Parse 0x1A0 on bus 4 dynamically

selfdrive/car/hyundai/carstate.py

@@ -203,7 +203,7 @@ class CarState(CarStateBase):
     self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
     if not self.CP.openpilotLongitudinalControl:
       speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-      cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+      cp_cruise_info = cp if self.CP.flags & (HyundaiFlags.CANFD_HDA2 | ~HyundaiFlags.CANFD_CAMERA_SCC) else cp_cam
       ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
       ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
       self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
@@ -462,7 +462,7 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
-    if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
+    if CP.flags & (HyundaiFlags.CANFD_HDA2 | ~HyundaiFlags.CANFD_CAMERA_SCC) and not CP.openpilotLongitudinalControl:
       signals += [
         ("SET_SPEED", "CRUISE_INFO"),
         ("CRUISE_STANDSTILL", "CRUISE_INFO"),
@@ -498,11 +498,13 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):
+    signals = []
+    checks = []
     if CP.flags & HyundaiFlags.CANFD_HDA2:
-      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
-      checks = [("CAM_0x2a4", 20)]
-    else:
-      signals = [
+      signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks += [("CAM_0x2a4", 20)]
+    elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
+      signals += [
         ("COUNTER", "CRUISE_INFO"),
         ("NEW_SIGNAL_1", "CRUISE_INFO"),
         ("CRUISE_MAIN", "CRUISE_INFO"),
@@ -516,7 +518,7 @@ class CarState(CarStateBase):
         ("NEW_SIGNAL_4", "CRUISE_INFO"),
       ]
 
-      checks = [
+      checks += [
         ("CRUISE_INFO", 50),
       ]