From aa6ea0772b780bf0b8fedd74feb883c29d3cc68b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 24 Nov 2023 16:49:26 -0800 Subject: [PATCH] Revert "safety: check interceptor msg counter (#1738)" This reverts commit 83acc65743364f9f2c214bb4d68976ab3b043949. --- board/safety/safety_honda.h | 15 ++------------- board/safety/safety_toyota.h | 13 ------------- tests/safety/common.py | 20 ++------------------ 3 files changed, 4 insertions(+), 44 deletions(-) diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h index 4ce3661b2..845cf43af 100644 --- a/board/safety/safety_honda.h +++ b/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) { diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h index 752f16708..4a9326c7c 100644 --- a/board/safety/safety_toyota.h +++ b/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, }; diff --git a/tests/safety/common.py b/tests/safety/common.py index fca1e78f1..5aa963643 100644 --- a/tests/safety/common.py +++ b/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))