Honda Radarless: forward buttons when disengaged

csouers · Jan 1, 2024 · 016bb68 · 016bb68
1 parent 20722a5
commit 016bb68
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Showing 2 changed files with 25 additions and 4 deletions.
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -353,9 +353,8 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
     }
   }
 
-  // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
-  // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
-  // This avoids unintended engagements while still allowing resume spam
+  // FORCE CANCEL: safety check for Bosch HW ensuring that only the cancel button press is sent (VAL 2) when
+  // controls are off. This avoids unintended engagements while still allowing resume spam and button passthrough.
   if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
     if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
       tx = false;
@@ -460,7 +459,11 @@ static int honda_bosch_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
   if (bus_num == 0) {
-    bus_fwd = 2;
+    int is_button_msg = (addr == 0x296);
+    bool block_msg = is_button_msg && controls_allowed && honda_bosch_radarless && !honda_bosch_long;
+    if (!block_msg) {
+      bus_fwd = 2;
+    }
   }
   if (bus_num == 2)  {
     int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);

diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
@@ -579,6 +579,24 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
     self.safety.init_tests()
 
+  # Radarless must be able to send more buttons than cars that only spam
+  def test_spam_cancel_safety_check(self):
+    pass
+
+  # Test that radarless can send any button when engaged. Only allow cancel when disengaged.
+  def test_button_tx_radarless(self):
+    for controls_allowed in [False, True]:
+      self.safety.set_controls_allowed(controls_allowed)
+      self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=self.BUTTONS_BUS)))
+      for button in (Btn.MAIN, Btn.RESUME, Btn.SET, Btn.NONE):
+        self.assertEqual(controls_allowed, self._tx(self._button_msg(button, bus=self.BUTTONS_BUS)))
+
+  # Test that buttons only forward when disengaged
+  def test_button_fwd_radarless(self):
+    self.safety.set_controls_allowed(True)
+    self.FWD_BLACKLISTED_ADDRS[0] = [0x296]
+    super().test_fwd_hook()
+    self.FWD_BLACKLISTED_ADDRS[0] = []
 
 class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """