HKG: use platform codes to fuzzy fingerprint (#28531)

* get gas/ev/hev from FW (not all correct, poc) * add test for essential ecus for fuzzy fingerprinting * kinda works * stash * clean up * add code * simpler * use the function * test it with our cars * no re no re no re * debugging * handle empty dict * simpl * this is promising start on making existing fingerprinting functions use the config, instead of entirely replacing them * needs to allow 1 match * lay out how this should look * changes * executable * some work * use config * fuzzy ecus * config test * comment and some clean up * test platform codes * use regex, simpler and fixes bug * in func * rm bad func * typing for new func and remove old from dc * todo done * tested! * remove fake platform codes * thought we needed this, but actually... * not needed * not applicable any more * use config for essential ecus * first draft of test to make adding/removing fuzzy FP platform intentional * compile * clean up test * even cleaner * fix default ecus type * temp fix * this is mostly in tests now * test every fuzzy ecu fw returns one platform code * experiment with dates * Revert "experiment with dates" This reverts commit 3251b9cc5c. * clean that up * comment * test * work on all cars * fix fuzz_fw_fingerprint * comment * get first by search * bit more clean up * and more * use compiled pattern for nicer syntax * default * flip dat around, much cleaner * clean up hyundai test a bit * flip order same here * rename test and flip subTest * fix pylint * revert fw changes revert fw changes * line * add original functions to test * needs to be a list * cmt * draft (need to count one ecu as a match) * tiny clean up * todo: date range * only in notebook * remove comment (still can be either list or set) * same, only notebook * more consistent signature * copilot inspired * copilot no good * test for date parsing * better name * good, now we don't have to worry about the dates mismatching in another test/logic * comment up+ * some stuff * clean up fix test fix test * test * comment * use utils * clean up (utils are cleaner and less buggy) * clean up (utils are cleaner and less buggy) * fixup test * use a dash (prettier) and remove some platforms that can fingerprint now! * compile global pattern * same as what we do in values * remove comments * fuzzy_get_platform_codes is one or none here * more clean up * sort imports * woah woah woah * add comment * fix reassigning different types * add types * adapt fuzzy test recently added (nice it caught this!) * update lock * options comments * stash * comments and fixes * better comments * better * test: run on exact fuzzy matching logic, same results! * use match_fw_to_car * test all fw * ex * unused random * this is a possibility * this is more clear * fix * revert * revert to needing both ECUs to match to reduce false positives, test * fix excluded platform test :( but it's ok * add comment * we actually want to only test fuzzy ecus to make it explicit * fix mypy * comment for tomorrow * just add matches with fuzzy FP * add comment * this was the cleanest I could think of, but still working on it. not very easy to understand * think this is better, but also worse... * comment: reframing how this works * revert back to what we did before * was swapped * else set * remove old comment * fixes from merge * remove fuzzy_min_match_count from this pr * fix static analysis * also unused * different method first draft * copy existing fuzzy func * check all possible ecus exist, only platform codes, slightly refactor main loop * fix * Revert recent Revert "fix" This reverts commit 5cdb7bda83. Revert "check all possible ecus exist, only platform codes, slightly refactor main loop" This reverts commit d3e918fa20. Revert "copy existing fuzzy func" This reverts commit 34c8c05450. Revert "different method first draft" This reverts commit b91139055d. * new func * fixup test * remove changes from v1 from fw_versions.py * clean up a bit * return part as part of code * fix test * add original fuzzy function * add an ecu match if the date is within range (or date doesn't exist) * add format for what we're going to do * not working stash * the exact matching function does more of what we want with less code and less custom logic * we don't care about found versions, only codes and dates * actually we do have an exception * this works pretty nicely now * up here * this is better * some minor clean up * old function=now junk * fix platform code test * remove old platform code function * now rename _new to * use FW_QUERY_CONFIG * clean up imports * rename that too * one line * correct typing correct typing * draft tests * so that works * fixup excluded platform test now too * this is tested by excluded platform test * test parts and dates * remove old comment * old import * take platform code stuff out of FwQueryConfig * fix test * revert debug script * flip order * make this a set by default * revert this part * correct typing * clean up comments * clean that test up too/pylint * combine these three tests ina clean way * not right * more general * be consistent with quotes * comment * comment * comment in fw_versions * flip order * this is more readable * could test all this, but it's tested in test_hyundai and doesn't do a lot here * only assert brands which use this * invalidate all CAN FD ICE and hybrid * tuple * can get away without filtering * add comment reasons * fix * some review suggestions * this works (first draft) * this is better * script to print platform codes and dates * sanity check for dates are in correct ecus and platforms * mypy * better variable name and comment * rename * same * slightly better name * subset * exclude platforms and live car without dates * consistent * self explan * better name * test to make sure the functions agree * clean that up * comment * we get other responses from queries not in DB, only check any * not used or typed
2 years ago · f788edb6a5
parent 2166adda5f
commit f788edb6a5
6 changed files with 147 additions and 56 deletions
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@ -3,7 +3,7 @@ import capnp
 import copy
 from dataclasses import dataclass, field
 import struct
-from typing import Dict, List, Optional, Tuple
+from typing import Callable, Dict, List, Optional, Set, Tuple

