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

@@ -1 +1 @@
-Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4
+Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3

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
+    if filter_brand is None or fw.brand == filter_brand:
-    sub_addr = fw.subAddress if fw.subAddress != 0 else None
+      addr = fw.address
-    fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
+      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)
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
-  matches = match_fw_to_car_exact(fw_versions_dict)
+
+  # 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 exact_match:
-  if allow_fuzzy and len(matches) == 0:
+        matches = match_fw_to_car_exact(fw_versions_dict)
-    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+      else:
+        matches = match_fw_to_car_fuzzy(fw_versions_dict)
 
-    # Fuzzy match found
+      if len(matches) == 1:
-    if len(matches) == 1:
+        return exact_match, matches
-      exact_match = False
 
-  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.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
-    f.request = request
+    f.request = request.request
+    f.brand = brand
 
     if addr[1] is not None:
       f.subAddress = addr[1]

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()])
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_fw_fingerprint(self, car_model, ecus):
+  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)

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, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
 
     # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
+    (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], "toyota"),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
+    (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, "toyota"),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
+    (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

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'])
+VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
-SUPPORTED_CARS |= set(interface_names['honda'])
+SUPPORTED_BRANDS = VERSIONS.keys()
-SUPPORTED_CARS |= set(interface_names['hyundai'])
+SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
-SUPPORTED_CARS |= set(interface_names['volkswagen'])
-SUPPORTED_CARS |= set(interface_names['mazda'])
-SUPPORTED_CARS |= set(interface_names['subaru'])
-SUPPORTED_CARS |= set(interface_names['nissan'])
 
 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)
+          # Older routes only have carFw from their brand
-          exact_matches = match_fw_to_car_exact(fw_versions_dict)
+          old_route = not any([len(fw.brand) for fw in car_fw])
-          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+          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
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a57bbbffbee434e59e08b98b667dc13b6b505f08
+b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc

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()
 

selfdrive/test/process_replay/test_processes.py

@@ -35,19 +35,19 @@ original_segments = [
 ]
 
 segments = [
-  ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
+  ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
-  ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
+  ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
-  ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
+  ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
-  ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
+  ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
-  ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
+  ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
-  ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
+  ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
-  ("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
+  ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
-  ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
+  ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
-  ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
+  ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
-  ("GM", "fakedata|2022-01-20--18-03-41--0"),
+  ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
-  ("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
+  ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
-  ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
+  ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
-  ("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
+  ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done