Make cruise_engaged_prev a global + test case for it (commaai#519)

* make cruise_engaged_prev a global

* test for cruise_engaged_prev

board/safety/safety_chrysler.h

@@ -20,7 +20,6 @@ const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_r
 
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
-int chrysler_cruise_engaged_last = 0;
 int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
@@ -90,13 +89,13 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == 500) {
       int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
-      if (cruise_engaged && !chrysler_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      chrysler_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
     }
 
     // update speed

board/safety/safety_hyundai.h

@@ -20,7 +20,6 @@ const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_c
 
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
-int hyundai_cruise_engaged_last = 0;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured
 
@@ -45,13 +44,13 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == 1057) {
       // 2 bits: 13-14
       int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
-      if (cruise_engaged && !hyundai_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      hyundai_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
     }
 
     // exit controls on rising edge of gas press

board/safety/safety_nissan.h

@@ -25,7 +25,6 @@ const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_chec
 float nissan_speed = 0;
 //int nissan_controls_allowed_last = 0;
 uint32_t nissan_ts_angle_last = 0;
-int nissan_cruise_engaged_last = 0;
 int nissan_desired_angle_last = 0;
 
 struct sample_t nissan_angle_meas;            // last 3 steer angles
@@ -104,13 +103,13 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((bus == 2) && (addr == 0x30f)) {
       bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
 
-      if (cruise_engaged && !nissan_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      nissan_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
     }
   }
   return valid;

board/safety/safety_subaru.h

@@ -30,7 +30,6 @@ AddrCheckStruct subaru_l_rx_checks[] = {
 const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
 const int SUBARU_L_RX_CHECK_LEN = sizeof(subaru_l_rx_checks) / sizeof(subaru_l_rx_checks[0]);
 
-int subaru_cruise_engaged_last = 0;
 int subaru_rt_torque_last = 0;
 int subaru_desired_torque_last = 0;
 uint32_t subaru_ts_last = 0;
@@ -87,13 +86,13 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
         ((addr == 0x144) && !subaru_global)) {
       int bit_shift = subaru_global ? 9 : 17;
       int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
-      if (cruise_engaged && !subaru_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      subaru_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
     }
 
     // sample subaru wheel speed, averaging opposite corners

board/safety/safety_toyota.h

@@ -49,7 +49,6 @@ int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_
 int toyota_desired_torque_last = 0;       // last desired steer torque
 int toyota_rt_torque_last = 0;            // last desired torque for real time check
 uint32_t toyota_ts_last = 0;
-int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
 
@@ -101,10 +100,10 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       if (!cruise_engaged) {
         controls_allowed = 0;
       }
-      if (cruise_engaged && !toyota_cruise_engaged_last) {
+      if (cruise_engaged && !cruise_engaged_prev) {
         controls_allowed = 1;
       }
-      toyota_cruise_engaged_last = cruise_engaged;
+      cruise_engaged_prev = cruise_engaged;
 
       // handle gas_pressed
       bool gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;

board/safety_declarations.h

@@ -89,6 +89,7 @@ bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
 bool gas_pressed_prev = false;
 bool brake_pressed_prev = false;
+bool cruise_engaged_prev = false;
 bool vehicle_moving = false;
 
 // This can be set with a USB command

tests/safety/common.py

@@ -226,6 +226,13 @@ def test_disable_control_allowed_from_cruise(self):
     self._rx(self._pcm_status_msg(False))
     self.assertFalse(self.safety.get_controls_allowed())
 
+  def test_cruise_engaged_prev(self):
+    for engaged in [True, False]:
+      self._rx(self._pcm_status_msg(engaged))
+      self.assertEqual(engaged, self.safety.get_cruise_engaged_prev())
+      self._rx(self._pcm_status_msg(not engaged))
+      self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev())
+
   def test_allow_brake_at_zero_speed(self):
     # Brake was already pressed
     self._rx(self._speed_msg(0))

tests/safety/libpandasafety_py.py

@@ -41,6 +41,7 @@
 int get_gas_interceptor_prev(void);
 bool get_gas_pressed_prev(void);
 bool get_brake_pressed_prev(void);
+bool get_cruise_engaged_prev(void);
 bool get_vehicle_moving(void);
 int get_hw_type(void);
 void set_timer(uint32_t t);

tests/safety/test.c

@@ -129,6 +129,10 @@ bool get_brake_pressed_prev(void){
   return brake_pressed_prev;
 }
 
+bool get_cruise_engaged_prev(void){
+  return cruise_engaged_prev;
+}
+
 bool get_vehicle_moving(void){
   return vehicle_moving;
 }

tests/safety/test_gm.py

@@ -40,6 +40,7 @@ def setUp(self):
   # override these tests from PandaSafetyTest, GM uses button enable
   def test_disable_control_allowed_from_cruise(self): pass
   def test_enable_control_allowed_from_cruise(self): pass
+  def test_cruise_engaged_prev(self): pass
 
   def _speed_msg(self, speed):
     values = {"%sWheelSpd"%s: speed for s in ["RL", "RR"]}

tests/safety/test_honda.py

@@ -36,6 +36,7 @@ def setUpClass(cls):
   # override these inherited tests. honda doesn't use pcm enable
   def test_disable_control_allowed_from_cruise(self): pass
   def test_enable_control_allowed_from_cruise(self): pass
+  def test_cruise_engaged_prev(self): pass
 
   def _speed_msg(self, speed):
     values = {"XMISSION_SPEED": speed, "COUNTER": self.cnt_speed % 4}

tests/safety/test_volkswagen_mqb.py

@@ -48,6 +48,9 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
     self.safety.init_tests_volkswagen()
 
+  # override these inherited tests from PandaSafetyTest
+  def test_cruise_engaged_prev(self): pass
+
   def _set_prev_torque(self, t):
     self.safety.set_volkswagen_desired_torque_last(t)
     self.safety.set_volkswagen_rt_torque_last(t)

tests/safety/test_volkswagen_pq.py

@@ -52,6 +52,9 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
     self.safety.init_tests_volkswagen()
 
+  # override these inherited tests from PandaSafetyTest
+  def test_cruise_engaged_prev(self): pass
+
   def _set_prev_torque(self, t):
     self.safety.set_volkswagen_desired_torque_last(t)
     self.safety.set_volkswagen_rt_torque_last(t)