Keep quiet-camera HKG discovery on normal wiring

opendbc_repo/opendbc/car/hyundai/discovery.py

@@ -22,10 +22,15 @@ HDA2_NORMAL_BUS_LAYOUT = {(2, 0x50): 16, (2, 0x2A4): 24, (1, 0x35): 32, (1, 0xEA
                          (1, 0xA0): 24, (1, 0x1A0): 32, (1, 0x1CF): 8, (1, 0x130): 16}
 
 
+QUIET_CAMERA_NORMAL_BUS_LAYOUT = {(0, 0xEA): 24, (0, 0xA0): 24, (0, 0x1A0): 32, (0, 0x60): 32,
+                                  (0, 0x35): 32, (0, 0x1CF): 8, (0, 0x130): 16,
+                                  **{(1, address): 32 for address in range(0x210, 0x220)}}
+
+
 def _canfd_variant_layouts():
   layouts = []
   originals = (NORMAL_BUS_LAYOUT, HDA1_NORMAL_BUS_LAYOUT, HDA2_NORMAL_BUS_LAYOUT)
-  for base in originals:
+  for base in (*originals, QUIET_CAMERA_NORMAL_BUS_LAYOUT):
     bus = next(bus for bus, address in base if address == 0xEA)
     gears = ((0x130, 16), (0x40, 32), (0x70, 32)) if (bus, 0x130) in base else ((None, 0),)
     for accelerator, (buttons, length), (gear, gear_length) in product(

opendbc_repo/opendbc/car/hyundai/tests/test_quiet_canfd_discovery.py

@@ -0,0 +1,49 @@
+from unittest.mock import patch
+
+import pytest
+from opendbc.car.can_definitions import CanData
+from opendbc.car.hyundai.discovery import normal_bus_topology
+from opendbc.car.car_helpers import fingerprint
+from opendbc.car.vin import VIN_UNKNOWN
+
+# Source: d90ba2e1ecdbb770/0000000e--ed1fea4874, clean 7da9cea0f6.
+LAYOUT = {(0, 0xEA): 24, (0, 0xA0): 24, (0, 0x1A0): 32, (0, 0x100): 32,
+          (0, 0x1AA): 16, (0, 0x40): 32, (0, 0x60): 32,
+          **{(1, address): 32 for address in range(0x210, 0x220)}}
+
+
+def frames():
+  return [CanData(address, bytes(length), bus) for (bus, address), length in LAYOUT.items()]
+
+
+def test_recorded_tucson_with_quiet_camera_keeps_normal_query_wiring():
+  assert normal_bus_topology(lambda **kw: [frames()])
+
+
+@pytest.mark.parametrize('index', range(len(LAYOUT)))
+@pytest.mark.parametrize('defect', ['missing', 'length', 'bus', 'echo', 'contradiction'])
+def test_quiet_camera_requires_complete_live_chassis_and_radar(index, defect):
+  source = frames()
+  frame = source.pop(index)
+  if defect in ('length', 'contradiction'):
+    source.append(CanData(frame.address, frame.dat[:-1], frame.src))
+    if defect == 'contradiction':
+      source.append(frame)
+  elif defect != 'missing':
+    source.append(CanData(frame.address, frame.dat, frame.src + (128 if defect == 'echo' else 1)))
+  clock = iter([0., 0., .13])
+  assert not normal_bus_topology(lambda **kw: [source], clock=lambda: next(clock))
+
+
+def test_actual_query_keeps_normal_bus_but_never_assigns_vehicle_identity():
+  switches = []
+  with patch('opendbc.car.car_helpers.get_vin', return_value=(-1, -1, VIN_UNKNOWN)), \
+       patch('opendbc.car.car_helpers.get_fw_versions', return_value=[]) as query, \
+       patch('opendbc.car.car_helpers.get_present_ecus', return_value=set()) as generic, \
+       patch('opendbc.car.car_helpers.match_fw_to_car', return_value=(True, set())), \
+       patch('opendbc.car.car_helpers.can_fingerprint', return_value=(None, {})):
+    actual = fingerprint(lambda wait_for_one=False: [frames()], lambda packets: None, switches.append, None)
+  assert actual[0] is None
+  assert switches and not any(switches)
+  assert query.call_args.kwargs == {'query_brand': 'hyundai', 'normal_bus_only': True}
+  generic.assert_not_called()

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "9d5fc77feca21c09342e7670e9fe0c2e0971ffd94fb5192b9c0f5b86ab284710", "schema_version": 1}
+{"protected_inventory_sha256": "868381b1c309f270f146c1e4d6f8a3a1f02e06c46be1b2f9edaebb4a605dc9cf", "schema_version": 1}