Hyundai CAN FD: enable enhanced fuzzy fingerprinting for Sorento & So…

…rento Hybrid (commaai#31242)

* allow fuzzy fingerprinting

* rm todo

* better cmt

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -5,7 +5,7 @@
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, \
+                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          get_platform_codes
 from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS
@@ -181,7 +181,7 @@ def test_fuzzy_excluded_platforms(self):
       CAR.GENESIS_G70,            # shared platform code, part number, and date
       CAR.GENESIS_G70_2020,
     }
-    excluded_platforms |= CANFD_CAR - EV_CAR  # shared platform codes
+    excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST  # shared platform codes
     excluded_platforms |= NO_DATES_PLATFORMS  # date codes are required to match
 
     platforms_with_shared_codes = set()

selfdrive/car/hyundai/values.py

@@ -336,8 +336,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
   # Non-electric CAN FD platforms often do not have platform code specifiers needed
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
-  # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
-  fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
+  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
   candidates: Set[str] = set()
 
   for candidate, fws in offline_fw_versions.items():
@@ -402,6 +401,9 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
 DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
 PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
 
+# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
+CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
 PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]