Allow to lock safety mode to keep gm/tesla cars supported (#844)

common/params.py

@@ -80,6 +80,7 @@ keys = {
   "Passive": [TxType.PERSISTENT],
   "RecordFront": [TxType.PERSISTENT],
   "ReleaseNotes": [TxType.PERSISTENT],
+  "SafetyModelLock": [TxType.PERSISTENT],
   "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   "SpeedLimitOffset": [TxType.PERSISTENT],
   "SubscriberInfo": [TxType.PERSISTENT],

selfdrive/boardd/boardd.cc

@@ -49,6 +49,7 @@ const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 24 * 3;  // turn off charge a
 uint32_t no_ignition_cnt = 0;
 bool connected_once = false;
 uint8_t ignition_last = 0;
+bool safety_model_locked = false;
 
 pthread_t safety_setter_thread_handle = -1;
 pthread_t pigeon_thread_handle = -1;
@@ -74,12 +75,12 @@ void *safety_setter_thread(void *s) {
   }
   LOGW("got CarVin %s", value_vin);
 
-  pthread_mutex_lock(&usb_lock);
-
   // VIN query done, stop listening to OBDII
-  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
-
-  pthread_mutex_unlock(&usb_lock);
+  if (!safety_model_locked) {
+    pthread_mutex_lock(&usb_lock);
+    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
+    pthread_mutex_unlock(&usb_lock);
+  }
 
   char *value;
   size_t value_sz = 0;
@@ -125,6 +126,11 @@ void *safety_setter_thread(void *s) {
 bool usb_connect() {
   int err;
   unsigned char hw_query[1] = {0};
+  char *value_safety_model;
+  size_t value_safety_model_sz = 0;
+  int safety_model;
+  const int result = read_db_value(NULL, "SafetyModelLock", &value_safety_model, &value_safety_model_sz);
+
   ignition_last = 0;
 
   dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
@@ -140,6 +146,16 @@ bool usb_connect() {
     libusb_control_transfer(dev_handle, 0xc0, 0xe5, 1, 0, NULL, 0, TIMEOUT);
   }
 
+  // check if safety mode is forced (needed to support gm)
+  if (value_safety_model_sz > 0) {
+    sscanf(value_safety_model, "%d", &safety_model);
+    // sanity check that we are not setting all output
+    assert(safety_model != (int)(cereal::CarParams::SafetyModel::ALL_OUTPUT));
+    safety_model_locked = true;
+    LOGW("Setting Locked Safety Model %s", value_safety_model);
+    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel(safety_model)), 0, NULL, 0, TIMEOUT);
+  }
+
   // power off ESP
   libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
 
@@ -297,10 +313,11 @@ void can_health(void *s) {
     assert((result == 0) || (result == ERR_NO_VALUE));
 
     // diagnostic only is the default, needed for VIN query
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
-
+    if (!safety_model_locked) {
+      pthread_mutex_lock(&usb_lock);
+      libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
+      pthread_mutex_unlock(&usb_lock);
+    }
     if (safety_setter_thread_handle == -1) {
       err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
       assert(err == 0);

selfdrive/car/lock_safety_model.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import sys
+from cereal import car
+from common.params import Params
+
+# This script locks the safety model to a given value.
+# When the safety model is locked, boardd will preset panda to the locked safety model
+
+# run example:
+# ./lock_safety_model.py gm
+
+if __name__ == "__main__":
+
+  params = Params()
+
+  if len(sys.argv) < 2:
+    params.delete("SafetyModelLock")
+    print("Clear locked safety model")
+
+  else:
+    safety_model = getattr(car.CarParams.SafetyModel, sys.argv[1])
+    if type(safety_model) != int:
+      raise Exception("Invalid safety model: " + sys.argv[1])
+    if safety_model == car.CarParams.SafetyModel.allOutput:
+      raise Exception("Locking the safety model to allOutput is not allowed")
+    params.put("SafetyModelLock", str(safety_model))
+    print("Locked safety model: " + sys.argv[1])

selfdrive/thermald.py

@@ -129,7 +129,6 @@ def thermald_thread():
 
   off_ts = None
   started_ts = None
-  ignition_seen = False
   started_seen = False
   thermal_status = ThermalStatus.green
   thermal_status_prev = ThermalStatus.green
@@ -151,7 +150,6 @@ def thermald_thread():
     # clear car params when panda gets disconnected
     if health is None and health_prev is not None:
       params.panda_disconnect()
-      ignition_seen = False
     health_prev = health
 
     if health is not None:
@@ -233,11 +231,6 @@ def thermald_thread():
 
     # start constellation of processes when the car starts
     ignition = health is not None and health.health.started
-    ignition_seen = ignition_seen or ignition
-
-    # add voltage check for ignition
-    if not ignition_seen and health is not None and health.health.voltage > 13500:
-      ignition = True
 
     do_uninstall = params.get("DoUninstall") == b"1"
     accepted_terms = params.get("HasAcceptedTerms") == terms_version