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183
selfdrive/debug/test_fw_query_on_routes.py
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183
selfdrive/debug/test_fw_query_on_routes.py
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#!/usr/bin/env python3
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# type: ignore
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from collections import defaultdict
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import argparse
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import os
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import traceback
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from tqdm import tqdm
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from openpilot.tools.lib.logreader import LogReader, ReadMode
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from openpilot.tools.lib.route import SegmentRange
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from openpilot.selfdrive.car.car_helpers import interface_names
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from openpilot.selfdrive.car.fingerprints import MIGRATION
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from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
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NO_API = "NO_API" in os.environ
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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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UNKNOWN_BRAND = "unknown"
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
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parser.add_argument('route', help='Route or file with list of routes')
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parser.add_argument('--car', help='Force comparison fingerprint to known car')
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args = parser.parse_args()
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if os.path.exists(args.route):
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routes = list(open(args.route))
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else:
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routes = [args.route]
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mismatches = defaultdict(list)
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not_fingerprinted = 0
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solved_by_fuzzy = 0
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good_exact = 0
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wrong_fuzzy = 0
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good_fuzzy = 0
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dongles = []
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for route in tqdm(routes):
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sr = SegmentRange(route)
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dongle_id = sr.dongle_id
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if dongle_id in dongles:
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continue
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if sr.slice == '' and sr.selector is None:
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route += '/0'
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lr = LogReader(route, default_mode=ReadMode.QLOG)
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try:
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dongles.append(dongle_id)
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CP = None
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for msg in lr:
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if msg.which() == "pandaStates":
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if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'):
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print("wrong panda type")
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break
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elif msg.which() == "carParams":
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CP = msg.carParams
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car_fw = [fw for fw in CP.carFw if not fw.logging]
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if len(car_fw) == 0:
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print("no fw")
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break
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live_fingerprint = CP.carFingerprint
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live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
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if args.car is not None:
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live_fingerprint = args.car
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if live_fingerprint not in SUPPORTED_CARS:
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print("not in supported cars")
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break
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_, exact_matches = match_fw_to_car(car_fw, allow_exact=True, allow_fuzzy=False)
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_, fuzzy_matches = match_fw_to_car(car_fw, allow_exact=False, allow_fuzzy=True)
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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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print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}")
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# Check if fuzzy match was correct
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if len(fuzzy_matches) == 1:
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if list(fuzzy_matches)[0] != live_fingerprint:
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wrong_fuzzy += 1
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print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
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else:
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good_fuzzy += 1
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break
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print("Old style:", live_fingerprint, "Vin", CP.carVin)
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print("New style (exact):", exact_matches)
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print("New style (fuzzy):", fuzzy_matches)
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padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
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for version in sorted(car_fw, key=lambda fw: fw.brand):
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subaddr = None if version.subAddress == 0 else hex(version.subAddress)
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print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +
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f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
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print("Mismatches")
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found = False
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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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if (addr, sub_addr) == (expected_addr, expected_sub_addr):
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if version.fwVersion not in v:
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print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}")
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# Add to global list of mismatches
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mismatch = (addr, sub_addr, version.fwVersion)
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if mismatch not in mismatches[live_fingerprint]:
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mismatches[live_fingerprint].append(mismatch)
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# No FW versions for this car yet, add them all to mismatch list
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if not found:
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for version in car_fw:
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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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mismatch = (addr, sub_addr, version.fwVersion)
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if mismatch not in mismatches[live_fingerprint]:
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mismatches[live_fingerprint].append(mismatch)
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print()
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not_fingerprinted += 1
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if len(fuzzy_matches) == 1:
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if list(fuzzy_matches)[0] == live_fingerprint:
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solved_by_fuzzy += 1
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else:
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wrong_fuzzy += 1
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print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
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break
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if CP is None:
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print("no CarParams in logs")
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except Exception:
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traceback.print_exc()
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except KeyboardInterrupt:
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break
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print()
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# Print FW versions that need to be added separated out by car and address
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for car, m in sorted(mismatches.items()):
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print(car)
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addrs = defaultdict(list)
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for (addr, sub_addr, version) in m:
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addrs[(addr, sub_addr)].append(version)
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for (addr, sub_addr), versions in addrs.items():
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print(f" ({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}): [")
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for v in versions:
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print(f" {v},")
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print(" ]")
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print()
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print()
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print(f"Number of dongle ids checked: {len(dongles)}")
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print(f"Fingerprinted: {good_exact}")
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print(f"Not fingerprinted: {not_fingerprinted}")
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print(f" of which had a fuzzy match: {solved_by_fuzzy}")
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print()
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print(f"Correct fuzzy matches: {good_fuzzy}")
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print(f"Wrong fuzzy matches: {wrong_fuzzy}")
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print()
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