Recognize Camry filter with independent cluster radar traffic

opendbc_repo/opendbc/car/toyota/radar_filter.py

@@ -13,6 +13,14 @@ PROFILES = {
 }
 
 
+def _camry_radar_bus(candidate, bus, messages):
+  # The 2018–20 Camry exposes 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
+          all(messages.get(address) == 8 for address in range(0x680, 0x686)))
+
+
 def hardware_supported(candidate, fingerprint):
   # The filter's advertisement is a hardware discriminator, not an actuation
   # permission or a copy of ACC_CONTROL to decode under a different checksum.
@@ -21,11 +29,13 @@ 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 for bus, messages in fingerprint.items() if 0x2FF in messages)):
+      all((bus in (0, 2) and messages[0x2FF] == 4) or _camry_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(addr in frames for frames in fingerprint.values() for addr in (0x201, 0x2FF)))
+          not any(0x201 in frames or 0x2FF in frames and not _camry_radar_bus(candidate, bus, frames)
+                  for bus, frames in fingerprint.items()))
 
 
 def configured(cp):

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

@@ -0,0 +1,57 @@
+"""Camry 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
+from opendbc.car.toyota.cluster_radar import CLUSTERS
+from opendbc.car.toyota.interface import CarInterface
+from opendbc.car.toyota.values import CAR
+from openpilot.starpilot.car.toyota.aol import qualified
+
+
+def observed():
+  fp = gen_empty_fingerprint()
+  fp[0][0x2FF] = fp[2][0x2FF] = 4
+  fp[1] = {0x2FF: 8, **dict.fromkeys(CLUSTERS, 8)}
+  return fp
+
+
+@pytest.mark.parametrize('alpha', (False, True))
+@pytest.mark.parametrize('primary', (0x2FF, 0x2AA))
+def test_camry_radar_bus_preserves_exact_filter_owner(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)
+  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('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):
+  fp = observed()
+  candidate = CAR.TOYOTA_CAMRY
+  if bad == 'missing_filter':
+    fp[0].clear()
+  elif bad == 'bus1_short':
+    fp[1][0x2FF] = 7
+  elif bad == 'missing_cluster':
+    del fp[1][CLUSTERS[-1]]
+  elif bad == 'bad_cluster':
+    fp[1][CLUSTERS[-1]] = 7
+  elif bad == 'wrong_cluster_bus':
+    fp[3] = fp.pop(1)
+  elif bad == 'wrong_model':
+    candidate = CAR.TOYOTA_CHR
+  elif bad == 'bus1_advert':
+    fp[1][0x2FF] = 4
+  elif bad == 'mixed_status':
+    fp[2][0x2FF] = 8
+  else:
+    fp[0][0x201] = 6
+  assert not radar_filter.hardware_supported(candidate, fp)

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

@@ -13,3 +13,13 @@ daemon_gc_scope=helpers.daemon_gc_scope
 def test_other_filter_variants_full_callers(candidate,alpha,disable,aol,tmp_path,host_heartbeat_bridge):
   advertisements=[(0x2FF,bytes.fromhex('00000409'),bus) for bus in (0,2)]
   helpers.run_case(candidate,alpha,disable,0,tmp_path,aol=aol,bridge=host_heartbeat_bridge,filter_advertisements=advertisements)
+
+
+@pytest.mark.parametrize('alpha,disable', [(False, False), (True, False), (True, True)])
+def test_camry_cluster_bus_advertisement_actual_callers(alpha, disable, tmp_path, host_heartbeat_bridge):
+  from opendbc.car.toyota.cluster_radar import CLUSTERS
+  advertisements = [(0x2FF, bytes.fromhex('00000409'), bus) for bus in (0, 2)]
+  advertisements += [(0x2FF, bytes.fromhex('100068010000b5ff'), 1)]
+  advertisements += [(address, bytes(8), 1) for address in CLUSTERS]
+  helpers.run_case(CAR.TOYOTA_CAMRY, alpha, disable, 0, tmp_path, aol=True,
+                   bridge=host_heartbeat_bridge, filter_advertisements=advertisements)