mi mi zu zu pri pri

opendbc_repo/opendbc/car/toyota/interface.py

@@ -62,12 +62,12 @@ class CarInterface(CarInterfaceBase):
 
     # A DSU bypass adapter reroutes the stock DSU messages to the camera bus.
     # These messages are normally absent there on pre-TSS2 platforms.
-    # Require the native-bus message to be absent so startup relay mirroring is not mistaken for an adapter.
-    pt_fingerprint = fingerprint.get(0, {})
-    radar_fingerprint = fingerprint.get(1, {})
     camera_fingerprint = fingerprint.get(2, {})
-    has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in radar_fingerprint) or
-                      (0x4CB in camera_fingerprint and 0x4CB not in pt_fingerprint))
+    has_dsu_bypass = 0x343 in camera_fingerprint or 0x4CB in camera_fingerprint
+    if candidate == CAR.LEXUS_IS:
+      # The IS mirrors its native buses onto camera bus during startup without a bypass adapter.
+      has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in fingerprint.get(1, {})) or
+                        (0x4CB in camera_fingerprint and 0x4CB not in fingerprint.get(0, {})))
     if not use_sdsu and candidate not in TSS2_CAR and has_dsu_bypass:
       ret.flags |= ToyotaFlags.DSU_BYPASS.value
 

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -133,6 +133,26 @@ class TestToyotaInterfaces:
     assert not car_params.openpilotLongitudinalControl
     assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
 
+  @pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
+  def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
+    fingerprint = {bus: {} for bus in range(8)}
+    fingerprint[native_bus][message] = 8
+    fingerprint[2][message] = 8
+
+    car_params = CarInterface.get_params(
+      CAR.TOYOTA_PRIUS,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(),
+    )
+
+    assert car_params.flags & ToyotaFlags.DSU_BYPASS.value
+    assert car_params.openpilotLongitudinalControl
+    assert not car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
+
   def test_dsu_bypass_does_not_change_tss2_or_smart_dsu(self):
     fingerprint = {bus: {} for bus in range(8)}
     fingerprint[0][0x2FF] = 8