Revert "safety: check interceptor msg counter (#1738)"

This reverts commit 83acc65743.

board/safety/safety_honda.h

@@ -44,7 +44,6 @@ const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = {
 // Nidec and bosch radarless has the powertrain bus on bus 0
 RxCheck honda_common_rx_checks[] = {
   HONDA_COMMON_RX_CHECKS(0)
-  {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .expected_timestep = 0U}, { 0 }, { 0 }}},
 };
 
 RxCheck honda_common_alt_brake_rx_checks[] = {
@@ -55,7 +54,6 @@ RxCheck honda_common_alt_brake_rx_checks[] = {
 // For Nidecs with main on signal on an alternate msg (missing 0x326)
 RxCheck honda_nidec_alt_rx_checks[] = {
   HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0)
-  {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .expected_timestep = 0U}, { 0 }, { 0 }}},
 };
 
 // Bosch has pt on bus 1, verified 0x1A6 does not exist
@@ -117,17 +115,8 @@ static uint32_t honda_compute_checksum(CANPacket_t *to_push) {
 }
 
 static uint8_t honda_get_counter(CANPacket_t *to_push) {
-  int addr = GET_ADDR(to_push);
-
-  uint8_t cnt = 0U;
-  if (addr == 0x201) {
-    // Signal: COUNTER_PEDAL
-    cnt = GET_BYTE(to_push, 4) & 0x0FU;
-  } else {
-    int counter_byte = GET_LEN(to_push) - 1U;
-    cnt = (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U;
-  }
-  return cnt;
+  int counter_byte = GET_LEN(to_push) - 1U;
+  return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
 }
 
 static void honda_rx_hook(CANPacket_t *to_push) {

board/safety/safety_toyota.h

@@ -38,7 +38,6 @@ RxCheck toyota_rx_checks[] = {
   {.msg = {{0x1D2, 0, 8, .check_checksum = true, .expected_timestep = 30000U}, { 0 }, { 0 }}},
   {.msg = {{0x224, 0, 8, .check_checksum = false, .expected_timestep = 25000U},
            {0x226, 0, 8, .check_checksum = false, .expected_timestep = 25000U}, { 0 }}},
-  {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .expected_timestep = 0U}, { 0 }, { 0 }}},
 };
 
 // safety param flags
@@ -69,17 +68,6 @@ static uint32_t toyota_get_checksum(CANPacket_t *to_push) {
   return (uint8_t)(GET_BYTE(to_push, checksum_byte));
 }
 
-static uint8_t toyota_get_counter(CANPacket_t *to_push) {
-  int addr = GET_ADDR(to_push);
-
-  uint8_t cnt = 0U;
-  if (addr == 0x201) {
-    // Signal: COUNTER_PEDAL
-    cnt = GET_BYTE(to_push, 4) & 0x0FU;
-  }
-  return cnt;
-}
-
 static void toyota_rx_hook(CANPacket_t *to_push) {
   if (GET_BUS(to_push) == 0U) {
     int addr = GET_ADDR(to_push);
@@ -264,5 +252,4 @@ const safety_hooks toyota_hooks = {
   .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
-  .get_counter = toyota_get_counter,
 };

tests/safety/common.py

@@ -122,9 +122,6 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
 
   INTERCEPTOR_THRESHOLD = 0
 
-  cnt_gas_cmd = 0
-  cnt_user_gas = 0
-
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "InterceptorSafetyTest":
@@ -132,17 +129,14 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
       raise unittest.SkipTest
 
   def _interceptor_gas_cmd(self, gas):
-    values = {"COUNTER_PEDAL": self.__class__.cnt_gas_cmd & 0xF}
+    values = {}
     if gas > 0:
       values["GAS_COMMAND"] = gas * 255.
       values["GAS_COMMAND2"] = gas * 255.
-    self.__class__.cnt_gas_cmd += 1
     return self.packer.make_can_msg_panda("GAS_COMMAND", 0, values)
 
   def _interceptor_user_gas(self, gas):
-    values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
-              "COUNTER_PEDAL": self.__class__.cnt_user_gas}
-    self.__class__.cnt_user_gas += 1
+    values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas}
     return self.packer.make_can_msg_panda("GAS_SENSOR", 0, values)
 
   def test_prev_gas_interceptor(self):
@@ -153,16 +147,6 @@ class InterceptorSafetyTest(PandaSafetyTestBase):
     self._rx(self._interceptor_user_gas(0x0))
     self.safety.set_gas_interceptor_detected(False)
 
-  def test_rx_hook_interceptor(self):
-    # Ensure pedal counter is checked
-    for i in range(MAX_WRONG_COUNTERS * 2):
-      self.__class__.cnt_user_gas = 0
-      self.assertEqual(i + 1 < MAX_WRONG_COUNTERS, self._rx(self._interceptor_user_gas(0)))
-
-    # Only one is needed to recover
-    for _ in range(MAX_WRONG_COUNTERS):
-      self.assertTrue(self._rx(self._interceptor_user_gas(0)))
-
   def test_disengage_on_gas_interceptor(self):
     for g in range(0x1000):
       self._rx(self._interceptor_user_gas(0))