Hyundai: move shared definitions to a separate file

board/safety/safety_hyundai.h

@@ -1,3 +1,5 @@
+#include "safety_hyundai_common.h"
+
 const SteeringLimits HYUNDAI_STEERING_LIMITS = {
   .max_steer = 384,
   .max_rt_delta = 112,
@@ -9,8 +11,6 @@ const SteeringLimits HYUNDAI_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
-const int HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
-
 const int HYUNDAI_MAX_ACCEL = 200;  // 1/100 m/s2
 const int HYUNDAI_MIN_ACCEL = -350; // 1/100 m/s2
 
@@ -82,23 +82,10 @@ const int HYUNDAI_PARAM_HYBRID_GAS = 2;
 const int HYUNDAI_PARAM_LONGITUDINAL = 4;
 const int HYUNDAI_PARAM_CAMERA_SCC = 8;
 
-enum {
-  HYUNDAI_BTN_NONE = 0,
-  HYUNDAI_BTN_RESUME = 1,
-  HYUNDAI_BTN_SET = 2,
-  HYUNDAI_BTN_CANCEL = 4,
-};
-
-// some newer HKG models can re-enable after spamming cancel button,
-// so keep track of user button presses to deny engagement if no interaction
-const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
-uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
-
 bool hyundai_legacy = false;
 bool hyundai_ev_gas_signal = false;
 bool hyundai_hybrid_gas_signal = false;
 bool hyundai_camera_scc = false;
-bool hyundai_longitudinal = false;
 
 addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
 
@@ -186,20 +173,10 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   // SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others
-  if (valid && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
-    // enter controls on rising edge of ACC and user button press, exit controls when ACC off
-    if (!hyundai_longitudinal && (addr == 1057)) {
-      // 2 bits: 13-14
-      int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
-      if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
-        controls_allowed = 1;
-      }
-
-      if (!cruise_engaged) {
-        controls_allowed = 0;
-      }
-      cruise_engaged_prev = cruise_engaged;
-    }
+  if (valid && (addr == 1057) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
+    // 2 bits: 13-14
+    int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
+    hyundai_common_cruise_state_check(cruise_engaged);
   }
 
   if (valid && (bus == 0)) {
@@ -213,28 +190,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
     if (addr == 1265) {
       int cruise_button = GET_BYTE(to_push, 0) & 0x7U;
       int main_button = GET_BIT(to_push, 3U);
-
-      if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || (main_button != 0)) {
-        hyundai_last_button_interaction = 0U;
-      } else {
-        hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
-      }
-
-      if (hyundai_longitudinal) {
-        // exit controls on cancel press
-        if (cruise_button == HYUNDAI_BTN_CANCEL) {
-          controls_allowed = 0;
-        }
-
-        // enter controls on falling edge of resume or set
-        bool set = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_SET);
-        bool res = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
-        if (set || res) {
-          controls_allowed = 1;
-        }
-
-        cruise_button_prev = cruise_button;
-      }
+      hyundai_common_cruise_buttons_check(cruise_button, main_button);
     }
 
     // read gas pressed signal
@@ -249,7 +205,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
 
     // sample wheel speed, averaging opposite corners
     if (addr == 902) {
-      int hyundai_speed = (GET_BYTES_04(to_push) & 0x3FFFU) + ((GET_BYTES_48(to_push) >> 16) & 0x3FFFU);  // FL + RR
+      uint32_t hyundai_speed = (GET_BYTES_04(to_push) & 0x3FFFU) + ((GET_BYTES_48(to_push) >> 16) & 0x3FFFU);  // FL + RR
       hyundai_speed /= 2;
       vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
     }
@@ -377,6 +333,8 @@ static const addr_checks* hyundai_init(uint16_t param) {
 #ifdef ALLOW_DEBUG
   // TODO: add longitudinal support for camera-based SCC platform
   hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL) && !hyundai_camera_scc;
+#else
+  hyundai_longitudinal = false;
 #endif
 
   if (hyundai_longitudinal) {

board/safety/safety_hyundai_canfd.h

@@ -1,3 +1,5 @@
+#include "safety_hyundai_common.h"
+
 const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
   .max_steer = 270,
   .max_rt_delta = 112,
@@ -9,8 +11,6 @@ const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
-const uint32_t HYUNDAI_CANFD_STANDSTILL_THRSLD = 30;  // ~1kph
-
 const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
   {0x50, 0, 16},  // LKAS
   {0x1CF, 1, 8},  // CRUISE_BUTTON
@@ -127,25 +127,13 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
         cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
         main_button = GET_BIT(to_push, 34U);
       }
-
-      if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || (main_button != 0)) {
-        hyundai_last_button_interaction = 0U;
-      } else {
-        hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
-      }
+      hyundai_common_cruise_buttons_check(cruise_button, main_button);
     }
 
