safety: fwd hook config

opendbc/safety/safety.h

@@ -223,7 +223,7 @@ bool safety_rx_hook(const CANPacket_t *to_push) {
   const int addr = GET_ADDR(to_push);
   for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
     const CanMsg *m = &current_safety_config.tx_msgs[i];
-    if (m->check_relay) {
+    if (m->blocked) {
       generic_rx_checks((m->addr == addr) && (m->bus == bus));
     }
   }
@@ -278,8 +278,24 @@ static int get_fwd_bus(int bus_num) {
 }
 
 int safety_fwd_hook(int bus_num, int addr) {
-  const bool blocked = relay_malfunction || current_hooks->fwd(bus_num, addr);
-  return blocked ? -1 : get_fwd_bus(bus_num);
+  const int destination_bus = get_fwd_bus(bus_num);
+
+  bool blocked = relay_malfunction || current_safety_config.disable_forwarding;
+  if (!blocked) {
+    for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
+      const CanMsg *m = &current_safety_config.tx_msgs[i];
+      if (m->blocked && (m->addr == addr) && (m->bus == destination_bus)) {
+        blocked = true;
+        break;
+      }
+    }
+  }
+
+  if (!blocked && (current_hooks->fwd != NULL)) {
+    blocked = current_hooks->fwd(bus_num, addr);
+  }
+
+  return blocked ? -1 : destination_bus;
 }
 
 bool get_longitudinal_allowed(void) {
@@ -457,6 +473,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   current_safety_config.rx_checks_len = 0;
   current_safety_config.tx_msgs = NULL;
   current_safety_config.tx_msgs_len = 0;
+  current_safety_config.disable_forwarding = false;
 
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
@@ -474,6 +491,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     current_safety_config.rx_checks_len = cfg.rx_checks_len;
     current_safety_config.tx_msgs = cfg.tx_msgs;
     current_safety_config.tx_msgs_len = cfg.tx_msgs_len;
+    current_safety_config.disable_forwarding = cfg.disable_forwarding;
     // reset all dynamic fields in addr struct
     for (int j = 0; j < current_safety_config.rx_checks_len; j++) {
       current_safety_config.rx_checks[j].status = (RxStatus){0};

opendbc/safety/safety/safety_body.h

@@ -39,12 +39,13 @@ static safety_config body_init(uint16_t param) {
                                         {0x1, 0, 8, false}}; // CAN flasher
 
   UNUSED(param);
-  return BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
+  safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
+  ret.disable_forwarding = true;
+  return ret;
 }
 
 const safety_hooks body_hooks = {
   .init = body_init,
   .rx = body_rx_hook,
   .tx = body_tx_hook,
-  .fwd = default_fwd_hook,
 };

opendbc/safety/safety/safety_chrysler.h

@@ -164,18 +164,6 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static bool chrysler_fwd_hook(int bus_num, int addr) {
-  bool block_msg = false;
-
-  // forward all messages from camera except LKAS messages
-  const bool is_lkas = ((addr == chrysler_addrs->LKAS_COMMAND) || (addr == chrysler_addrs->DAS_6));
-  if ((bus_num == 2) && is_lkas){
-    block_msg = true;
-  }
-
-  return block_msg;
-}
-
 static safety_config chrysler_init(uint16_t param) {
 
   const uint32_t CHRYSLER_PARAM_RAM_DT = 1U;  // set for Ram DT platform
@@ -224,13 +212,13 @@ static safety_config chrysler_init(uint16_t param) {
   static const CanMsg CHRYSLER_TX_MSGS[] = {
     {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, false},
     {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, true},
-    {CHRYSLER_ADDRS.DAS_6, 0, 8, false},
+    {CHRYSLER_ADDRS.DAS_6, 0, 8, true},
   };
 
   static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
     {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3, false},
     {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, true},
-    {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, false},
+    {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, true},
   };
 
 #ifdef ALLOW_DEBUG
@@ -257,7 +245,7 @@ static safety_config chrysler_init(uint16_t param) {
   static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
     {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3, false},
     {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, true},
-    {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, false},
+    {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, true},
   };
 
   const uint32_t CHRYSLER_PARAM_RAM_HD = 2U;  // set for Ram HD platform
@@ -290,7 +278,6 @@ const safety_hooks chrysler_hooks = {
   .init = chrysler_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
-  .fwd = chrysler_fwd_hook,
   .get_counter = chrysler_get_counter,
   .get_checksum = chrysler_get_checksum,
   .compute_checksum = chrysler_compute_checksum,

opendbc/safety/safety/safety_defaults.h

@@ -13,7 +13,7 @@ void default_rx_hook(const CANPacket_t *to_push) {
 
 static safety_config nooutput_init(uint16_t param) {
   UNUSED(param);
-  return (safety_config){NULL, 0, NULL, 0};
+  return (safety_config){NULL, 0, NULL, 0, true};
 }
 
