Fuzzy match on ECU FW versions (#20687)
* Fuzzy match on 3+ ECUs * reuse dict * exclude some shared ecus to be sure * show alert for fuzzy match * use title case * require community toggle * refactor * do both exact and fuzzy in test script * update test script * add fuzz test and lower matches to >= 2 * strip alert length * sort mismatches * add fw tests to test_startup * bump cerealpull/20710/head
Willem Melching
GitHub
parent
3420707ad5
commit
e4f73fbda5
2
cereal
2
cereal
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@ -1 +1 @@
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Subproject commit 957147cb8428d984a776ca468f866160f3b71bbc
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Subproject commit b39c6fc26d93ca776b27a2e4005b12ae85e7bacc
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@ -13,7 +13,7 @@ from cereal import car
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EventName = car.CarEvent.EventName
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def get_startup_event(car_recognized, controller_available):
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def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint):
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if comma_remote and tested_branch:
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event = EventName.startup
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else:
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@ -23,6 +23,8 @@ def get_startup_event(car_recognized, controller_available):
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event = EventName.startupNoCar
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elif car_recognized and not controller_available:
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event = EventName.startupNoControl
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elif car_recognized and fuzzy_fingerprint:
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event = EventName.startupFuzzyFingerprint
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return event
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@ -104,10 +106,10 @@ def fingerprint(logcan, sendcan):
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_, vin = get_vin(logcan, sendcan, bus)
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car_fw = get_fw_versions(logcan, sendcan, bus)
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fw_candidates = match_fw_to_car(car_fw)
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exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
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else:
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vin = VIN_UNKNOWN
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fw_candidates, car_fw = set(), []
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exact_fw_match, fw_candidates, car_fw = True, set(), []
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cloudlog.warning("VIN %s", vin)
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Params().put("CarVin", vin)
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@ -152,23 +154,25 @@ def fingerprint(logcan, sendcan):
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frame += 1
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exact_match = True
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source = car.CarParams.FingerprintSource.can
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# If FW query returns exactly 1 candidate, use it
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if len(fw_candidates) == 1:
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car_fingerprint = list(fw_candidates)[0]
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source = car.CarParams.FingerprintSource.fw
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exact_match = exact_fw_match
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if fixed_fingerprint:
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car_fingerprint = fixed_fingerprint
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source = car.CarParams.FingerprintSource.fixed
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cloudlog.warning("fingerprinted %s", car_fingerprint)
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return car_fingerprint, finger, vin, car_fw, source
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return car_fingerprint, finger, vin, car_fw, source, exact_match
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def get_car(logcan, sendcan):
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candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan)
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candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
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if candidate is None:
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cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
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@ -179,5 +183,6 @@ def get_car(logcan, sendcan):
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car_params.carVin = vin
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car_params.carFw = car_fw
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car_params.fingerprintSource = source
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car_params.fuzzyFingerprint = not exact_match
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return CarInterface(car_params, CarController, CarState), car_params
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@ -2,6 +2,7 @@
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import struct
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import traceback
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from typing import Any
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from collections import defaultdict
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from tqdm import tqdm
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@ -136,15 +137,67 @@ def chunks(l, n=128):
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yield l[i:i + n]
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def match_fw_to_car(fw_versions):
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candidates = FW_VERSIONS
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invalid = []
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def build_fw_dict(fw_versions):
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fw_versions_dict = {}
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for fw in fw_versions:
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addr = fw.address
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sub_addr = fw.subAddress if fw.subAddress != 0 else None
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fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
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return fw_versions_dict
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def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
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"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
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that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
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the match is rejected."""
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# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
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# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
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# impossible to get 3 matching versions, even if two models with shared parts are released at the same
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# time and only one is in our database.
