From ea241bf3dc1d6dec2610bec9fceb1b8659014436 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Jul 2022 19:42:58 -0700 Subject: [PATCH] FW fingerprinting: log all FW versions (#25042) * get_fw_versions returns all fw versions with request's brand * keep track of everything received * debug * need to regen or write a hack in build_fw_dict * to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) * update test_fw_query_on_routes * clean up * better name * slightly cleaner * fix test_startup unit test del * fix imports * fix test_fw_fingerprint fix test_fw_fingerprint fix * fingerprint on all FW_VERSIONS, not just brands with requests * support old routes in test_fw_query_on_routes * regen and update refs * similar function style to before * better comment * space switch name * try to exact match first * useless else * fix debug script * simpler dictionary * bump cereal to master --- cereal | 2 +- selfdrive/car/fw_versions.py | 45 ++++++++++++------- selfdrive/car/tests/test_fw_fingerprint.py | 10 ++--- selfdrive/controls/tests/test_startup.py | 23 +++++----- selfdrive/debug/test_fw_query_on_routes.py | 43 +++++++++++------- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 16 ++++++- .../test/process_replay/test_processes.py | 26 +++++------ 8 files changed, 101 insertions(+), 66 deletions(-) diff --git a/cereal b/cereal index df08568318..cda60ec965 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4 +Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3 diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 758485c393..b79f61d94d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -194,12 +194,13 @@ def chunks(l, n=128): yield l[i:i + n] -def build_fw_dict(fw_versions): +def build_fw_dict(fw_versions, filter_brand=None): fw_versions_dict = {} for fw in fw_versions: - addr = fw.address - sub_addr = fw.subAddress if fw.subAddress != 0 else None - fw_versions_dict[(addr, sub_addr)] = fw.fwVersion + 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 return fw_versions_dict @@ -284,18 +285,27 @@ def match_fw_to_car_exact(fw_versions_dict): def match_fw_to_car(fw_versions, allow_fuzzy=True): - fw_versions_dict = build_fw_dict(fw_versions) - matches = match_fw_to_car_exact(fw_versions_dict) + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + + # Try exact matching first + exact_matches = [True] + if allow_fuzzy: + exact_matches.append(False) + + for exact_match in exact_matches: + # For each brand, attempt to fingerprint using FW returned from its queries + for brand in versions.keys(): + fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - exact_match = True - if allow_fuzzy and len(matches) == 0: - matches = match_fw_to_car_fuzzy(fw_versions_dict) + if exact_match: + matches = match_fw_to_car_exact(fw_versions_dict) + else: + matches = match_fw_to_car_fuzzy(fw_versions_dict) - # Fuzzy match found - if len(matches) == 1: - exact_match = False + if len(matches) == 1: + return exact_match, matches - return exact_match, matches + return True, [] def get_present_ecus(logcan, sendcan): @@ -372,20 +382,21 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) t = 2 * timeout if i == 0 else timeout - fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()}) + fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(t).items()}) except Exception: cloudlog.warning(f"FW query exception: {traceback.format_exc()}") # Build capnp list to put into CarParams car_fw = [] - for addr, (version, request, rx_offset) in fw_versions.items(): + for (brand, addr), (version, request) in fw_versions.items(): f = car.CarParams.CarFw.new_message() f.ecu = ecu_types[addr] f.fwVersion = version f.address = addr[0] - f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset) - f.request = request + f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset) + f.request = request.request + f.brand = brand if addr[1] is not None: f.subAddress = addr[1] diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index ed7e420e1a..49fa66d36d 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -12,6 +12,7 @@ CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} +VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) class TestFwFingerprint(unittest.TestCase): @@ -20,14 +21,14 @@ class TestFwFingerprint(unittest.TestCase): self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}") self.assertEqual(candidates[0], expected) - @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()]) - def test_fw_fingerprint(self, car_model, ecus): + @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) + def test_fw_fingerprint(self, brand, car_model, ecus): CP = car.CarParams.new_message() for _ in range(200): fw = [] for ecu, fw_versions in ecus.items(): ecu_name, addr, sub_addr = ecu - fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), + fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw _, matches = match_fw_to_car(CP.carFw) @@ -60,10 +61,9 @@ class TestFwFingerprint(unittest.TestCase): def test_fw_request_ecu_whitelist(self): passed = True brands = set(r.brand for r in REQUESTS) - versions = get_interface_attr('FW_VERSIONS') for brand in brands: whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand] - brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw]) + brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) # each ecu in brand's fw versions needs to be whitelisted at least once ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 9d13453045..a94311c8c7 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -42,27 +42,27 @@ class TestStartup(unittest.TestCase): # TODO: test EventName.startup for release branches # officially supported car - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), # dashcamOnly car - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS), - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), # unrecognized car with no fw - (EventName.startupNoFw, None, None), - (EventName.startupNoFw, None, None), + (EventName.startupNoFw, None, None, ""), + (EventName.startupNoFw, None, None, ""), # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), # fuzzy match - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), ]) @with_processes(['controlsd']) - def test_startup_alert(self, expected_event, car_model, fw_versions): + def test_startup_alert(self, expected_event, car_model, fw_versions, brand): # TODO: this should be done without any real sockets controls_sock = messaging.sub_sock("controlsState") @@ -82,6 +82,7 @@ class TestStartup(unittest.TestCase): f.ecu = ecu f.address = addr f.fwVersion = version + f.brand = brand if subaddress is not None: f.subAddress = subaddress diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 011dd6c9a3..789baeca4b 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -8,24 +8,15 @@ import traceback from tqdm import tqdm from tools.lib.logreader import LogReader from tools.lib.route import Route +from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.car_helpers import interface_names from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict -from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS -from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS -from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS -from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS -from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS -from selfdrive.car.subaru.values import FW_VERSIONS as SUBARU_FW_VERSIONS NO_API = "NO_API" in os.environ -SUPPORTED_CARS = set(interface_names['toyota']) -SUPPORTED_CARS |= set(interface_names['honda']) -SUPPORTED_CARS |= set(interface_names['hyundai']) -SUPPORTED_CARS |= set(interface_names['volkswagen']) -SUPPORTED_CARS |= set(interface_names['mazda']) -SUPPORTED_CARS |= set(interface_names['subaru']) -SUPPORTED_CARS |= set(interface_names['nissan']) +VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) +SUPPORTED_BRANDS = VERSIONS.keys() +SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] try: from xx.pipeline.c.CarState import migration @@ -97,9 +88,24 @@ if __name__ == "__main__": print("not in supported cars") break - fw_versions_dict = build_fw_dict(car_fw) - exact_matches = match_fw_to_car_exact(fw_versions_dict) - fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict) + # Older routes only have carFw from their brand + 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 @@ -126,12 +132,15 @@ if __name__ == "__main__": print("Mismatches") found = False - for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS, SUBARU_FW_VERSIONS]: + for brand in SUPPORTED_BRANDS: + car_fws = VERSIONS[brand] if live_fingerprint in car_fws: found = True expected = car_fws[live_fingerprint] for (_, expected_addr, expected_sub_addr), v in expected.items(): for version in car_fw: + if version.brand != brand and len(version.brand): + continue sub_addr = None if version.subAddress == 0 else version.subAddress addr = version.address diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 999081b4df..0eeae1e3e3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a57bbbffbee434e59e08b98b667dc13b6b505f08 \ No newline at end of file +b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 793e548705..1a2d436f1a 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -179,8 +179,22 @@ def replay_cameras(lr, frs, disable_tqdm=False): return vs, p +def migrate_carparams(lr): + all_msgs = [] + for msg in lr: + if msg.which() == 'carParams': + CP = messaging.new_message('carParams') + CP.carParams = msg.carParams.as_builder() + for car_fw in CP.carParams.carFw: + car_fw.brand = CP.carParams.carName + msg = CP.as_reader() + all_msgs.append(msg) + + return all_msgs + + def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): - lr = list(lr) + lr = migrate_carparams(list(lr)) if frs is None: frs = dict() diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 4e7ba4a6dd..9cbf4439ac 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -35,19 +35,19 @@ original_segments = [ ] segments = [ - ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"), - ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"), - ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"), - ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"), - ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"), - ("HONDA", "fakedata|2022-01-20--17-56-40--0"), - ("HONDA2", "fakedata|2022-04-29--16-31-55--0"), - ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"), - ("SUBARU", "fakedata|2022-01-20--18-01-57--0"), - ("GM", "fakedata|2022-01-20--18-03-41--0"), - ("NISSAN", "fakedata|2022-01-20--18-05-29--0"), - ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"), - ("MAZDA", "fakedata|2022-01-20--18-09-32--0"), + ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), + ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"), + ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"), + ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"), + ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"), + ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"), + ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"), + ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"), + ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"), + ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"), + ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"), + ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"), + ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"), ] # dashcamOnly makes don't need to be tested until a full port is done