 // GCOV_EXCL_START
@@ -24,46 +24,29 @@ static bool nooutput_tx_hook(const CANPacket_t *to_send) {
 }
 // GCOV_EXCL_STOP
 
-static bool default_fwd_hook(int bus_num, int addr) {
-  UNUSED(bus_num);
-  UNUSED(addr);
-  return true;
-}
-
 const safety_hooks nooutput_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
   .tx = nooutput_tx_hook,
-  .fwd = default_fwd_hook,
 };
 
 // *** all output safety mode ***
-
-// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
-static bool alloutput_passthrough = false;
-
 static safety_config alloutput_init(uint16_t param) {
   // Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
   const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
   controls_allowed = true;
-  alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
-  return (safety_config){NULL, 0, NULL, 0};
+  bool alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
+  safety_config ret = {NULL, 0, NULL, 0, !alloutput_passthrough};
+  return ret;
 }
 
 static bool alloutput_tx_hook(const CANPacket_t *to_send) {
   UNUSED(to_send);
   return true;
 }
 
-static bool alloutput_fwd_hook(int bus_num, int addr) {
-  UNUSED(bus_num);
-  UNUSED(addr);
-  return !alloutput_passthrough;
-}
-
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
-  .fwd = alloutput_fwd_hook,
 };

opendbc/safety/safety/safety_elm327.h

@@ -38,5 +38,4 @@ const safety_hooks elm327_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
   .tx = elm327_tx_hook,
-  .fwd = default_fwd_hook,
 };

opendbc/safety/safety/safety_ford.h

@@ -100,14 +100,6 @@ static bool ford_longitudinal = false;
 
 #define FORD_MAX_SPEED_DELTA 2.0  // m/s
 
-static bool ford_lkas_msg_check(int addr) {
-  return (addr == FORD_ACCDATA_3)
-      || (addr == FORD_Lane_Assist_Data1)
-      || ((addr == FORD_LateralMotionControl) && !ford_canfd)
-      || ((addr == FORD_LateralMotionControl2) && ford_canfd)
-      || (addr == FORD_IPMA_Data);
-}
-
 // Curvature rate limits
 #define FORD_LIMITS(limit_lateral_acceleration) {                                               \
   .max_angle = 1000,          /* 0.02 curvature */                                              \
@@ -311,29 +303,6 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static bool ford_fwd_hook(int bus_num, int addr) {
-  bool block_msg = false;
-
-  switch (bus_num) {
-    case FORD_CAM_BUS: {
-      if (ford_lkas_msg_check(addr)) {
-        // Block stock LKAS and UI messages
-        block_msg = true;
-      } else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
-        // Block stock ACC message
-        block_msg = true;
-      } else {
-      }
-      break;
-    }
-    default: {
-      break;
-    }
-  }
-
-  return block_msg;
-}
-
 static safety_config ford_init(uint16_t param) {
   // warning: quality flags are not yet checked in openpilot's CAN parser,
   // this may be the cause of blocked messages
@@ -407,7 +376,6 @@ const safety_hooks ford_hooks = {
   .init = ford_init,
   .rx = ford_rx_hook,
   .tx = ford_tx_hook,
-  .fwd = ford_fwd_hook,
   .get_counter = ford_get_counter,
   .get_checksum = ford_get_checksum,
   .compute_checksum = ford_compute_checksum,

opendbc/safety/safety/safety_gm.h

@@ -27,7 +27,6 @@ typedef enum {
   GM_CAM
 } GmHardware;
 static GmHardware gm_hw = GM_ASCM;
-static bool gm_cam_long = false;
 static bool gm_pcm_cruise = false;
 
 static void gm_rx_hook(const CANPacket_t *to_push) {
@@ -160,31 +159,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static bool gm_fwd_hook(int bus_num, int addr) {
-  bool block_msg = false;
-
-  if (gm_hw == GM_CAM) {
-    if (bus_num == 0) {
-      // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
-      bool is_pscm_msg = (addr == 0x184);
-      if (is_pscm_msg) {
-        block_msg = true;
-      }
-    }
-
-    if (bus_num == 2) {
-      // block lkas message and acc messages if gm_cam_long, forward all others
-      bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-      block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
-    }
-  } else {
-    block_msg = true;
-  }
-
-  return block_msg;
-}
-
 static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_HW_CAM = 1;
   const uint16_t GM_PARAM_EV = 4;
@@ -208,8 +182,9 @@ static safety_config gm_init(uint16_t param) {
     .max_brake = 400,
   };
 
-  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, true}, {0x315, 0, 5, false}, {0x2CB, 0, 8, true}, {0x370, 0, 6, false},  // pt bus
-                                               {0x184, 2, 8, false}};  // camera bus
+  // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
+  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, true}, {0x315, 0, 5, true}, {0x2CB, 0, 8, true}, {0x370, 0, 6, true},  // pt bus
+                                               {0x184, 2, 8, true}};  // camera bus
 
 
   static RxCheck gm_rx_checks[] = {
@@ -221,8 +196,9 @@ static safety_config gm_init(uint16_t param) {
     {.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}},
   };
 
+  // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
   static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, true},  // pt bus
-                                          {0x1E1, 2, 7, false}, {0x184, 2, 8, false}};  // camera bus
+                                          {0x1E1, 2, 7, false}, {0x184, 2, 8, true}};  // camera bus
 
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
 
@@ -233,6 +209,7 @@ static safety_config gm_init(uint16_t param) {
   } else {
   }
 
+  bool gm_cam_long = false;
 #ifdef ALLOW_DEBUG
   const uint16_t GM_PARAM_HW_CAM_LONG = 2;
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
@@ -253,12 +230,15 @@ static safety_config gm_init(uint16_t param) {
   if (gm_ev) {
     SET_RX_CHECKS(gm_ev_rx_checks, ret);
   }
+
+  if (gm_hw == GM_ASCM) {
+    ret.disable_forwarding = true;
+  }
   return ret;
 }
 
 const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
-  .fwd = gm_fwd_hook,
 };

opendbc/safety/safety/safety_hyundai.h

@@ -29,15 +29,15 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
 #define HYUNDAI_COMMON_TX_MSGS(scc_bus) \
   {0x340, 0,       8, true},   /* LKAS11 Bus 0                              */ \
   {0x4F1, scc_bus, 4, false},  /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
-  {0x485, 0,       4, false},  /* LFAHDA_MFC Bus 0                          */ \
+  {0x485, 0,       4, true},   /* LFAHDA_MFC Bus 0                          */ \
 
 #define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
-  HYUNDAI_COMMON_TX_MSGS(scc_bus)                                             \
-  {0x420, 0,       8, false},           /* SCC11 Bus 0                     */ \
-  {0x421, 0,       8, (scc_bus) == 0},  /* SCC12 Bus 0                     */ \
-  {0x50A, 0,       8, false},           /* SCC13 Bus 0                     */ \
-  {0x389, 0,       8, false},           /* SCC14 Bus 0                     */ \
-  {0x4A2, 0,       2, false},           /* FRT_RADAR11 Bus 0               */ \
+  HYUNDAI_COMMON_TX_MSGS(scc_bus)                                       \
+  {0x420, 0,       8, (scc_bus) == 2},  /* SCC11 Bus 0                               */ \
+  {0x421, 0,       8, (scc_bus) == 2},  /* SCC12 Bus 0                               */ \
+  {0x50A, 0,       8, (scc_bus) == 2},  /* SCC13 Bus 0                               */ \
+  {0x389, 0,       8, (scc_bus) == 2},  /* SCC14 Bus 0                               */ \
+  {0x4A2, 0,       2, false},           /* FRT_RADAR11 Bus 0                         */ \
 
 #define HYUNDAI_COMMON_RX_CHECKS(legacy)                                                                                                                  \
   {.msg = {{0x260, 0, 8, .max_counter = 3U, .frequency = 100U},                                                                                           \
@@ -256,23 +256,6 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static bool hyundai_fwd_hook(int bus_num, int addr) {
-  bool block_msg = false;
-
-  if (bus_num == 2) {
-    // Stock LKAS11 messages
-    bool is_lkas_11 = (addr == 0x340);
-    // LFA and HDA cluster icons
-    bool is_lfahda_mfc = (addr == 0x485);
-    // Stock SCC messages, blocking when doing openpilot longitudinal on camera SCC cars
-    bool is_scc_msg = (addr == 0x420) || (addr == 0x421) || (addr == 0x50A) || (addr == 0x389);
-
-    block_msg = is_lkas_11 || is_lfahda_mfc || (is_scc_msg && hyundai_longitudinal && hyundai_camera_scc);
-  }
-
-  return block_msg;
-}
-
 static safety_config hyundai_init(uint16_t param) {
   static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
     HYUNDAI_LONG_COMMON_TX_MSGS(0)
@@ -362,7 +345,6 @@ const safety_hooks hyundai_hooks = {
   .init = hyundai_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
-  .fwd = hyundai_fwd_hook,
   .get_counter = hyundai_get_counter,
   .get_checksum = hyundai_get_checksum,
   .compute_checksum = hyundai_compute_checksum,
@@ -372,7 +354,6 @@ const safety_hooks hyundai_legacy_hooks = {
   .init = hyundai_legacy_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
-  .fwd = hyundai_fwd_hook,
   .get_counter = hyundai_get_counter,
   .get_checksum = hyundai_get_checksum,
   .compute_checksum = hyundai_compute_checksum,