     // cruise state
     if (addr == 0x175) {
       bool cruise_engaged = GET_BIT(to_push, 68U);
-      if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
-        controls_allowed = 1;
-      }
-
-      if (!cruise_engaged) {
-        controls_allowed = 0;
-      }
-      cruise_engaged_prev = cruise_engaged;
+      hyundai_common_cruise_state_check(cruise_engaged);
     }
 
     // gas press
@@ -167,7 +155,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
       for (int i = 8; i < 15; i+=2) {
         speed += GET_BYTE(to_push, i) | (GET_BYTE(to_push, i + 1) << 8U);
       }
-      vehicle_moving = (speed / 4U) > HYUNDAI_CANFD_STANDSTILL_THRSLD;
+      vehicle_moving = (speed / 4U) > HYUNDAI_STANDSTILL_THRSLD;
     }
   }
 
@@ -248,6 +236,8 @@ static const addr_checks* hyundai_canfd_init(uint16_t param) {
   hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
 
+  hyundai_longitudinal = false;
+
   return &hyundai_canfd_rx_checks;
 }
 

board/safety/safety_hyundai_common.h

@@ -0,0 +1,61 @@
+#ifndef SAFETY_HYUNDAI_COMMON_H
+#define SAFETY_HYUNDAI_COMMON_H
+
+const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
+const uint32_t HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
+
+enum {
+  HYUNDAI_BTN_NONE = 0,
+  HYUNDAI_BTN_RESUME = 1,
+  HYUNDAI_BTN_SET = 2,
+  HYUNDAI_BTN_CANCEL = 4,
+};
+
+// common state
+bool hyundai_longitudinal = false;
+uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
+
+
+void hyundai_common_cruise_state_check(const int cruise_engaged) {
+  // some newer HKG models can re-enable after spamming cancel button,
+  // so keep track of user button presses to deny engagement if no interaction
+
+  // enter controls on rising edge of ACC and recent user button press, exit controls when ACC off
+  if (!hyundai_longitudinal) {
+    if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) {
+      controls_allowed = 1;
+    }
+
+    if (!cruise_engaged) {
+      controls_allowed = 0;
+    }
+    cruise_engaged_prev = cruise_engaged;
+  }
+}
+
+void hyundai_common_cruise_buttons_check(const int cruise_button, const int main_button) {
+  if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) ||
+      (main_button != 0)) {
+    hyundai_last_button_interaction = 0U;
+  } else {
+    hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES);
+  }
+
+  if (hyundai_longitudinal) {
+    // exit controls on cancel press
+    if (cruise_button == HYUNDAI_BTN_CANCEL) {
+      controls_allowed = 0;
+    }
+
+    // enter controls on falling edge of resume or set
+    bool set = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_SET);
+    bool res = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
+    if (set || res) {
+      controls_allowed = 1;
+    }
+
+    cruise_button_prev = cruise_button;
+  }
+}
+
+#endif

