Detect C-HR CAN filters alongside native radar traffic

opendbc_repo/opendbc/car/toyota/radar_filter.py

@@ -13,11 +13,11 @@ PROFILES = {
 }
 
 
-def _camry_radar_bus(candidate, bus, messages):
-  # The 2018–20 Camry exposes an independent eight-byte 2FF stream alongside
+def _cluster_radar_bus(candidate, bus, messages):
+  # The 2018–20 Camry and 2017–20 C-HR expose an independent eight-byte 2FF stream alongside
   # its six cluster-radar frames on bus1 (cluster_radar.CLUSTERS). It is not
   # the four-byte filter advertisement or a bus0 smartDSU status source.
-  return (candidate == CAR.TOYOTA_CAMRY and bus == 1 and messages.get(0x2FF) == 8 and
+  return (candidate in (CAR.TOYOTA_CAMRY, CAR.TOYOTA_CHR) and bus == 1 and messages.get(0x2FF) == 8 and
           all(messages.get(address) == 8 for address in range(0x680, 0x686)))
 
 
@@ -29,12 +29,12 @@ def hardware_supported(candidate, fingerprint):
   # Panda discovery may also expose its forwarded camera-bus copy.
   if (candidate in PROFILES and fingerprint.get(0, {}).get(0x2FF) == 4 and
       not any(address in messages for messages in fingerprint.values() for address in (0x201, 0x2AA)) and
-      all((bus in (0, 2) and messages[0x2FF] == 4) or _camry_radar_bus(candidate, bus, messages)
+      all((bus in (0, 2) and messages[0x2FF] == 4) or _cluster_radar_bus(candidate, bus, messages)
           for bus, messages in fingerprint.items() if 0x2FF in messages)):
     return True
   return (candidate in PROFILES and fingerprint.get(0, {}).get(0x2AA) == 8 and
           all(bus in (0, 2) and frames[0x2AA] == 8 for bus, frames in fingerprint.items() if 0x2AA in frames) and
-          not any(0x201 in frames or 0x2FF in frames and not _camry_radar_bus(candidate, bus, frames)
+          not any(0x201 in frames or 0x2FF in frames and not _cluster_radar_bus(candidate, bus, frames)
                   for bus, frames in fingerprint.items()))
 
 

openpilot/starpilot/car/toyota/tests/test_camry_chr_filter_callers.py

@@ -11,3 +11,11 @@ daemon_gc_scope = helpers.daemon_gc_scope
 @pytest.mark.parametrize('aol', [False, True])
 def test_camry_chr_filter_actual_callers(candidate, alpha, disable, aol, tmp_path):
   helpers.run_case(candidate, alpha, disable, 0, tmp_path, aol=aol)
+
+
+@pytest.mark.parametrize('alpha,disable', [(False, False), (True, False), (True, True)])
+@pytest.mark.parametrize('aol', [False, True])
+def test_chr_filter_with_independent_cluster_radar_actual_callers(alpha, disable, aol, tmp_path):
+  advertisements = [(0x2FF, bytes(4), 0), (0x2FF, bytes(4), 2), (0x2FF, bytes(8), 1)]
+  advertisements.extend((address, bytes(8), 1) for address in range(0x680, 0x686))
+  helpers.run_case(CAR.TOYOTA_CHR, alpha, disable, 0, tmp_path, aol=aol, filter_advertisements=advertisements)

openpilot/starpilot/car/toyota/tests/test_camry_filter_radar_bus.py

@@ -1,4 +1,4 @@
-"""Camry cluster-radar traffic must not impersonate a bus-0 filter status."""
+"""Camry/C-HR cluster-radar traffic must not impersonate a bus-0 filter status."""
 import pytest
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.toyota import radar_filter
@@ -15,27 +15,28 @@ def observed():
   return fp
 
 
+@pytest.mark.parametrize('candidate', (CAR.TOYOTA_CAMRY, CAR.TOYOTA_CHR))
 @pytest.mark.parametrize('alpha', (False, True))
 @pytest.mark.parametrize('primary', (0x2FF, 0x2AA))
-def test_camry_radar_bus_preserves_exact_filter_owner(alpha, primary):
+def test_camry_radar_bus_preserves_exact_filter_owner(candidate, alpha, primary):
   fp = observed()
   if primary == 0x2AA:
     fp[0] = fp[2] = {primary: 8}
   canonical = gen_empty_fingerprint()
   canonical[0][primary] = 4 if primary == 0x2FF else 8
-  expected = CarInterface.get_params(CAR.TOYOTA_CAMRY, canonical, [], alpha, False, False)
-  actual = CarInterface.get_params(CAR.TOYOTA_CAMRY, fp, [], alpha, False, False)
-  assert radar_filter.hardware_supported(CAR.TOYOTA_CAMRY, fp)
+  expected = CarInterface.get_params(candidate, canonical, [], alpha, False, False)
+  actual = CarInterface.get_params(candidate, fp, [], alpha, False, False)
+  assert radar_filter.hardware_supported(candidate, fp)
   assert actual.to_dict() == expected.to_dict()
   assert actual.safetyConfigs[0].safetyParam == (0x1049 if alpha else 0x1249)
   assert actual.openpilotLongitudinalControl == alpha and qualified(actual)
 
 
+@pytest.mark.parametrize('candidate', (CAR.TOYOTA_CAMRY, CAR.TOYOTA_CHR))
 @pytest.mark.parametrize('bad', ('missing_filter', 'bus1_short', 'missing_cluster', 'bad_cluster',
                                   'wrong_cluster_bus', 'wrong_model', 'bus1_advert', 'mixed_status', 'pedal'))
-def test_camry_radar_bus_is_not_general_adapter_evidence(bad):
+def test_camry_radar_bus_is_not_general_adapter_evidence(candidate, bad):
   fp = observed()
-  candidate = CAR.TOYOTA_CAMRY
   if bad == 'missing_filter':
     fp[0].clear()
   elif bad == 'bus1_short':
@@ -47,7 +48,7 @@ def test_camry_radar_bus_is_not_general_adapter_evidence(bad):
   elif bad == 'wrong_cluster_bus':
     fp[3] = fp.pop(1)
   elif bad == 'wrong_model':
-    candidate = CAR.TOYOTA_CHR
+    candidate = CAR.TOYOTA_CHR_TSS2
   elif bad == 'bus1_advert':
     fp[1][0x2FF] = 4
   elif bad == 'mixed_status':

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "dc0fc34a78b6ecec51ba5a4ecfd601088ed237535b321ef878019980d3b8b465", "schema_version": 1}
+{"protected_inventory_sha256": "7769f133116304f49b7b3419263f618e02451e31af54f2dc3354feea9e76cb16", "schema_version": 1}