Honda: remove bosch giraffe support (#791)

board/safety.h

@@ -241,7 +241,6 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_TOYOTA, &toyota_hooks},
   {SAFETY_ELM327, &elm327_hooks},
   {SAFETY_GM, &gm_hooks},
-  {SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
   {SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},

board/safety/safety_honda.h

@@ -7,9 +7,7 @@
 //      brake rising edge
 //      brake > 0mph
 const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
-const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}};  // Bosch Giraffe
 const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}};  // Bosch Harness
-const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}};  // Bosch Giraffe w/ gas and brakes
 const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}};  // Bosch Harness w/ gas and brakes
 
 // Roughly calculated using the offsets in openpilot +5%:
@@ -24,7 +22,7 @@ const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting g
 const int HONDA_BOSCH_GAS_MAX = 2000;
 const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
 
-// Nidec and Bosch giraffe have pt on bus 0
+// Nidec has the powertrain bus on bus 0
 AddrCheckStruct honda_nidec_addr_checks[] = {
   {.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
            {0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
@@ -61,7 +59,7 @@ int honda_brake = 0;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
 bool honda_bosch_long = false;
-enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
+enum {HONDA_N_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
 addr_checks honda_rx_checks = {honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
 
 
@@ -217,11 +215,7 @@ static int honda_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
-  if ((honda_hw == HONDA_BG_HW) && !honda_bosch_long) {
+  if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
-    tx = msg_allowed(to_send, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
-  } else if ((honda_hw == HONDA_BG_HW) && honda_bosch_long) {
-    tx = msg_allowed(to_send, HONDA_BG_LONG_TX_MSGS, sizeof(HONDA_BG_LONG_TX_MSGS)/sizeof(HONDA_BG_LONG_TX_MSGS[0]));
-  } else if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
     tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
   } else if ((honda_hw == HONDA_BH_HW) && honda_bosch_long) {
     tx = msg_allowed(to_send, HONDA_BH_LONG_TX_MSGS, sizeof(HONDA_BH_LONG_TX_MSGS)/sizeof(HONDA_BH_LONG_TX_MSGS[0]));
@@ -343,22 +337,6 @@ static const addr_checks* honda_nidec_init(int16_t param) {
   return &honda_rx_checks;
 }
 
-static const addr_checks* honda_bosch_giraffe_init(int16_t param) {
-  controls_allowed = false;
-  relay_malfunction_reset();
-  honda_hw = HONDA_BG_HW;
-  // Checking for alternate brake override from safety parameter
-  honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
-
-  // radar disabled so allow gas/brakes
-#ifdef ALLOW_DEBUG
-  honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
-#endif
-
-  honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
-  return &honda_rx_checks;
-}
-
 static const addr_checks* honda_bosch_harness_init(int16_t param) {
   controls_allowed = false;
   relay_malfunction_reset();
@@ -427,14 +405,6 @@ const safety_hooks honda_nidec_hooks = {
   .fwd = honda_nidec_fwd_hook,
 };
 
-const safety_hooks honda_bosch_giraffe_hooks = {
-  .init = honda_bosch_giraffe_init,
-  .rx = honda_rx_hook,
-  .tx = honda_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = honda_bosch_fwd_hook,
-};
-
 const safety_hooks honda_bosch_harness_hooks = {
   .init = honda_bosch_harness_init,
   .rx = honda_rx_hook,

tests/safety/test_honda.py

@@ -372,21 +372,6 @@ class TestHondaBoschHarnessSafety(TestHondaBoschSafety):
     self.assertTrue(self._tx(self._button_msg(Btn.RESUME)))
 
 
-class TestHondaBoschGiraffeSafety(TestHondaBoschHarnessSafety):
-  TX_MSGS = [[0xE4, 2], [0xE5, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
-  RELAY_MALFUNCTION_BUS = 2
-  FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
-  FWD_BUS_LOOKUP = {1: 2, 2: 1}
-
-  PT_BUS = 0
-  STEER_BUS = 2
-
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
-    self.safety.init_tests_honda()
-
-
 class TestHondaBoschLongSafety(TestHondaBoschSafety):
   NO_GAS = -30000
   MAX_GAS = 2000
@@ -451,20 +436,5 @@ class TestHondaBoschLongHarnessSafety(TestHondaBoschLongSafety):
     self.safety.init_tests_honda()
 
 
-class TestHondaBoschLongGiraffeSafety(TestHondaBoschLongSafety):
-  TX_MSGS = [[0xE4, 0], [0x1DF, 0], [0x1EF, 0], [0x1FA, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0], [0x18DAB0F1, 0]]  # Bosch Giraffe w/ gas and brakes
-  RELAY_MALFUNCTION_BUS = 2
-  FWD_BLACKLISTED_ADDRS = {1: [0xE4, 0xE5, 0x33D]}
-  FWD_BUS_LOOKUP = {1: 2, 2: 1}
-
-  PT_BUS = 0
-  STEER_BUS = 0
-
-  def setUp(self):
-    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 2)
-    self.safety.init_tests_honda()
-
-
 if __name__ == "__main__":
   unittest.main()

tests/safety_replay/helpers.py

@@ -10,7 +10,7 @@ def to_signed(d, bits):
 
 def is_steering_msg(mode, addr):
   ret = False
-  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
+  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
     ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D)
   elif mode == Panda.SAFETY_TOYOTA:
     ret = addr == 0x2E4
@@ -26,7 +26,7 @@ def is_steering_msg(mode, addr):
 
 def get_steer_torque(mode, to_send):
   ret = 0
-  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
+  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
     ret = to_send.RDLR & 0xFFFF0000
   elif mode == Panda.SAFETY_TOYOTA:
     ret = (to_send.RDLR & 0xFF00) | ((to_send.RDLR >> 16) & 0xFF)
@@ -44,7 +44,7 @@ def get_steer_torque(mode, to_send):
   return ret
 
 def set_desired_torque_last(safety, mode, torque):
-  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_GIRAFFE, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
+  if mode in [Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH_HARNESS]:
     pass  # honda safety mode doesn't enforce a rate on steering msgs
   elif mode == Panda.SAFETY_TOYOTA:
     safety.set_toyota_desired_torque_last(torque)

tests/safety_replay/test_safety_replay.py

@@ -13,7 +13,6 @@ logs = [
   ("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0),          # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected)
   ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66),              # TOYOTA.PRIUS
   ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0),                   # GM.VOLT
-  ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 1),  # HONDA.ACCORD
   ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0),             # CHRYSLER.PACIFICA_2018_HYBRID
   ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0),               # SUBARU.IMPREZA
   ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0),       # VOLKSWAGEN.GOLF (MK7)