heartbeat engaged mads mismatch mutation test

tests/libpanda/safety_helpers.h

@@ -261,6 +261,10 @@ void set_heartbeat_engaged_mads(bool c){
   heartbeat_engaged_mads = c;
 }
 
+int get_heartbeat_engaged_mads_mismatches(void){
+  return heartbeat_engaged_mads_mismatches;
+}
+
 int get_mads_transition(void){
   return m_mads_state.acc_main.transition;
 }

tests/libpanda/safety_helpers.py

@@ -72,6 +72,7 @@ def setup_safety_helpers(ffi):
   uint32_t get_acc_main_on_mismatches(void);
   void set_mads_params(bool enable_mads, bool disengage_lat_on_brake);
   void set_heartbeat_engaged_mads(bool c);
+  int get_heartbeat_engaged_mads_mismatches(void);
   int get_mads_transition(void);
   """)
 
@@ -145,5 +146,6 @@ def get_acc_main_on_mismatches(self) -> int: ...
 
   def set_mads_params(self, enable_mads: bool, disengage_lat_on_brake: bool) -> None: ...
   def set_heartbeat_engaged_mads(self, c: bool) -> None: ...
+  def get_heartbeat_engaged_mads_mismatches(self) -> int: ...
   def get_mads_transition(self) -> int: ...
   # def get_temp_debug(self) -> int: ...

tests/safety/mads_common.py

@@ -242,3 +242,58 @@ def test_enable_control_allowed_with_mads_button_and_disable_with_main_cruise(se
           self.assertFalse(self.safety.get_controls_allowed_lat())
     finally:
       self._mads_states_cleanup()
+
+  def test_heartbeat_engaged_mads_mismatches(self):
+    """Test reset logic using controls_allowed_lat and heartbeat_engaged_mads"""
+    self._mads_states_cleanup()
+    self.safety.set_mads_params(True, False)
+
+    # Test exact mismatch boundary conditions
+    self.safety.set_controls_allowed_lat(True)
+    self.safety.set_heartbeat_engaged_mads(False)
+
+    # Should stay engaged through first two rx messages
+    self._rx(self._speed_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+    self.assertEqual(1, self.safety.get_heartbeat_engaged_mads_mismatches())
+
+    self._rx(self._speed_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed_lat())
+    self.assertEqual(2, self.safety.get_heartbeat_engaged_mads_mismatches())
+
+    # Third rx should trigger disengagement
+    self._rx(self._speed_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed_lat())
+    self.assertEqual(3, self.safety.get_heartbeat_engaged_mads_mismatches())
+    self.assertEqual(6, self.safety.mads_get_current_disengage_reason())
+
+    # Test reset condition
+    self.safety.set_heartbeat_engaged_mads(True)
+    self._rx(self._speed_msg(0))
+    self.assertEqual(0, self.safety.get_heartbeat_engaged_mads_mismatches())
+
+    # Test all combinations
+    for controls_allowed_lat in (True, False):
+      with self.subTest("controls_allowed_lat", controls_allowed_lat=controls_allowed_lat):
+        for heartbeat_engaged_mads in (True, False):
+          with self.subTest("heartbeat_engaged_mads", heartbeat_engaged_mads=heartbeat_engaged_mads):
+            self._mads_states_cleanup()
+            self.safety.set_mads_params(True, False)
+            self.safety.set_controls_allowed_lat(controls_allowed_lat)
+            self.safety.set_heartbeat_engaged_mads(heartbeat_engaged_mads)
+
+            # Send three rx messages and check state after each
+            for i in range(3):
+              self._rx(self._speed_msg(0))
+              if controls_allowed_lat and not heartbeat_engaged_mads:
+                expected_control = i < 2  # Should stay engaged for first two rx
+                expected_mismatches = i + 1
+                self.assertEqual(expected_control, self.safety.get_controls_allowed_lat(),
+                                 f"Incorrect control state after rx {i + 1}")
+                self.assertEqual(expected_mismatches, self.safety.get_heartbeat_engaged_mads_mismatches(),
+                                 f"Incorrect mismatch count after rx {i + 1}")
+              else:
+                self.assertEqual(controls_allowed_lat, self.safety.get_controls_allowed_lat())
+                self.assertEqual(0, self.safety.get_heartbeat_engaged_mads_mismatches())
+
+    self._mads_states_cleanup()