Fix controls mismatch on button enable cars + test against panda safety (#23975)

* test models: check button enable cars against panda safety

* gm too

* cleanup

panda

@@ -1 +1 @@
-Subproject commit e6722c7f99b8f7b9f81bb0216edb88cc2e5ad7c0
+Subproject commit ba10911dbc0a6f2c5c04886ca793f6ac38400cd3

selfdrive/car/honda/interface.py

@@ -403,9 +403,9 @@ class CarInterface(CarInterfaceBase):
     for b in ret.buttonEvents:
 
       # do enable on both accel and decel buttons
-      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
-        if not self.CP.pcmCruise:
-          events.add(EventName.buttonEnable)
+      if not self.CP.pcmCruise:
+        if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
+            events.add(EventName.buttonEnable)
 
       # do disable on button down
       if b.type == ButtonType.cancel and b.pressed:

selfdrive/car/tests/test_models.py

@@ -50,9 +50,6 @@ class TestCarModel(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    #if cls.car_model != "HONDA RIDGELINE 2017":
-    #  raise unittest.SkipTest
-
     if cls.route is None:
       if cls.car_model in non_tested_cars:
         print(f"Skipping tests for {cls.car_model}: missing route")
@@ -63,11 +60,6 @@ class TestCarModel(unittest.TestCase):
     params.clear_all()
 
     for seg in (2, 1, 0):
-      #from tools.lib.route import Route
-      #from tools.lib.logreader import MultiLogIterator
-      #r = Route("97bbe58ea225ad1d|2022-03-08--12-54-42")
-      #lr = MultiLogIterator(r.log_paths()[3:4])
-
       try:
         lr = LogReader(get_url(cls.route, seg))
       except Exception:
@@ -104,7 +96,7 @@ class TestCarModel(unittest.TestCase):
     # TODO: check safetyModel is in release panda build
     self.safety = libpandasafety_py.libpandasafety
     set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
-    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
+    self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs}")
     self.safety.init_tests()
 
   def test_car_params(self):
@@ -197,6 +189,10 @@ class TestCarModel(unittest.TestCase):
         self.safety.safety_rx_hook(to_send)
         self.CI.update(CC, (can_list_to_can_capnp([msg, ]), ))
 
+    if not self.CP.pcmCruise:
+      self.safety.set_controls_allowed(0)
+
+    controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
     for can in self.can_msgs:
@@ -235,6 +231,14 @@ class TestCarModel(unittest.TestCase):
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
         else:
           checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
+      else:
+        # Check for enable events on rising edge of controls allowed
+        button_enable = any(evt.enable for evt in CS.events)
+        mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
+        checks['controlsAllowed'] += mismatch
+        controls_allowed_prev = self.safety.get_controls_allowed()
+        if button_enable and not mismatch:
+          self.safety.set_controls_allowed(False)
 
       if self.CP.carName == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
@@ -245,10 +249,6 @@ class TestCarModel(unittest.TestCase):
     if self.CP.carFingerprint == TOYOTA.SIENNA and checks['brakePressed'] < 25:
       checks['brakePressed'] = 0
 
-    # Honda Nidec uses button enable in panda, but pcm enable in openpilot
-    if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH and checks['controlsAllowed'] < 25:
-      checks['controlsAllowed'] = 0
-
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")