mirror of https://github.com/commaai/panda.git
Hyundai: enforce recent button press to allow controls with PCM (#917)
* add safety for hyundai stock long button-only enable
* add full logic, use 4 frames of button samples
* comment above and in openpilot is enough explanation
* make misra happy
* add tests
* add comments and better variable names
* only check button values on rising edge of PCM ACC enable
* common function
* Revert "common function"
This reverts commit 81e642ca98.
* simplify: keep track of last interaction instead
* revert changes to sample_t
* make unsigned
* clip to max and use uint8
* start at 4
* consistent
* apply suggestions
* Update board/safety/safety_hyundai.h
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* unify function
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Shane Smiskol
GitHub
parent
5eefc3ad62
commit
9a91323c04
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@ -69,6 +69,11 @@ enum {
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HYUNDAI_BTN_CANCEL = 4,
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};
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// some newer HKG models can re-enable after spamming cancel button,
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// so keep track of user button presses to deny engagement if no interaction
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const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 4; // roughly 80 ms
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uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button
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bool hyundai_legacy = false;
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bool hyundai_ev_gas_signal = false;
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bool hyundai_hybrid_gas_signal = false;
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@ -165,38 +170,46 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
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update_sample(&torque_driver, torque_driver_new);
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}
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if (hyundai_longitudinal) {
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// ACC steering wheel buttons
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if (addr == 1265) {
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int button = GET_BYTE(to_push, 0) & 0x7U;
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// ACC steering wheel buttons
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if (addr == 1265) {
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int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
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int main_button = GET_BIT(to_push, 3U);
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if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || (main_button != 0)) {
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hyundai_last_button_interaction = 0U;
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} else {
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hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
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}
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if (hyundai_longitudinal) {
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// exit controls on cancel press
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if (button == HYUNDAI_BTN_CANCEL) {
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if (cruise_button == HYUNDAI_BTN_CANCEL) {
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controls_allowed = 0;
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}
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// enter controls on falling edge of resume or set
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bool set = (button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_SET);
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bool res = (button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
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bool set = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_SET);
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bool res = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
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if (set || res) {
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controls_allowed = 1;
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}
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cruise_button_prev = button;
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cruise_button_prev = cruise_button;
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}
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} else {
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// enter controls on rising edge of ACC, exit controls on ACC off
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if (addr == 1057) {
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// 2 bits: 13-14
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int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
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if (cruise_engaged && !cruise_engaged_prev) {
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controls_allowed = 1;
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}
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if (!cruise_engaged) {
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controls_allowed = 0;
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}
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cruise_engaged_prev = cruise_engaged;
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}
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// enter controls on rising edge of ACC and user button press, exit controls when ACC off
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if (!hyundai_longitudinal && (addr == 1057)) {
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// 2 bits: 13-14
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int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
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if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
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controls_allowed = 1;
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}
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if (!cruise_engaged) {
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controls_allowed = 0;
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}
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cruise_engaged_prev = cruise_engaged;
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}
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// read gas pressed signal
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@ -371,6 +384,7 @@ static const addr_checks* hyundai_init(uint32_t param) {
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hyundai_legacy = false;
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hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
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hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
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hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
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#ifdef ALLOW_DEBUG
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hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL);
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@ -392,6 +406,7 @@ static const addr_checks* hyundai_legacy_init(uint32_t param) {
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hyundai_longitudinal = false;
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hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
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hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
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hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