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exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps]
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# Build lookup table from (addr, subaddr, fw) to list of candidate cars
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all_fw_versions = defaultdict(list)
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for candidate, fw_by_addr in FW_VERSIONS.items():
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if candidate == exclude:
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continue
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for addr, fws in fw_by_addr.items():
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if addr[0] in exclude_types:
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continue
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for f in fws:
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all_fw_versions[(addr[1], addr[2], f)].append(candidate)
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match_count = 0
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candidate = None
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for addr, version in fw_versions_dict.items():
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# All cars that have this FW response on the specified address
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candidates = all_fw_versions[(addr[0], addr[1], version)]
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if len(candidates) == 1:
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match_count += 1
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if candidate is None:
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candidate = candidates[0]
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# We uniquely matched two different cars. No fuzzy match possible
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elif candidate != candidates[0]:
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return set()
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if match_count >= 2:
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if log:
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cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
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return set([candidate])
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else:
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return set()
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def match_fw_to_car_exact(fw_versions_dict):
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"""Do an exact FW match. Returns all cars that match the given
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FW versions for a list of "essential" ECUs. If an ECU is not considered
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essential the FW version can be missing to get a fingerprint, but if it's present it
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needs to match the database."""
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invalid = []
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candidates = FW_VERSIONS
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for candidate, fws in candidates.items():
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for ecu, expected_versions in fws.items():
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@ -155,11 +208,11 @@ def match_fw_to_car(fw_versions):
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if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER] and found_version is None:
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continue
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# TODO: on some toyota, the engine can show on two different addresses
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# On some Toyota models, the engine can show on two different addresses
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if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS, TOYOTA.AVALON] and found_version is None:
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continue
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# ignore non essential ecus
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# Ignore non essential ecus
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if ecu_type not in ESSENTIAL_ECUS and found_version is None:
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continue
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@ -170,6 +223,21 @@ def match_fw_to_car(fw_versions):
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return set(candidates.keys()) - set(invalid)
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def match_fw_to_car(fw_versions, allow_fuzzy=True):
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fw_versions_dict = build_fw_dict(fw_versions)
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matches = match_fw_to_car_exact(fw_versions_dict)
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exact_match = True
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if allow_fuzzy and len(matches) == 0:
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matches = match_fw_to_car_fuzzy(fw_versions_dict)
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# Fuzzy match found
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if len(matches) == 1:
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exact_match = False
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return exact_match, matches
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def get_fw_versions(logcan, sendcan, bus, extra=None, timeout=0.1, debug=False, progress=False):
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ecu_types = {}
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@ -264,7 +332,7 @@ if __name__ == "__main__":
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t = time.time()
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fw_vers = get_fw_versions(logcan, sendcan, 1, extra=extra, debug=args.debug, progress=True)
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candidates = match_fw_to_car(fw_vers)
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_, candidates = match_fw_to_car(fw_vers)
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print()
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print("Found FW versions")
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@ -28,7 +28,8 @@ class TestFwFingerprint(unittest.TestCase):
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fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
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"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
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CP.carFw = fw
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self.assertFingerprints(match_fw_to_car(CP.carFw), car_model)
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_, matches = match_fw_to_car(CP.carFw)
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self.assertFingerprints(matches, car_model)
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def test_no_duplicate_fw_versions(self):
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passed = True
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@ -84,9 +84,12 @@ class Controls:
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sounds_available = HARDWARE.get_sound_card_online()
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car_recognized = self.CP.carName != 'mock'
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fuzzy_fingerprint = self.CP.fuzzyFingerprint
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# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
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controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
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community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
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community_feature = self.CP.communityFeature or fuzzy_fingerprint
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community_feature_disallowed = community_feature and (not community_feature_toggle)
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self.read_only = not car_recognized or not controller_available or \
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self.CP.dashcamOnly or community_feature_disallowed
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if self.read_only:
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@ -137,7 +140,7 @@ class Controls:
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self.sm['driverMonitoringState'].faceDetected = False
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self.sm['liveParameters'].valid = True
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self.startup_event = get_startup_event(car_recognized, controller_available)
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self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
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if not sounds_available:
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self.events.add(EventName.soundsUnavailable, static=True)
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@ -208,6 +208,13 @@ def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: boo
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text = "Main Switch Off"
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return NoEntryAlert(text, duration_hud_alert=0.)
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def startup_fuzzy_fingerprint_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
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return Alert(
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"WARNING: No Exact Match on Car Model",
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f"Closest Match: {CP.carFingerprint.title()[:40]}",
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AlertStatus.userPrompt, AlertSize.mid,
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.)
