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FW fingerprinting updates #25088

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Merged
merged 5 commits into from
Jul 8, 2022
Merged

FW fingerprinting updates #25088

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e6d59eb
Print brand along with ecu
sshane Jul 8, 2022
e328403
fix json decoding
sshane Jul 8, 2022
bb336d1
fw_versions updates
sshane Jul 8, 2022
de422be
add timeout handling back
sshane Jul 8, 2022
22794a6
keep logging the same
sshane Jul 8, 2022
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6 changes: 3 additions & 3 deletions selfdrive/car/car_helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ def _get_interface_names() -> Dict[str, List[str]]:
def fingerprint(logcan, sendcan):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
ecu_responses = set()
ecu_rx_addrs = set()

if not fixed_fingerprint and not skip_fw_query:
# Vin query only reliably works thorugh OBDII
Expand All @@ -98,7 +98,7 @@ def fingerprint(logcan, sendcan):
else:
cloudlog.warning("Getting VIN & FW versions")
_, vin = get_vin(logcan, sendcan, bus)
ecu_responses = get_present_ecus(logcan, sendcan)
ecu_rx_addrs = get_present_ecus(logcan, sendcan)
car_fw = get_fw_versions(logcan, sendcan)

exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
Expand Down Expand Up @@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan):
source = car.CarParams.FingerprintSource.fixed

cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
fw_count=len(car_fw), ecu_responses=ecu_responses, error=True)
fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True)
return car_fingerprint, finger, vin, car_fw, source, exact_match


Expand Down
22 changes: 10 additions & 12 deletions selfdrive/car/fw_versions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -290,24 +290,21 @@ 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]
exact_matches = [(True, match_fw_to_car_exact)]
if allow_fuzzy:
exact_matches.append(False)
exact_matches.append((False, match_fw_to_car_fuzzy))

for exact_match in exact_matches:
for exact_match, match_func in exact_matches:
# For each brand, attempt to fingerprint using FW returned from its queries
matches = set()
for brand in versions.keys():
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
matches |= match_func(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)
if len(matches):
return exact_match, matches

if len(matches) == 1:
return exact_match, matches

return True, []
return True, set()


def get_present_ecus(logcan, sendcan):
Expand Down Expand Up @@ -448,9 +445,10 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
print()
print("Found FW versions")
print("{")
padding = max([len(fw.brand) for fw in fw_vers])
for version in fw_vers:
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
print(f" Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
print("}")

print()
Expand Down