solve race condition is relay_malfunction right after changing the re…

…lay status by adding a counter
commaai · Nov 27, 2019 · 878dd00 · 878dd00
1 parent 2d4cb05
commit 878dd00
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Showing 10 changed files with 10 additions and 9 deletions.
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -37,7 +37,7 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // check if stock camera ECU is on bus 0
-  if ((bus == 0) && (addr == 0x292)) {
+  if ((safety_mode_cnt > 1) && (bus == 0) && (addr == 0x292)) {
     relay_malfunction = true;
   }
 }

diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -55,7 +55,7 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     ford_gas_prev = gas;
   }
 
-  if ((bus == 0) && (addr == 0x3CA)) {
+  if ((safety_mode_cnt > 1) && (bus == 0) && (addr == 0x3CA)) {
     relay_malfunction = true;
   }
 }

diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -100,7 +100,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // on powertrain bus.
   // 384 = ASCMLKASteeringCmd
   // 715 = ASCMGasRegenCmd
-  if ((bus == 0) && ((addr == 384) || (addr == 715))) {
+  if ((safety_mode_cnt > 1) && (bus == 0) && ((addr == 384) || (addr == 715))) {
     relay_malfunction = true;
   }
 }

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -104,7 +104,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // if steering controls messages are received on the destination bus, it's an indication
   // that the relay might be malfunctioning
   int bus_rdr_car = (board_has_relay()) ? 0 : 2;  // radar bus, car side
-  if ((addr == 0xE4) || (addr == 0x194)) {
+  if ((safety_mode_cnt > 1) && ((addr == 0xE4) || (addr == 0x194))) {
     if ((honda_bosch_hardware && (bus == bus_rdr_car)) ||
       (!honda_bosch_hardware && (bus == 0))) {
       relay_malfunction = true;

diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -25,7 +25,7 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // check if stock camera ECU is on bus 0
-  if ((bus == 0) && (addr == 832)) {
+  if ((safety_mode_cnt > 1) && (bus == 0) && (addr == 832)) {
     relay_malfunction = true;
   }
 

diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -55,7 +55,7 @@ void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
-  if ((bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
+  if ((safety_mode_cnt > 1) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
     relay_malfunction = true;
   }
 }

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -41,7 +41,7 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     subaru_cruise_engaged_last = cruise_engaged;
   }
 
-  if ((bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
+  if ((safety_mode_cnt > 1) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
     relay_malfunction = true;
   }
 }

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -92,7 +92,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
-  if ((addr == 0x2E4) && (bus == 0)) {
+  if ((safety_mode_cnt > 1) && (addr == 0x2E4) && (bus == 0)) {
     relay_malfunction = true;
   }
 }

diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
@@ -56,7 +56,7 @@ static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     volkswagen_gas_prev = gas;
   }
 
-  if ((bus == 0) && (addr == MSG_HCA_01)) {
+  if ((safety_mode_cnt > 1) && (bus == 0) && (addr == MSG_HCA_01)) {
     relay_malfunction = true;
   }
 }

diff --git a/tests/safety/test.c b/tests/safety/test.c
@@ -272,6 +272,7 @@ void set_honda_fwd_brake(bool c){
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   hw_type = atoi(getenv("HW_TYPE"));
+  safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
 }
 
 void init_tests_toyota(void){