mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-23 23:12:04 +08:00
FW fingerprinting: log all FW versions (#25042)
* get_fw_versions returns all fw versions with request's brand * keep track of everything received * debug * need to regen or write a hack in build_fw_dict * to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) * update test_fw_query_on_routes * clean up * better name * slightly cleaner * fix test_startup unit test del * fix imports * fix test_fw_fingerprint fix test_fw_fingerprint fix * fingerprint on all FW_VERSIONS, not just brands with requests * support old routes in test_fw_query_on_routes * regen and update refs * similar function style to before * better comment * space switch name * try to exact match first * useless else * fix debug script * simpler dictionary * bump cereal to master
This commit is contained in:
Shane Smiskol
+1
-1
Submodule cereal updated: df08568318...cda60ec965
@@ -194,12 +194,13 @@ def chunks(l, n=128):
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yield l[i:i + n]
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def build_fw_dict(fw_versions):
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def build_fw_dict(fw_versions, filter_brand=None):
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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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if filter_brand is None or fw.brand == filter_brand:
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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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@@ -284,18 +285,27 @@ def match_fw_to_car_exact(fw_versions_dict):
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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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versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
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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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# Try exact matching first
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exact_matches = [True]
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if allow_fuzzy:
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exact_matches.append(False)
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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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for exact_match in exact_matches:
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# For each brand, attempt to fingerprint using FW returned from its queries
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for brand in versions.keys():
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fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
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return exact_match, matches
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if exact_match:
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matches = match_fw_to_car_exact(fw_versions_dict)
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else:
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matches = match_fw_to_car_fuzzy(fw_versions_dict)
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if len(matches) == 1:
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return exact_match, matches
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return True, []
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def get_present_ecus(logcan, sendcan):
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@@ -372,20 +382,21 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
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if addrs:
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query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
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t = 2 * timeout if i == 0 else timeout
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fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()})
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fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(t).items()})
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except Exception:
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cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
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# Build capnp list to put into CarParams
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car_fw = []
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for addr, (version, request, rx_offset) in fw_versions.items():
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for (brand, addr), (version, request) in fw_versions.items():
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f = car.CarParams.CarFw.new_message()
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f.ecu = ecu_types[addr]
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f.fwVersion = version
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f.address = addr[0]
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f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset)
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f.request = request
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f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
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f.request = request.request
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f.brand = brand
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if addr[1] is not None:
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f.subAddress = addr[1]
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@@ -12,6 +12,7 @@ CarFw = car.CarParams.CarFw
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Ecu = car.CarParams.Ecu
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ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
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VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
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class TestFwFingerprint(unittest.TestCase):
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@@ -20,14 +21,14 @@ class TestFwFingerprint(unittest.TestCase):
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self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
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self.assertEqual(candidates[0], expected)
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@parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()])
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def test_fw_fingerprint(self, car_model, ecus):
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@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
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def test_fw_fingerprint(self, brand, car_model, ecus):
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CP = car.CarParams.new_message()
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for _ in range(200):
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fw = []
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for ecu, fw_versions in ecus.items():
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ecu_name, addr, sub_addr = ecu
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fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
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fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
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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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_, matches = match_fw_to_car(CP.carFw)
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@@ -60,10 +61,9 @@ class TestFwFingerprint(unittest.TestCase):
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def test_fw_request_ecu_whitelist(self):
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passed = True
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brands = set(r.brand for r in REQUESTS)
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versions = get_interface_attr('FW_VERSIONS')
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for brand in brands:
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whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
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brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
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brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
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# each ecu in brand's fw versions needs to be whitelisted at least once
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ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
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@@ -42,27 +42,27 @@ 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, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
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# dashcamOnly car
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
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# unrecognized car with no fw
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(EventName.startupNoFw, None, None),
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(EventName.startupNoFw, None, None),
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(EventName.startupNoFw, None, None, ""),
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(EventName.startupNoFw, None, None, ""),
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# unrecognized car
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
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# fuzzy match
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
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])
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@with_processes(['controlsd'])
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def test_startup_alert(self, expected_event, car_model, fw_versions):
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def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
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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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@@ -82,6 +82,7 @@ class TestStartup(unittest.TestCase):
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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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f.brand = brand
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if subaddress is not None:
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f.subAddress = subaddress
