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Code Issues Packages Projects Releases Wiki Activity

Fuzzy match on ECU FW versions (#20687)

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* 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 cereal
This commit is contained in:
Willem Melching
2021-04-20 12:00:36 +02:00
committed by GitHub
parent 3420707ad5
commit e4f73fbda5
9 changed files with 266 additions and 46 deletions
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selfdrive/debug/internal/fuzz_fw_fingerprint.py
Executable
+52
View File
@@ -0,0 +1,52 @@
#!/usr/bin/env python3
# type: ignore
import random
from collections import defaultdict
from tqdm import tqdm
from selfdrive.car.fw_versions import match_fw_to_car_fuzzy
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
FWS = {}
FWS.update(TOYOTA_FW_VERSIONS)
FWS.update(HONDA_FW_VERSIONS)
FWS.update(HYUNDAI_FW_VERSIONS)
FWS.update(VW_FW_VERSIONS)
if __name__ == "__main__":
total = 0
match = 0
wrong_match = 0
confusions = defaultdict(set)
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}")
selfdrive/debug/test_fw_query_on_routes.py
+60 -17
View File
@@ -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()