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EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, bool], Alert]]]] = {
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# ********** events with no alerts **********
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@ -253,6 +260,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
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Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
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},
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EventName.startupFuzzyFingerprint: {
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ET.PERMANENT: startup_fuzzy_fingerprint_alert,
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},
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EventName.dashcamMode: {
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ET.PERMANENT: Alert(
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"Dashcam Mode",
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@ -9,11 +9,23 @@ from common.params import Params
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from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
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from selfdrive.car.fingerprints import _FINGERPRINTS
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from selfdrive.car.hyundai.values import CAR as HYUNDAI
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from selfdrive.car.toyota.values import CAR as TOYOTA
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from selfdrive.car.mazda.values import CAR as MAZDA
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from selfdrive.controls.lib.events import EVENT_NAME
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from selfdrive.test.helpers import with_processes
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EventName = car.CarEvent.EventName
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Ecu = car.CarParams.Ecu
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COROLLA_TSS2_FW_VERSIONS = [
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(Ecu.engine, 0x700, None, b'\x01896630ZG5000\x00\x00\x00\x00'),
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(Ecu.eps, 0x7a1, None, b'\x018965B1255000\x00\x00\x00\x00'),
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(Ecu.esp, 0x7b0, None, b'\x01F152602280\x00\x00\x00\x00\x00\x00'),
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(Ecu.fwdRadar, 0x750, 0xf, b'\x018821F3301100\x00\x00\x00\x00'),
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(Ecu.fwdCamera, 0x750, 0x6d, b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00'),
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]
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COROLLA_TSS2_FW_VERSIONS_FUZZY = COROLLA_TSS2_FW_VERSIONS[:-1] + [(Ecu.fwdCamera, 0x750, 0x6d, b'xxxxxx')]
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class TestStartup(unittest.TestCase):
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@ -21,23 +33,30 @@ class TestStartup(unittest.TestCase):
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# TODO: test EventName.startup for release branches
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# officially supported car
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(EventName.startupMaster, HYUNDAI.SONATA, False),
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(EventName.startupMaster, HYUNDAI.SONATA, True),
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(EventName.startupMaster, HYUNDAI.SONATA, False, None),
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(EventName.startupMaster, HYUNDAI.SONATA, True, None),
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# offically supported car, FW query
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(EventName.startupMaster, TOYOTA.COROLLA_TSS2, False, COROLLA_TSS2_FW_VERSIONS),
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# community supported car
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(EventName.startupMaster, HYUNDAI.KIA_STINGER, True),
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(EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False),
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(EventName.startupMaster, HYUNDAI.KIA_STINGER, True, None),
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(EventName.communityFeatureDisallowed, HYUNDAI.KIA_STINGER, False, None),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, True),
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(EventName.startupNoControl, MAZDA.CX5, False),
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(EventName.startupNoControl, MAZDA.CX5, True, None),
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(EventName.startupNoControl, MAZDA.CX5, False, None),
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# unrecognized car
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(EventName.startupNoCar, None, True),
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(EventName.startupNoCar, None, False),
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(EventName.startupNoCar, None, True, None),
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(EventName.startupNoCar, None, False, None),
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# fuzzy match
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(EventName.startupFuzzyFingerprint, TOYOTA.COROLLA_TSS2, True, COROLLA_TSS2_FW_VERSIONS_FUZZY),
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(EventName.communityFeatureDisallowed, TOYOTA.COROLLA_TSS2, False, COROLLA_TSS2_FW_VERSIONS_FUZZY),
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])