 import panda.python.uds as uds

@ -74,6 +74,9 @@ class FwQueryConfig:
  non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
  # Ecus added for data collection, not to be fingerprinted on
  extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # returns set of candidates. Only will match if one candidate is returned
+  match_fw_to_car_fuzzy: Optional[Callable[[Dict[Tuple[int, Optional[int]], Set[bytes]]], Set[str]]] = None

  def __post_init__(self):
    for i in range(len(self.requests)):
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -151,6 +151,11 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
      matches |= match_func(fw_versions_dict, 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:
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict)
+
    if len(matches):
      return exact_match, matches

--- a/selfdrive/car/hyundai/tests/print_platform_codes.py
+++ b/selfdrive/car/hyundai/tests/print_platform_codes.py
@ -13,14 +13,9 @@ if __name__ == "__main__":
      if ecu[0] not in PLATFORM_CODE_ECUS:
        continue

-      codes = set()
-      dates = set()
-      for fw in ecus[ecu]:
-        code = list(get_platform_codes([fw]))[0]
-        codes.add(code.split(b"-")[0])
-        if b"-" in code:
-          dates.add(code.split(b"-")[1])
-
+      platform_codes = get_platform_codes(ecus[ecu])
+      codes = {code for code, _ in platform_codes}
+      dates = {date for _, date in platform_codes if date is not None}
      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
      print(f'    Codes: {codes}')
      print(f'    Dates: {dates}')
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@ -2,9 +2,11 @@
 import unittest

 from cereal import car
+from selfdrive.car.fw_versions import build_fw_dict
 from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
-                                         PART_NUMBER_FW_PATTERN, PLATFORM_CODE_ECUS, get_platform_codes
+                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         PLATFORM_CODE_ECUS, get_platform_codes
+
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}

@ -86,47 +88,75 @@ class TestHyundaiFingerprint(unittest.TestCase):
            codes |= result

          if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
-            self.assertTrue(all({b"-" not in code for code in codes}))
+            self.assertTrue(all({date is None for _, date in codes}))
          else:
-            self.assertTrue(all({b"-" in code for code in codes}))
+            self.assertTrue(all({date is not None for _, date in codes}))

          if car_model == CAR.HYUNDAI_GENESIS:
            raise unittest.SkipTest("No part numbers for car model")

          # Hyundai places the ECU part number in their FW versions, assert all parsable
          # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
-          for fw in fws:
-            match = PART_NUMBER_FW_PATTERN.search(fw)
-            self.assertIsNotNone(match, fw)
+          self.assertTrue(all({b"-" in code for code, _ in codes}),
+                          f"FW does not have part number: {fw}")

  def test_platform_codes_spot_check(self):
    # Asserts basic platform code parsing behavior for a few cases
-    codes = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
-    self.assertEqual(codes, {b"DH-1502"})
+    results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
+    self.assertEqual(results, {(b"DH", b"150210")})

    # Some cameras and all radars do not have dates
-    codes = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
-    self.assertEqual(codes, {b"AEhe"})
+    results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
+    self.assertEqual(results, {(b"AEhe-G2000", None)})

-    codes = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
-    self.assertEqual(codes, {b"CV1"})
+    results = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
+    self.assertEqual(results, {(b"CV1-CV000", None)})

-    codes = get_platform_codes([
+    results = get_platform_codes([
      b"\xf1\x00DH LKAS 1.1 -150210",
      b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ",
      b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ",
    ])
-    self.assertEqual(codes, {b"DH-1502", b"AEhe", b"CV1"})
+    self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})

-    # Returned platform codes must inclusively contain start/end dates
-    codes = get_platform_codes([
+    results = get_platform_codes([
      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 220222",
      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 211103",
      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 190405",
      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 190720",
    ])
-    self.assertEqual(codes, {b"LX2-2111", b"LX2-2112", b"LX2-2201", b"LX2-2202",
-                             b"ON-1904", b"ON-1905", b"ON-1906", b"ON-1907"})
+    self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
+                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
+
+  def test_fuzzy_excluded_platforms(self):
+    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
+    # This list can be shrunk as we combine platforms and detect features
+    excluded_platforms = {
+      CAR.GENESIS_G70,            # shared platform code, part number, and date
+      CAR.GENESIS_G70_2020,
+      CAR.TUCSON_4TH_GEN,         # shared platform code and part number
+      CAR.TUCSON_HYBRID_4TH_GEN,
+    }
+    excluded_platforms |= CANFD_CAR - EV_CAR  # shared platform codes
+    excluded_platforms |= NO_DATES_PLATFORMS  # date codes are required to match
+
+    platforms_with_shared_codes = set()
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      car_fw = []
+      for ecu, fw_versions in fw_by_addr.items():
+        ecu_name, addr, sub_addr = ecu
+        for fw in fw_versions:
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+      CP = car.CarParams.new_message(carFw=car_fw)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+      if len(matches) == 1:
+        self.assertEqual(list(matches)[0], platform)
+      else:
+        platforms_with_shared_codes.add(platform)
+
+    self.assertEqual(platforms_with_shared_codes, excluded_platforms)