tests/safety/hyundai_common.py

@@ -0,0 +1,65 @@
+class Buttons:
+  NONE = 0
+  RESUME = 1
+  SET = 2
+  CANCEL = 4
+
+PREV_BUTTON_SAMPLES = 8
+ENABLE_BUTTONS = (Buttons.RESUME, Buttons.SET, Buttons.CANCEL)
+
+
+class HyundaiButtonBase: #(common.PandaSafetyTest):
+  # pylint: disable=no-member,abstract-method
+  BUTTONS_BUS = 0  # tx on this bus, rx on 0. added to all `self._tx(self._button_msg(...))`
+  SCC_BUS = 0  # rx on this bus
+
+  def test_button_sends(self):
+    """
+      Only RES and CANCEL buttons are allowed
+      - RES allowed while controls allowed
+      - CANCEL allowed while cruise is enabled
+    """
+    self.safety.set_controls_allowed(0)
+    self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_BUS)))
+    self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_BUS)))
+
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_BUS)))
+    self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_BUS)))
+
+    for enabled in (True, False):
+      self._rx(self._pcm_status_msg(enabled))
+      self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL, bus=self.BUTTONS_BUS)))
+
+  def test_enable_control_allowed_from_cruise(self):
+    """
+      Hyundai non-longitudinal only enables on PCM rising edge and recent button press. Tests PCM enabling with:
+      - disallowed: No buttons
+      - disallowed: Buttons that don't enable cruise
+      - allowed: Buttons that do enable cruise
+      - allowed: Main button with all above combinations
+    """
+    for main_button in (0, 1):
+      for btn in range(8):
+        for _ in range(PREV_BUTTON_SAMPLES):  # reset
+          self._rx(self._button_msg(Buttons.NONE))
+
+        self._rx(self._pcm_status_msg(False))
+        self.assertFalse(self.safety.get_controls_allowed())
+        self._rx(self._button_msg(btn, main_button=main_button))
+        self._rx(self._pcm_status_msg(True))
+        controls_allowed = btn in ENABLE_BUTTONS or main_button
+        self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
+
+  def test_sampling_cruise_buttons(self):
+    """
+      Test that we allow controls on recent button press, but not as button leaves sliding window
+    """
+    self._rx(self._button_msg(Buttons.SET))
+    for i in range(2 * PREV_BUTTON_SAMPLES):
+      self._rx(self._pcm_status_msg(False))
+      self.assertFalse(self.safety.get_controls_allowed())
+      self._rx(self._pcm_status_msg(True))
+      controls_allowed = i < PREV_BUTTON_SAMPLES
+      self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
+      self._rx(self._button_msg(Buttons.NONE))

tests/safety/test_hyundai.py

@@ -5,6 +5,7 @@
 from panda.tests.safety import libpandasafety_py
 import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda, make_msg
+from panda.tests.safety.hyundai_common import HyundaiButtonBase
 
 MAX_ACCEL = 2.0
 MIN_ACCEL = -3.5
@@ -56,61 +57,7 @@ def checksum(msg):
   return addr, t, ret, bus
 
 
-class HyundaiButtonBase: #(common.PandaSafetyTest):
-  # pylint: disable=no-member,abstract-method
-  BUTTONS_BUS = 0  # tx on this bus, rx on 0. added to all `self._tx(self._button_msg(...))`
-  SCC_BUS = 0  # rx on this bus
 
-  def test_button_sends(self):
-    """
-      Only RES and CANCEL buttons are allowed
-      - RES allowed while controls allowed
-      - CANCEL allowed while cruise is enabled
-    """
-    self.safety.set_controls_allowed(0)
-    self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_BUS)))
-    self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_BUS)))
-
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_BUS)))
-    self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_BUS)))
-
-    for enabled in (True, False):
-      self._rx(self._pcm_status_msg(enabled))
-      self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL, bus=self.BUTTONS_BUS)))
-
-  def test_enable_control_allowed_from_cruise(self):
-    """
-      Hyundai non-longitudinal only enables on PCM rising edge and recent button press. Tests PCM enabling with:
-      - disallowed: No buttons
-      - disallowed: Buttons that don't enable cruise
-      - allowed: Buttons that do enable cruise
-      - allowed: Main button with all above combinations
-    """
-    for main_button in (0, 1):
-      for btn in range(8):
-        for _ in range(PREV_BUTTON_SAMPLES):  # reset
-          self._rx(self._button_msg(Buttons.NONE))
-
-        self._rx(self._pcm_status_msg(False))
-        self.assertFalse(self.safety.get_controls_allowed())
-        self._rx(self._button_msg(btn, main_button=main_button))
-        self._rx(self._pcm_status_msg(True))
-        controls_allowed = btn in ENABLE_BUTTONS or main_button
-        self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
-
-  def test_sampling_cruise_buttons(self):
-    """
-      Test that we allow controls on recent button press, but not as button leaves sliding window
-    """
-    self._rx(self._button_msg(Buttons.SET))
-    for i in range(2 * PREV_BUTTON_SAMPLES):
-      self._rx(self._pcm_status_msg(False))
-      self.assertFalse(self.safety.get_controls_allowed())
-      self._rx(self._pcm_status_msg(True))
-      controls_allowed = i < PREV_BUTTON_SAMPLES
-      self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
-      self._rx(self._button_msg(Buttons.NONE))
 
 
 class TestHyundaiSafety(HyundaiButtonBase, common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):

tests/safety/test_hyundai_canfd.py

@@ -4,7 +4,7 @@
 from panda.tests.safety import libpandasafety_py
 import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
-from panda.tests.safety.test_hyundai import HyundaiButtonBase
+from panda.tests.safety.hyundai_common import HyundaiButtonBase
 
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):