Hyundai: fix button enable controls mismatch (commaai#1152)

* fix hyundai long button controls mismatch * test * comment
sunnypilot · Nov 12, 2022 · 156f37e · 156f37e
1 parent 016615e
commit 156f37e
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Showing 2 changed files with 21 additions and 16 deletions.
diff --git a/board/safety/safety_hyundai_common.h b/board/safety/safety_hyundai_common.h
@@ -65,19 +65,19 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const int main
   }
 
   if (hyundai_longitudinal) {
-    // exit controls on cancel press
-    if (cruise_button == HYUNDAI_BTN_CANCEL) {
-      controls_allowed_long = 0;
-    }
-
     // enter controls on falling edge of resume or set
-    bool set = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_SET);
-    bool res = (cruise_button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
+    bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET);
+    bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
     if (set || res) {
       controls_allowed = 1;
       controls_allowed_long = 1;
     }
 
+    // exit controls on cancel press
+    if (cruise_button == HYUNDAI_BTN_CANCEL) {
+      controls_allowed_long = 0;
+    }
+
     cruise_button_prev = cruise_button;
   }
 }

diff --git a/tests/safety/hyundai_common.py b/tests/safety/hyundai_common.py
@@ -107,16 +107,21 @@ def test_set_resume_buttons(self):
     """
       SET and RESUME enter controls allowed on their falling edge.
     """
-    for btn in range(8):
-      self.safety.set_controls_allowed(0)
-      for _ in range(10):
-        self._rx(self._button_msg(btn))
-        self.assertFalse(self.safety.get_controls_allowed())
-
-      # should enter controls allowed on falling edge
-      if btn in (Buttons.RESUME, Buttons.SET):
+    for btn_prev in range(8):
+      for btn_cur in range(8):
         self._rx(self._button_msg(Buttons.NONE))
-        self.assertTrue(self.safety.get_controls_allowed())
+        self.safety.set_controls_allowed(0)
+        for _ in range(10):
+          self._rx(self._button_msg(btn_prev))
+          self.assertFalse(self.safety.get_controls_allowed())
+
+        # should enter controls allowed on falling edge and not transitioning to cancel
+        should_enable = btn_cur != btn_prev and \
+                        btn_cur != Buttons.CANCEL and \
+                        btn_prev in (Buttons.RESUME, Buttons.SET)
+
+        self._rx(self._button_msg(btn_cur))
+        self.assertEqual(should_enable, self.safety.get_controls_allowed())
 
   def test_cancel_button(self):
     self.safety.set_controls_allowed(1)