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Hyundai: only allow cancel while cruise is enabled (#870)

This commit is contained in:
Adeeb Shihadeh 2022-03-13 19:42:40 -07:00 committed by GitHub
parent 891653fe31
commit 5a7af82f06
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 22 additions and 9 deletions
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13
board/safety/safety_hyundai.h
View File

@ -324,16 +324,17 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
}
}
// FORCE CANCEL: safety check only relevant when spamming the cancel button.
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
// This avoids unintended engagements while still allowing resume spam
if ((addr == 1265) && !controls_allowed) {
if ((GET_BYTES_04(to_send) & 0x7U) != 4U) {
// BUTTONS: used for resume spamming and cruise cancellation
if ((addr == 1265) && !hyundai_longitudinal) {
int button = GET_BYTE(to_send, 0) & 0x7U;
bool allowed_resume = (button == 1) && controls_allowed;
bool allowed_cancel = (button == 4) && cruise_engaged_prev;
if (!(allowed_resume || allowed_cancel)) {
tx = 0;
}
}
// 1 allows the message through
return tx;
}

18
tests/safety/test_hyundai.py
View File

@ -203,14 +203,23 @@ class TestHyundaiSafety(common.PandaSafetyTest):
self.assertTrue(self._tx(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
self.assertTrue(self._tx(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
def test_spam_cancel_safety_check(self):
def test_buttons(self):
"""
Only RES and CANCEL buttons are allowed
- RES allowed while controls allowed
- CANCEL allowed while cruise is enabled
"""
self.safety.set_controls_allowed(0)
self.assertTrue(self._tx(self._button_msg(Buttons.CANCEL)))
self.assertFalse(self._tx(self._button_msg(Buttons.RESUME)))
self.assertFalse(self._tx(self._button_msg(Buttons.SET)))
# do not block resume if we are engaged already
self.safety.set_controls_allowed(1)
self.assertTrue(self._tx(self._button_msg(Buttons.RESUME)))
self.assertFalse(self._tx(self._button_msg(Buttons.SET)))
for enabled in (True, False):
self._rx(self._pcm_status_msg(enabled))
self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
class TestHyundaiLegacySafety(TestHyundaiSafety):
@ -264,6 +273,9 @@ class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
def test_cruise_engaged_prev(self):
pass
def test_buttons(self):
pass
def _pcm_status_msg(self, enable):
raise NotImplementedError