 if __name__ == "__main__":
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -1,10 +1,7 @@
 import re
-from datetime import datetime
-from dateutil import rrule
-from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum, IntFlag
-from typing import DefaultDict, Dict, List, Optional, Set, Union, cast
+from typing import Dict, List, Optional, Set, Tuple, Union

 from cereal import car
 from panda.python import uds
@ -12,7 +9,6 @@ from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
-from system.swaglog import cloudlog

 Ecu = car.CarParams.Ecu

@ -348,35 +344,73 @@ FINGERPRINTS = {
 }


-def get_platform_codes(fw_versions: List[bytes]) -> Set[bytes]:
-  codes: DefaultDict[bytes, Set[Optional[bytes]]] = defaultdict(set)
+def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
+  # Returns unique, platform-specific identification codes for a set of versions
+  codes = set()  # (code-Optional[part], date)
  for fw in fw_versions:
-    code_match, date_match = (PLATFORM_CODE_FW_PATTERN.search(fw),
-                              DATE_FW_PATTERN.search(fw))
+    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
+    part_match = PART_NUMBER_FW_PATTERN.search(fw)
+    date_match = DATE_FW_PATTERN.search(fw)
    if code_match is not None:
-      code = code_match.group()
+      code: bytes = code_match.group()
+      part = part_match.group() if part_match else None
      date = date_match.group() if date_match else None
-      codes[code].add(date)
+      if part is not None:
+        # part number starts with generic ECU part type, add what is specific to platform
+        code += b"-" + part[-5:]

-  # Create platform codes for all dates inclusive if ECU has FW dates
-  final_codes = set()
-  for code, dates in codes.items():
-    # Radar and some cameras don't have FW dates
-    if None in dates:
-      final_codes.add(code)
-      continue
+      codes.add((code, date))
+  return codes

-    try:
-      parsed = {datetime.strptime(cast(bytes, date).decode()[:4], '%y%m') for date in dates}
-    except ValueError:
-      cloudlog.exception(f'Error parsing date in FW versions: {code!r}, {dates}')
-      final_codes.add(code)
-      continue

-    for monthly in rrule.rrule(rrule.MONTHLY, dtstart=min(parsed), until=max(parsed)):
-      final_codes.add(code + b'-' + monthly.strftime('%y%m').encode())
+def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+  # Non-electric CAN FD platforms often do not have platform code specifiers needed
+  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
+  # electric or specify electric in the platform code.
+  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
+  candidates = set()

-  return final_codes
+  for candidate, fws in FW_VERSIONS.items():
+    # Keep track of ECUs which pass all checks (platform codes, within date range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & dates
+      codes = get_platform_codes(expected_versions)
+      expected_platform_codes = {code for code, _ in codes}
+      expected_dates = {date for _, date in codes if date is not None}
+
+      # Found platform codes & dates
+      codes = get_platform_codes(live_fw_versions.get(addr, set()))
+      found_platform_codes = {code for code, _ in codes}
+      found_dates = {date for _, date in codes if date is not None}
+
+      # Check platform code + part number matches for any found versions
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      if ecu[0] in DATE_FW_ECUS:
+        # If ECU can have a FW date, require it to exist
+        # (this excludes candidates in the database without dates)
+        if not len(expected_dates) or not len(found_dates):
+          break
+
+        # Check any date within range in the database, format is %y%m%d
+        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
+          break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return candidates - fuzzy_platform_blacklist


 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@ -460,6 +494,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
    (Ecu.cornerRadar, 0x7b7, None),
  ],
+  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )

 FW_VERSIONS = {
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@ -10,7 +10,7 @@ from cereal import car
 from common.params import Params
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions

 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@ -45,6 +45,28 @@ class TestFwFingerprint(unittest.TestCase):
      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
      self.assertFingerprints(matches, car_model)

+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_custom_fuzzy_match(self, brand, car_model, ecus):
+    # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
+    config = FW_QUERY_CONFIGS[brand]
+    if config.match_fw_to_car_fuzzy is None:
+      raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")
+
+    CP = car.CarParams.new_message()
+    for _ in range(5):
+      fw = []
+      for ecu, fw_versions in ecus.items():
+        ecu_name, addr, sub_addr = ecu
+        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, allow_exact=False, log=False)
+      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+
+      # If both have matches, they must agree
+      if len(matches) == 1 and len(brand_matches) == 1:
+        self.assertEqual(matches, brand_matches)
+
  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
  def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
    # Asserts that fuzzy matching does not count matching FW, but ECU address keys