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@with_processes(['controlsd'])
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def test_startup_alert(self, expected_event, car, toggle_enabled):
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def test_startup_alert(self, expected_event, car_model, toggle_enabled, fw_versions):
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# TODO: this should be done without any real sockets
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controls_sock = messaging.sub_sock("controlsState")
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", toggle_enabled)
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# Build capnn version of FW array
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if fw_versions is not None:
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car_fw = []
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cp = car.CarParams.new_message()
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for ecu, addr, subaddress, version in fw_versions:
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu
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f.address = addr
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f.fwVersion = version
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if subaddress is not None:
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f.subAddress = subaddress
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car_fw.append(f)
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cp.carVin = "1" * 17
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cp.carFw = car_fw
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params.put("CarParamsCache", cp.to_bytes())
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time.sleep(2) # wait for controlsd to be ready
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msg = messaging.new_message('pandaState')
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@ -56,10 +93,10 @@ class TestStartup(unittest.TestCase):
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pm.send('pandaState', msg)
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# fingerprint
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if car is None:
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if (car_model is None) or (fw_versions is not None):
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finger = {addr: 1 for addr in range(1, 100)}
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else:
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finger = _FINGERPRINTS[car][0]
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finger = _FINGERPRINTS[car_model][0]
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for _ in range(500):
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msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
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@ -70,10 +107,10 @@ class TestStartup(unittest.TestCase):
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if len(msgs):
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event_name = msgs[0].controlsState.alertType.split("/")[0]
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self.assertEqual(EVENT_NAME[expected_event], event_name,
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f"expected {EVENT_NAME[expected_event]} for '{car}', got {event_name}")
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f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}")
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break
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else:
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self.fail(f"failed to fingerprint {car}")
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self.fail(f"failed to fingerprint {car_model}")
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if __name__ == "__main__":
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unittest.main()
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@ -0,0 +1,52 @@
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#!/usr/bin/env python3
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# type: ignore
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import random
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from collections import defaultdict
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from tqdm import tqdm
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from selfdrive.car.fw_versions import match_fw_to_car_fuzzy
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from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
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from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
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from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
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from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
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FWS = {}
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FWS.update(TOYOTA_FW_VERSIONS)
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FWS.update(HONDA_FW_VERSIONS)
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FWS.update(HYUNDAI_FW_VERSIONS)
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FWS.update(VW_FW_VERSIONS)
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if __name__ == "__main__":
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total = 0
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match = 0
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wrong_match = 0
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confusions = defaultdict(set)
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|
