safety: check interceptor msg counter (#1738)

* toyota: check interceptor counter * add counters and check rx * honda: check counter * clean up
commaai · Dec 14, 2023 · 9a48c8e · 9a48c8e
1 parent e514113
commit 9a48c8e
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Showing 3 changed files with 43 additions and 4 deletions.
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -44,6 +44,7 @@ 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[] = {
@@ -54,6 +55,7 @@ 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
@@ -115,8 +117,17 @@ static uint32_t honda_compute_checksum(CANPacket_t *to_push) {
 }
 
 static uint8_t honda_get_counter(CANPacket_t *to_push) {
-  int counter_byte = GET_LEN(to_push) - 1U;
-  return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
+  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;
 }
 
 static void honda_rx_hook(CANPacket_t *to_push) {

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -92,6 +92,17 @@ 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 bool toyota_get_quality_flag_valid(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
@@ -345,5 +356,6 @@ const safety_hooks toyota_hooks = {
   .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
+  .get_counter = toyota_get_counter,
   .get_quality_flag_valid = toyota_get_quality_flag_valid,
 };
diff --git a/tests/safety/common.py b/tests/safety/common.py
@@ -122,21 +122,27 @@ class GasInterceptorSafetyTest(PandaSafetyTestBase):
 
   INTERCEPTOR_THRESHOLD = 0
 
+  cnt_gas_cmd = 0
+  cnt_user_gas = 0
+
   @classmethod
   def setUpClass(cls):
     if cls.__name__ == "GasInterceptorSafetyTest":
       cls.safety = None
       raise unittest.SkipTest
 
   def _interceptor_gas_cmd(self, gas):
-    values = {}
+    values = {"COUNTER_PEDAL": self.__class__.cnt_gas_cmd & 0xF}
     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}
+    values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
+              "COUNTER_PEDAL": self.__class__.cnt_user_gas}
+    self.__class__.cnt_user_gas += 1
     return self.packer.make_can_msg_panda("GAS_SENSOR", 0, values)
 
   def test_prev_gas_interceptor(self):
@@ -146,6 +152,16 @@ def test_prev_gas_interceptor(self):
     self.assertTrue(self.safety.get_gas_interceptor_prev())
     self._rx(self._interceptor_user_gas(0x0))
 
+  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))