Honda radarless: forward buttons when disengaged

Author: csouers

board/safety/safety_honda.h

@@ -429,7 +429,12 @@ static int honda_bosch_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
   if (bus_num == 0) {
-    bus_fwd = 2;
+    // Radarless: Block buttons when engaged
+    int is_button_msg = (addr == 0x296);
+    bool block_msg = is_button_msg && controls_allowed && honda_bosch_radarless && !honda_bosch_long;
+    if (!block_msg) {
+      bus_fwd = 2;
+    }
   }
   if (bus_num == 2)  {
     int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);

tests/safety/test_honda.py

@@ -565,6 +565,21 @@ def setUp(self):
     self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
     self.safety.init_tests()
 
+  # Test forwarding buttons when disengaged
+  def test_fwd_hook(self):
+    for controls_allowed in [False, True]:
+      self.safety.set_controls_allowed(controls_allowed)
+      if controls_allowed:
+        self.FWD_BLACKLISTED_ADDRS[0] = [0x296]
+      super().test_fwd_hook()
+
+  # OP sends buttons when engaged, so allow all. Only allow cancel when disengaged.
+  def test_buttons_radarless(self):
+    for controls_allowed in [False, True]:
+      self.safety.set_controls_allowed(controls_allowed)
+      self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=self.BUTTONS_BUS)))
+      for button in (Btn.MAIN, Btn.RESUME, Btn.SET, Btn.NONE):
+        self.assertEqual(controls_allowed, self._tx(self._button_msg(button, bus=self.BUTTONS_BUS)))
 
 class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase):
   """