From 878dd00ac8742787434492fa6cd653167c236303 Mon Sep 17 00:00:00 2001
From: Riccardo <riccardo.biasini@gmail.com>
Date: Tue, 26 Nov 2019 21:37:01 -0800
Subject: [PATCH] solve race condition is relay_malfunction right after
 changing the relay status by adding a counter

---
 board/safety/safety_chrysler.h   | 2 +-
 board/safety/safety_ford.h       | 2 +-
 board/safety/safety_gm.h         | 2 +-
 board/safety/safety_honda.h      | 2 +-
 board/safety/safety_hyundai.h    | 2 +-
 board/safety/safety_mazda.h      | 2 +-
 board/safety/safety_subaru.h     | 2 +-
 board/safety/safety_toyota.h     | 2 +-
 board/safety/safety_volkswagen.h | 2 +-
 tests/safety/test.c              | 1 +
 10 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index 8c897115513567..129b7137a79938 100644
--- 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
index 297f9f54a710bb..689f9d25d38f87 100644
--- 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
index f37c5b86ab82c5..b1cc2a1ea0b02f 100644
--- 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
index 9eba057d538edb..8f5e14cbe4b4b5 100644
--- 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
index a767fbc0c70fd2..19e2b29ffd822d 100644
--- 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
index acb60e1457f2ea..5c1b6c51deeccc 100644
--- 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
index 548860a2ee41dd..402cbbcd5255e7 100644
--- 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
index 430feebf47321d..1bd0382fd7c3f3 100644
--- 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
index 19aa1f3d1a2dea..26ea03d7a4fc51 100644
--- 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
index a7558d04620581..de12a4d046a802 100644
--- 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){