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for _ in tqdm(range(1000)):
|
||||
for candidate, fws in FWS.items():
|
||||
fw_dict = {}
|
||||
for (tp, addr, subaddr), fw_list in fws.items():
|
||||
fw_dict[(addr, subaddr)] = random.choice(fw_list)
|
||||
|
||||
matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate)
|
||||
|
||||
total += 1
|
||||
if len(matches) == 1:
|
||||
if list(matches)[0] == candidate:
|
||||
match += 1
|
||||
else:
|
||||
confusions[candidate] |= matches
|
||||
wrong_match += 1
|
||||
|
||||
print()
|
||||
for candidate, wrong_matches in sorted(confusions.items()):
|
||||
print(candidate, wrong_matches)
|
||||
|
||||
print()
|
||||
print(f"Total fuzz cases: {total}")
|
||||
print(f"Correct matches: {match}")
|
||||
print(f"Wrong matches: {wrong_match}")
|
||||
|
||||
|
||||
|
|
@ -7,7 +7,8 @@ import os
|
|||
import traceback
|
||||
from tqdm import tqdm
|
||||
from tools.lib.logreader import LogReader
|
||||
from selfdrive.car.fw_versions import match_fw_to_car
|
||||
from tools.lib.route import Route
|
||||
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
|
||||
|
|
@ -18,6 +19,7 @@ from selfdrive.car.honda.values import FINGERPRINTS as HONDA_FINGERPRINTS
|
|||
from selfdrive.car.hyundai.values import FINGERPRINTS as HYUNDAI_FINGERPRINTS
|
||||
from selfdrive.car.volkswagen.values import FINGERPRINTS as VW_FINGERPRINTS
|
||||
|
||||
NO_API = "NO_API" in os.environ
|
||||
SUPPORTED_CARS = list(TOYOTA_FINGERPRINTS.keys()) + list(HONDA_FINGERPRINTS.keys()) + list(HYUNDAI_FINGERPRINTS.keys())+ list(VW_FINGERPRINTS.keys())
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
@ -33,25 +35,37 @@ if __name__ == "__main__":
|
|||
|
||||
mismatches = defaultdict(list)
|
||||
|
||||
wrong = 0
|
||||
good = 0
|
||||
not_fingerprinted = 0
|
||||
solved_by_fuzzy = 0
|
||||
|
||||
good_exact = 0
|
||||
wrong_fuzzy = 0
|
||||
good_fuzzy = 0
|
||||
|
||||
dongles = []
|
||||
for route in tqdm(routes):
|
||||
route = route.rstrip()
|
||||
dongle_id, time = route.split('|')
|
||||
qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
|
||||
|
||||
if dongle_id in dongles:
|
||||
continue
|
||||
|
||||
if NO_API:
|
||||
qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
|
||||
else:
|
||||
route = Route(route)
|
||||
qlog_path = route.qlog_paths()[0]
|
||||
|
||||
if qlog_path is None:
|
||||
continue
|
||||
|
||||
try:
|
||||
lr = LogReader(qlog_path)
|
||||
dongles.append(dongle_id)
|
||||
|
||||
for msg in lr:
|
||||
if msg.which() == "pandaState":
|
||||
if msg.pandaState.pandaType not in ['uno', 'blackPanda']:
|
||||
dongles.append(dongle_id)
|
||||
if msg.pandaState.pandaType not in ['uno', 'blackPanda', 'dos']:
|
||||
break
|
||||
|
||||
elif msg.which() == "carParams":
|
||||
|
|
@ -61,7 +75,6 @@ if __name__ == "__main__":
|
|||
if len(car_fw) == 0:
|
||||
break
|
||||
|
||||
dongles.append(dongle_id)
|
||||
live_fingerprint = msg.carParams.carFingerprint
|
||||
|
||||
if args.car is not None:
|
||||
|
|
@ -70,15 +83,28 @@ if __name__ == "__main__":
|
|||
if live_fingerprint not in SUPPORTED_CARS:
|
||||
break
|
||||
|
||||
candidates = match_fw_to_car(car_fw)
|
||||
if (len(candidates) == 1) and (list(candidates)[0] == live_fingerprint):
|
||||
good += 1
|
||||
print("Correct", live_fingerprint, dongle_id)
|
||||
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)
|
||||
|
||||
if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
|
||||
good_exact += 1
|
||||
print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}")
|
||||
|
||||
# Check if fuzzy match was correct
|
||||
if len(fuzzy_matches) == 1:
|
||||
if list(fuzzy_matches)[0] != live_fingerprint:
|
||||
wrong_fuzzy += 1
|
||||
print(f"{dongle_id}|{time}")
|
||||
print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
|
||||
else:
|
||||
good_fuzzy += 1
|
||||
break
|
||||
|
||||
print(f"{dongle_id}|{time}")
|
||||
print("Old style:", live_fingerprint, "Vin", msg.carParams.carVin)
|
||||
print("New style:", candidates)
|
||||
print("New style (exact):", exact_matches)
|
||||
print("New style (fuzzy):", fuzzy_matches)
|
||||
|
||||
for version in car_fw:
|
||||
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
|
||||
|
|
@ -114,19 +140,24 @@ if __name__ == "__main__":
|
|||
mismatches[live_fingerprint].append(mismatch)
|
||||
|
||||
print()
|
||||
wrong += 1
|
||||
not_fingerprinted += 1
|
||||
|
||||
if len(fuzzy_matches) == 1:
|
||||
if list(fuzzy_matches)[0] == live_fingerprint:
|
||||
solved_by_fuzzy += 1
|
||||
else:
|
||||
wrong_fuzzy += 1
|
||||
print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
|
||||
|
||||
break
|
||||
except Exception:
|
||||
traceback.print_exc()
|
||||
except KeyboardInterrupt:
|
||||
break
|
||||
|
||||
print(f"Fingerprinted: {good} - Not fingerprinted: {wrong}")
|
||||
print(f"Number of dongle ids checked: {len(dongles)}")
|
||||
print()
|
||||
|
||||
# Print FW versions that need to be added seperated out by car and address
|
||||
for car, m in mismatches.items():
|
||||
for car, m in sorted(mismatches.items()):
|
||||
print(car)
|
||||
addrs = defaultdict(list)
|
||||
for (addr, sub_addr, version) in m:
|
||||
|
|
@ -138,3 +169,15 @@ if __name__ == "__main__":
|
|||
print(f" {v},")
|
||||
print(" ]")
|
||||
print()
|
||||
|
||||
print()
|
||||
print(f"Number of dongle ids checked: {len(dongles)}")
|
||||
print(f"Fingerprinted: {good_exact}")
|
||||
print(f"Not fingerprinted: {not_fingerprinted}")
|
||||
print(f" of which had a fuzzy match: {solved_by_fuzzy}")
|
||||
|
||||
print()
|
||||
print(f"Correct fuzzy matches: {good_fuzzy}")
|
||||
print(f"Wrong fuzzy matches: {wrong_fuzzy}")
|
||||
print()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue