy_matches = [], []
-          for brand in brands:
-            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
           exact_matches = match_fw_to_car_exact(fw_versions_dict)
-            if len(exact_matches) == 1:
-              break
-
-          # Fuzzy match
-          for brand in brands:
-            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
           fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
-            if len(fuzzy_matches) == 1:
-              break
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1