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Correct Palisade stock status relay ownership

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This commit is contained in:
firestar5683
2026-10-18 10:14:02 -05:00
parent b236266235
commit 0d1b42c306
2 changed files with 33 additions and 1 deletions
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opendbc_repo/opendbc/safety/modes/hyundai.h
+1 -1
View File
@@ -716,7 +716,7 @@ static safety_config hyundai_init(uint16_t param) {
{0x50, 0, 16, .check_relay = true},
{0x4F1, 1, 4, .check_relay = false},
{0x2A4, 0, 24, .check_relay = true},
{0x485, 1, 8, .check_relay = true},
{0x485, 1, 8, .check_relay = false},
};
static const CanMsg blended_hda2_aol_tx[] = {
{0x50, 0, 16, .check_relay = true, .disable_static_blocking = true},
opendbc_repo/opendbc/safety/tests/test_hyundai_blended.py
+32
View File
@@ -9,6 +9,7 @@ from opendbc.safety.tests.test_hyundai import checksum
class TestHyundaiBlendedStock(unittest.TestCase):
def setUp(self):
self.safety = libsafety_py.libsafety
self.safety.set_alternative_experience(0)
self.packer = common.CANPackerSafety('hyundai_can_generated')
def select(self, hda2):
@@ -115,6 +116,8 @@ class TestHyundaiBlendedStock(unittest.TestCase):
self.assertEqual(self.safety.safety_fwd_hook(0, 0x485), 2)
self.safety.set_timer(2_000_000)
self.safety.safety_rx_hook(common.make_msg(1, 0x485, dat=payloads[0]))
self.assertFalse(self.safety.get_relay_malfunction(), 'Stock E-CAN status is not exclusive steering ownership')
self.safety.safety_rx_hook(common.make_msg(0, 0x50, 16))
self.assertTrue(self.safety.get_relay_malfunction())
self.assertFalse(self.safety.safety_tx_hook(common.make_msg(1, 0x485, dat=payloads[0])))
@@ -187,3 +190,32 @@ class TestHyundaiBlendedStock(unittest.TestCase):
self.safety.safety_rx_hook(common.make_msg(0, address, length))
self.assertTrue(self.safety.get_relay_malfunction())
self.assertFalse(self.safety.safety_tx_hook(self.steer(0, False)))
def test_palisade_captured_status_preserves_steering_relay_shutdown(self):
for steering_address, length in ((0x50, 16), (0x2A4, 24)):
self.select(True)
self.safety.set_timer(2_000_000)
camera = bytes.fromhex('2dc35b01000008006401010200000000')
suppression = bytes.fromhex('daed12000022000022000000000000000000000000000000')
status = bytes.fromhex('5030020000000000')
self.safety.safety_rx_hook(common.make_msg(2, 0x50, dat=camera))
self.safety.safety_rx_hook(common.make_msg(2, 0x2A4, dat=suppression))
self.assertFalse(self.safety.get_relay_malfunction())
self.safety.safety_rx_hook(common.make_msg(1, 0x485, dat=status))
self.assertFalse(self.safety.get_relay_malfunction())
self.assertEqual(self.safety.safety_fwd_hook(2, 0x50), -1)
self.assertEqual(self.safety.safety_fwd_hook(2, 0x2A4), -1)
self.assertEqual(self.safety.safety_fwd_hook(2, 0x485), 0)
self.safety.safety_rx_hook(common.make_msg(0, steering_address, length))
self.assertTrue(self.safety.get_relay_malfunction())
self.assertFalse(self.safety.safety_tx_hook(common.make_msg(0, 0x50, 16)))
def test_stock_status_ownership_does_not_change_aol_table(self):
for experience in (0, 32):
self.safety.set_alternative_experience(experience)
self.assertEqual(self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0x2010), 0)
self.safety.init_tests()
self.safety.set_alternative_experience(experience)
self.safety.safety_rx_hook(common.make_msg(1, 0x485, dat=bytes.fromhex('5030020000000000')))
self.assertEqual(bool(self.safety.get_relay_malfunction()), experience == 32)
self.safety.set_alternative_experience(0)