Hyundai safety: re-enable button spam safety check

commaai · Nov 14, 2019 · d063a18 · d063a18
1 parent 4d1edc0
commit d063a18
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Showing 2 changed files with 17 additions and 18 deletions.
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -115,12 +115,11 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // FORCE CANCEL: safety check only relevant when spamming the cancel button.
   // ensuring that only the cancel button press is sent (VAL 4) when controls are off.
   // This avoids unintended engagements while still allowing resume spam
-  // TODO: fix bug preventing the button msg to be fwd'd on bus 2
-  //if ((addr == 1265) && !controls_allowed && (bus == 0) {
-  //  if ((GET_BYTES_04(to_send) & 0x7) != 4) {
-  //    tx = 0;
-  //  }
-  //}
+  if ((addr == 1265) && !controls_allowed) {
+    if ((GET_BYTES_04(to_send) & 0x7) != 4) {
+      tx = 0;
+    }
+  }
 
   // 1 allows the message through
   return tx;

diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
@@ -176,18 +176,18 @@ def test_realtime_limits(self):
       self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
 
 
-  #def test_spam_cancel_safety_check(self):
-  #  RESUME_BTN = 1
-  #  SET_BTN = 2
-  #  CANCEL_BTN = 4
-  #  BUTTON_MSG = 1265
-  #  self.safety.set_controls_allowed(0)
-  #  self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN)))
-  #  self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
-  #  self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN)))
-  #  # do not block resume if we are engaged already
-  #  self.safety.set_controls_allowed(1)
-  #  self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
+  def test_spam_cancel_safety_check(self):
+    RESUME_BTN = 1
+    SET_BTN = 2
+    CANCEL_BTN = 4
+    BUTTON_MSG = 1265
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN)))
+    self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
+    self.assertFalse(self.safety.safety_tx_hook(self._button_msg(SET_BTN)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
 
   def test_fwd_hook(self):