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hyundai_rx_checks = (addr_checks){hyundai_legacy_addr_checks, HYUNDAI_LEGACY_ADDR_CHECK_LEN};
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return &hyundai_rx_checks;
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}
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@ -25,6 +25,9 @@ class Buttons:
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SET = 2
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CANCEL = 4
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PREV_BUTTON_SAMPLES = 4
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ENABLE_BUTTONS = (Buttons.RESUME, Buttons.SET, Buttons.CANCEL)
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# 4 bit checkusm used in some hyundai messages
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# lives outside the can packer because we never send this msg
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def checksum(msg):
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@ -71,6 +74,7 @@ class TestHyundaiSafety(common.PandaSafetyTest):
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cnt_speed = 0
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cnt_brake = 0
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cnt_cruise = 0
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cnt_button = 0
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_kia_generic")
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@ -78,8 +82,9 @@ class TestHyundaiSafety(common.PandaSafetyTest):
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self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0)
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self.safety.init_tests()
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def _button_msg(self, buttons):
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values = {"CF_Clu_CruiseSwState": buttons}
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def _button_msg(self, buttons, main_button=0):
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values = {"CF_Clu_CruiseSwState": buttons, "CF_Clu_CruiseSwMain": main_button, "CF_Clu_AliveCnt1": self.cnt_button}
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self.__class__.cnt_button += 1
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return self.packer.make_can_msg_panda("CLU11", 0, values)
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def _user_gas_msg(self, gas):
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@ -222,6 +227,39 @@ class TestHyundaiSafety(common.PandaSafetyTest):
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self._rx(self._pcm_status_msg(enabled))
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self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
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def test_enable_control_allowed_from_cruise(self):
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"""
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Hyundai non-longitudinal only enables on PCM rising edge and recent button press. Tests PCM enabling with:
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- disallowed: No buttons
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- disallowed: Buttons that don't enable cruise
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- allowed: Buttons that do enable cruise
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- allowed: Main button with all above combinations
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"""
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for main_button in [0, 1]:
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for btn in range(8):
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for _ in range(PREV_BUTTON_SAMPLES): # reset
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self._rx(self._button_msg(Buttons.NONE))
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._button_msg(btn, main_button=main_button))
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self._rx(self._pcm_status_msg(True))
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controls_allowed = btn in ENABLE_BUTTONS or main_button
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self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
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def test_sampling_cruise_buttons(self):
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"""
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Test that we allow controls on recent button press, but not as button leaves sliding window
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"""
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self._rx(self._button_msg(Buttons.SET))
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for i in range(2 * PREV_BUTTON_SAMPLES):
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self._rx(self._pcm_status_msg(False))
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self.assertFalse(self.safety.get_controls_allowed())
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self._rx(self._pcm_status_msg(True))
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controls_allowed = i < PREV_BUTTON_SAMPLES
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self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
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self._rx(self._button_msg(Buttons.NONE))
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class TestHyundaiLegacySafety(TestHyundaiSafety):
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def setUp(self):
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@ -256,7 +294,6 @@ class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
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class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
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TX_MSGS = [[832, 0], [1265, 0], [1157, 0], [1056, 0], [1057, 0], [1290, 0], [905, 0], [1186, 0], [909, 0], [1155, 0], [2000, 0]]
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cnt_button = 0
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def setUp(self):
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self.packer = CANPackerPanda("hyundai_kia_generic")
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@ -271,6 +308,9 @@ class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
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def test_enable_control_allowed_from_cruise(self):
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pass
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def test_sampling_cruise_buttons(self):
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pass
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def test_cruise_engaged_prev(self):
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pass
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@ -280,11 +320,6 @@ class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
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def _pcm_status_msg(self, enable):
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raise NotImplementedError
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def _button_msg(self, buttons):
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values = {"CF_Clu_CruiseSwState": buttons, "CF_Clu_AliveCnt1": self.cnt_button}
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self.__class__.cnt_button += 1
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return self.packer.make_can_msg_panda("CLU11", 0, values)
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def _send_accel_msg(self, accel, aeb_req=False, aeb_decel=0):
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values = {
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"aReqRaw": accel,
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@ -357,6 +392,5 @@ class TestHyundaiLongitudinalSafety(TestHyundaiSafety):
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self.assertTrue(self.safety.get_relay_malfunction())
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if __name__ == "__main__":
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unittest.main()
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