FW fingerprint for Honda & Toyota (#961)

* add script to process logs * Skip rav4 ESP * Improve gathering script * Update firmware versions for honda and toyota * more firmware versions * If FW query returns 1 candidate, use it * Add FW versions * Fix COROLLA_TSS2 two enigine addresses * uncomment rav4h tss2 * add progress bar to test script * Batch with more ecu versions old-commit-hash: 356f353489
2026-08-21 00:03:45 +08:00 · 2020-01-30 14:32:26 -08:00
parent c201005fc3
commit 4101b7976c
5 changed files with 661 additions and 31 deletions
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import traceback
+import sys
+from tqdm import tqdm
+from tools.lib.logreader import LogReader
+from selfdrive.car.fw_versions import match_fw_to_car
+from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
+from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+
+
+def fw_versions_to_dict(car_fw):
+  fw_versions = {}
+  for f in car_fw:
+    addr = f.address
+    subaddr = f.subAddress
+    if subaddr == 0:
+      subaddr = None
+    fw_versions[(addr, subaddr)] = f.fwVersion
+
+  return fw_versions
+
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: ./test_fw_query_on_routes.py <route_list>")
+    sys.exit(1)
+
+  i = 0
+  dongles = []
+  for route in tqdm(list(open(sys.argv[1]))):
+    route = route.rstrip()
+    dongle_id, time = route.split('|')
+    qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
+
+    if dongle_id in dongles:
+      continue
+
+    try:
+      lr = LogReader(qlog_path)
+
+      for msg in lr:
+        if msg.which() == "health":
+          if msg.health.hwType not in ['uno', 'blackPanda']:
+            dongles.append(dongle_id)
+            break
+
+        elif msg.which() == "carParams":
+          car_fw = msg.carParams.carFw
+          if len(car_fw) == 0:
+            break
+
+          dongles.append(dongle_id)
+          live_fingerprint = msg.carParams.carFingerprint
+
+          if live_fingerprint not in list(TOYOTA_FW_VERSIONS.keys()) + list(HONDA_FW_VERSIONS.keys()):
+            continue
+
+          fw_versions = fw_versions_to_dict(car_fw)
+          candidates = match_fw_to_car(fw_versions)
+          if (len(candidates) == 1) and (list(candidates)[0] == live_fingerprint):
+            print("Correct", live_fingerprint, dongle_id)
+            break
+
+          print(f"{dongle_id}|{time}")
+          print("Old style:", live_fingerprint, "Vin", msg.carParams.carVin)
+          print("New style:", candidates)
+
+          for version in car_fw:
+            subaddr = None if version.subAddress == 0 else hex(version.subAddress)
+            print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+
+          print("Mismatches")
+          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS]:
+            if live_fingerprint in car_fws:
+
+              expected = car_fws[live_fingerprint]
+              for (_, expected_addr, expected_sub_addr), v in expected.items():
+                for version in car_fw:
+                  sub_addr = None if version.subAddress == 0 else version.subAddress
+                  addr = version.address
+
+                  if (addr, sub_addr) == (expected_addr, expected_sub_addr):
+                    if version.fwVersion not in v:
+                      print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}")
+
+          print()
+          i += 1
+          break
+    except Exception:
+      traceback.print_exc()
+
+  print(f"Unfingerprinted cars: {i}")
+  print(f"Number of dongle ids checked: {len(dongles)}")