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@@ -8,24 +8,15 @@ import traceback
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from tqdm import tqdm
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from tools.lib.logreader import LogReader
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from tools.lib.route import Route
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from selfdrive.car.interfaces import get_interface_attr
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from selfdrive.car.car_helpers import interface_names
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from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
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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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from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS
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from selfdrive.car.subaru.values import FW_VERSIONS as SUBARU_FW_VERSIONS
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NO_API = "NO_API" in os.environ
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SUPPORTED_CARS = set(interface_names['toyota'])
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SUPPORTED_CARS |= set(interface_names['honda'])
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SUPPORTED_CARS |= set(interface_names['hyundai'])
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SUPPORTED_CARS |= set(interface_names['volkswagen'])
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SUPPORTED_CARS |= set(interface_names['mazda'])
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SUPPORTED_CARS |= set(interface_names['subaru'])
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SUPPORTED_CARS |= set(interface_names['nissan'])
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VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
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SUPPORTED_BRANDS = VERSIONS.keys()
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SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
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try:
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from xx.pipeline.c.CarState import migration
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@@ -97,9 +88,24 @@ if __name__ == "__main__":
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print("not in supported cars")
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break
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fw_versions_dict = build_fw_dict(car_fw)
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exact_matches = match_fw_to_car_exact(fw_versions_dict)
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fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
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# Older routes only have carFw from their brand
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old_route = not any([len(fw.brand) for fw in car_fw])
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brands = SUPPORTED_BRANDS if not old_route else [None]
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# Exact match
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exact_matches, fuzzy_matches = [], []
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for brand in brands:
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fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
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exact_matches = match_fw_to_car_exact(fw_versions_dict)
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if len(exact_matches) == 1:
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break
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# Fuzzy match
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for brand in brands:
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fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
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fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
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if len(fuzzy_matches) == 1:
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break
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if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
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good_exact += 1
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@@ -126,12 +132,15 @@ if __name__ == "__main__":
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print("Mismatches")
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found = False
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for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS, SUBARU_FW_VERSIONS]:
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for brand in SUPPORTED_BRANDS:
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car_fws = VERSIONS[brand]
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if live_fingerprint in car_fws:
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found = True
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expected = car_fws[live_fingerprint]
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for (_, expected_addr, expected_sub_addr), v in expected.items():
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for version in car_fw:
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if version.brand != brand and len(version.brand):
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continue
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sub_addr = None if version.subAddress == 0 else version.subAddress
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addr = version.address
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@@ -1 +1 @@
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a57bbbffbee434e59e08b98b667dc13b6b505f08
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b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc
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@@ -179,8 +179,22 @@ def replay_cameras(lr, frs, disable_tqdm=False):
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return vs, p
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def migrate_carparams(lr):
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all_msgs = []
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for msg in lr:
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if msg.which() == 'carParams':
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CP = messaging.new_message('carParams')
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CP.carParams = msg.carParams.as_builder()
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for car_fw in CP.carParams.carFw:
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car_fw.brand = CP.carParams.carName
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msg = CP.as_reader()
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all_msgs.append(msg)
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return all_msgs
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def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
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lr = list(lr)
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lr = migrate_carparams(list(lr))
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if frs is None:
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frs = dict()
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@@ -35,19 +35,19 @@ original_segments = [
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]
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segments = [
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("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
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("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
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("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
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("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
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("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
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("HONDA", "fakedata|2022-01-20--17-56-40--0"),
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("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
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("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
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("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
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("GM", "fakedata|2022-01-20--18-03-41--0"),
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("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
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("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
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("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
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("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
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("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
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("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
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("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
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("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
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("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
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("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
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("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
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("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
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("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
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("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
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("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
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("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
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]
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# dashcamOnly makes don't need to be tested until a full port is done
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