Volkswagen: improve fuzzy fingerprinting (#32378)

* improve VW fuzzy FP matching

* annotate

* Revert "annotate"

This reverts commit 09cbb150e91f5093849c22d95e31152fb8d4d1a9.

* hmm
old-commit-hash: a83b182c552476dfda71784570916777135b3d4e

selfdrive/car/volkswagen/tests/test_volkswagen.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import random
 import re
 import unittest
 
@@ -38,9 +39,9 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase):
                            f"Shared chassis codes: {comp}")
 
   def test_custom_fuzzy_fingerprinting(self):
-    for platform in CAR:
-      expected_radar_fw = FW_VERSIONS[platform][Ecu.fwdRadar, 0x757, None]
+    all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})
 
+    for platform in CAR:
       with self.subTest(platform=platform):
         for wmi in WMI:
           for chassis_code in platform.config.chassis_codes | {"00"}:
@@ -50,9 +51,9 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase):
             vin = "".join(vin)
 
             # Check a few FW cases - expected, unexpected
-            for radar_fw in expected_radar_fw + [b'\xf1\x877H9907572AA\xf1\x890396']:
+            for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
               should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and
-                              radar_fw in expected_radar_fw)
+                              radar_fw in all_radar_fw)
 
               live_fws = {(0x757, None): [radar_fw]}
               matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)

selfdrive/car/volkswagen/values.py

@@ -1,4 +1,4 @@
-from collections import namedtuple
+from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
 
@@ -9,7 +9,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
@@ -434,19 +434,26 @@ class CAR(Platforms):
 def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
   candidates = set()
 
+  # Compile all FW versions for each ECU
+  all_ecu_versions: dict[EcuAddrSubAddr, set[str]] = defaultdict(set)
+  for ecus in offline_fw_versions.values():
+    for ecu, versions in ecus.items():
+      all_ecu_versions[ecu] |= set(versions)
+
   # Check the WMI and chassis code to determine the platform
   wmi = vin[:3]
   chassis_code = vin[6:8]
 
   for platform in CAR:
     valid_ecus = set()
-    for ecu, expected_versions in offline_fw_versions[platform].items():
+    for ecu in offline_fw_versions[platform]:
       addr = ecu[1:]
       if ecu[0] not in CHECK_FUZZY_ECUS:
         continue
 
-      # Sanity check that a subset of Volkswagen FW is in the database
+      # Sanity check that live FW is in the superset of all FW, Volkswagen ECU part numbers are commonly shared
       found_versions = live_fw_versions.get(addr, [])
+      expected_versions = all_ecu_versions[ecu]
       if not any(found_version in expected_versions for found_version in found_versions):
         break