check for safety mode mismatch (#2443)

selfdrive/controls/controlsd.py

@@ -201,7 +201,8 @@ class Controls:
 
     if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
       self.events.add(EventName.canError)
-    if self.mismatch_counter >= 200:
+    if (self.sm['health'].safetyModel != self.CP.safetyModel and self.sm.frame > 2 / DT_CTRL) or \
+       self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
     if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
       # only plan not being received: radar not communicating

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -8,6 +8,7 @@ import numpy as np
 
 from opendbc import DBC_PATH
 
+from cereal import car
 from common.realtime import Ratekeeper
 from selfdrive.config import Conversions as CV
 import cereal.messaging as messaging
@@ -375,6 +376,7 @@ class Plant():
     Plant.driverState.send(driver_state.to_bytes())
 
     health = messaging.new_message('health')
+    health.health.safetyModel = car.CarParams.SafetyModel.hondaNidec
     health.health.controlsAllowed = True
     Plant.health.send(health.to_bytes())
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f863303a303348b27d624a1e301857ec0b432e17
+635052c6f021001fd11ec68ad0f6ee1811ee4a76

selfdrive/test/process_replay/test_processes.py

@@ -13,17 +13,19 @@ INJECT_MODEL = 0
 
 segments = [
   ("HONDA", "d83f36766f8012a5|2020-02-05--18-42-21--2"),      # HONDA.CIVIC_BOSCH_DIESEL (BOSCH)
-  ("HONDA", "99c94dc769b5d96e|2019-08-03--14-19-59--2"),      # HONDA.CIVIC (NIDEC)
+  ("HONDA", "a74b011b32b51b56|2020-07-26--17-09-36--6"),      # HONDA.CIVIC (NIDEC)
   ("TOYOTA", "77611a1fac303767|2020-02-29--13-29-33--3"),     # TOYOTA.COROLLA_TSS2
   ("TOYOTA", "b14c5b4742e6fc85|2020-10-14--11-04-47--4"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA", "0982d79ebb0de295|2020-10-18--19-11-36--5"),     # TOYOTA.PRIUS (INDI)
-  ("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"),         # GM.ACADIA
   ("CHRYSLER", "b6849f5cf2c926b1|2020-02-28--07-29-48--13"),  # CHRYSLER.PACIFICA
   ("HYUNDAI", "5b7c365c50084530|2020-04-15--16-13-24--3"),    # HYUNDAI.SONATA
-  ("SUBARU", "7873afaf022d36e2|2019-07-03--18-46-44--0"),     # SUBARU.IMPREZA
+  ("SUBARU", "c321c6b697c5a5ff|2020-06-23--11-04-33--12"),     # SUBARU.FORESTER
   ("VOLKSWAGEN", "76b83eb0245de90e|2020-03-05--19-16-05--3"),  # VW.GOLF
   ("NISSAN", "fbbfa6af821552b9|2020-03-03--08-09-43--0"),     # NISSAN.XTRAIL
 
+  # TODO: update this route
+  ("GM", "7cc2a8365b4dd8a9|2018-12-02--12-10-44--2"),         # GM.ACADIA
+
   # Enable when port is tested and dascamOnly is no longer set
   #("MAZDA", "32a319f057902bb3|2020-04-27--15-18-58--2"),      # MAZDA.CX5
 ]