From b1a5e7b0062491fac0165cd195387b6a2cb1baba Mon Sep 17 00:00:00 2001
From: ccdunder <cdunder@gmail.com>
Date: Tue, 17 Dec 2024 02:44:33 +0000
Subject: [PATCH] Fix up ALT_BUTTONS safety in panda & add tests.

---
 board/safety/safety_hyundai_canfd.h | 19 +++++++++++++------
 tests/safety/test_hyundai_canfd.py  | 26 ++++++++++----------------
 2 files changed, 23 insertions(+), 22 deletions(-)

diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
index 2d43c70ca7..2efbe203e9 100644
--- a/board/safety/safety_hyundai_canfd.h
+++ b/board/safety/safety_hyundai_canfd.h
@@ -154,10 +154,16 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
   }
 
   // cruise buttons check
-  if (addr == 0x1cf) {
-    int button = GET_BYTE(to_send, 2) & 0x7U;
-    bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
-    bool is_resume = (button == HYUNDAI_BTN_RESUME);
+  const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
+  if (addr == button_addr) {
+    int cruise_button = 0;
+    if (addr == 0x1cf) {
+      cruise_button = GET_BYTE(to_send, 2) & 0x7U;
+    } else {
+      cruise_button = (GET_BYTE(to_send, 4) >> 4) & 0x7U;
+    }
+    bool is_cancel = (cruise_button == HYUNDAI_BTN_CANCEL);
+    bool is_resume = (cruise_button == HYUNDAI_BTN_RESUME);
 
     bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
     if (!allowed) {
@@ -231,14 +237,14 @@ static safety_config hyundai_canfd_init(uint16_t param) {
   static const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
     {0x50, 0, 16},  // LKAS
     {0x1CF, 1, 8},  // CRUISE_BUTTON
-    {0x1AA, 1, 16},  // CRUISE_BUTTONS_ALT
+    {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
     {0x2A4, 0, 24}, // CAM_0x2A4
   };
 
   static const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
     {0x110, 0, 32}, // LKAS_ALT
     {0x1CF, 1, 8},  // CRUISE_BUTTON
-    {0x1AA, 1, 16},  // CRUISE_BUTTONS_ALT
+    {0x1AA, 1, 16}, // CRUISE_BUTTONS_ALT
     // Needed for cruise control in case of ALT_BUTTONS.
     {0x1A0, 1, 32}, // CRUISE_INFO
     {0x362, 0, 32}, // CAM_0x362
@@ -264,6 +270,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     {0x12A, 0, 16}, // LFA
     {0x1A0, 0, 32}, // CRUISE_INFO
     {0x1CF, 2, 8},  // CRUISE_BUTTON
+    {0x1AA, 2, 16}, // CRUISE_BUTTONS_ALT
     {0x1E0, 0, 16}, // LFAHDA_CLUSTER
   };
 
diff --git a/tests/safety/test_hyundai_canfd.py b/tests/safety/test_hyundai_canfd.py
index 0e15ce1568..cbb172112f 100755
--- a/tests/safety/test_hyundai_canfd.py
+++ b/tests/safety/test_hyundai_canfd.py
@@ -10,7 +10,7 @@
 
 class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
   SAFETY_PARAM = 0
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
+  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x1AA, 1], [0x2A4, 0]]
   STANDSTILL_THRESHOLD = 12  # 0.375 kph
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
@@ -91,26 +91,20 @@ def setUpClass(cls):
     super().setUpClass()
     cls.SAFETY_PARAM |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
 
-  def _button_msg(self, buttons, main_button=0, bus=1):
+  def _button_msg(self, buttons, main_button=0, bus=None):
+    if bus is None:
+      bus = self.PT_BUS
     values = {
       "CRUISE_BUTTONS": buttons,
       "ADAPTIVE_CRUISE_MAIN_BTN": main_button,
     }
-    return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values)
-
-  def test_button_sends(self):
-    """
-      No button send allowed with alt buttons.
-    """
-    for enabled in (True, False):
-      for btn in range(8):
-        self.safety.set_controls_allowed(enabled)
-        self.assertFalse(self._tx(self._button_msg(btn)))
+    msg = self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", bus, values)
+    return msg
 
 
 class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):
 
-  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]]
+  TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 2], [0x1AA, 2], [0x1E0, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)}  # LFA
   FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]}
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
@@ -167,7 +161,7 @@ class TestHyundaiCanfdHDA2EVBase(TestHyundaiCanfdBase):
 
 
 class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdHDA2EVBase):
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
+  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x1AA, 1], [0x2A4, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x50,)}
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
   STEER_MSG = "LKAS"
@@ -175,7 +169,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdHDA2EVBase):
 
 
 class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdHDA2EVBase):
-  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
+  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x1AA, 1], [0x362, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x110,)}
   FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
   STEER_MSG = "LKAS_ALT"
@@ -194,7 +188,7 @@ class TestHyundaiCanfdHDA2EVAltSteeringAltButtons(HyundaiCanfdAltButtonsMixin, T
 
 class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV):
 
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
+  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x1AA, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
              [0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x50,), 1: (0x1a0,)}  # LKAS, SCC_CONTROL