safety: fwd hook config

opendbc/safety/safety.h

@@ -253,7 +253,22 @@ bool safety_tx_hook(CANPacket_t *to_send) {
 }
 
 int safety_fwd_hook(int bus_num, int addr) {
-  return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, addr));
+  const int destination_bus = bus_num == 0 ? 2 : (bus_num == 2 ? 0 : -1);
+
+  bool blocked = false;
+  if (current_safety_config.block_fwding) {
+    blocked = true;
+  } else {
+    for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
+      const CanMsg *m = &current_safety_config.tx_msgs[i];
+      if ((m->addr == addr) && (m->bus == destination_bus) && m->blocked) {
+        blocked = true;
+        break;
+      }
+    }
+  }
+
+  return (relay_malfunction || blocked) ? -1 : ((current_hooks->fwd != NULL) ? current_hooks->fwd(bus_num, addr) : destination_bus);
 }
 
 bool get_longitudinal_allowed(void) {
@@ -431,6 +446,7 @@ 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.block_fwding = false;
 
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
@@ -448,6 +464,7 @@ 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.block_fwding = cfg.block_fwding;
     // 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}}; // 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.block_fwding = 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

@@ -166,23 +166,6 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static int chrysler_fwd_hook(int bus_num, int addr) {
-  int bus_fwd = -1;
-
-  // forward to camera
-  if (bus_num == 0) {
-    bus_fwd = 2;
-  }
-
-  // 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){
-    bus_fwd = 0;
-  }
-
-  return bus_fwd;
-}
-
 static safety_config chrysler_init(uint16_t param) {
 
   const uint32_t CHRYSLER_PARAM_RAM_DT = 1U;  // set for Ram DT platform
@@ -230,14 +213,14 @@ static safety_config chrysler_init(uint16_t param) {
 
   static const CanMsg CHRYSLER_TX_MSGS[] = {
     {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3},
-    {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6},
-    {CHRYSLER_ADDRS.DAS_6, 0, 8},
+    {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, .blocked = true},
+    {CHRYSLER_ADDRS.DAS_6, 0, 8, .blocked = true},
   };
 
   static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
     {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3},
-    {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8},
-    {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8},
+    {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, .blocked = true},
+    {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, .blocked = true},
   };
 
 #ifdef ALLOW_DEBUG
@@ -263,8 +246,8 @@ static safety_config chrysler_init(uint16_t param) {
 
   static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
     {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3},
-    {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8},
-    {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8},
+    {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, .blocked = true},
+    {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, .blocked = true},
   };
 
   const uint32_t CHRYSLER_PARAM_RAM_HD = 2U;  // set for Ram HD platform
@@ -297,7 +280,6 @@ 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

@@ -10,7 +10,7 @@ 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
@@ -21,56 +21,29 @@ static bool nooutput_tx_hook(const CANPacket_t *to_send) {
 }
 // GCOV_EXCL_STOP
 
-static int default_fwd_hook(int bus_num, int addr) {
-  UNUSED(bus_num);
-  UNUSED(addr);
-  return -1;
-}
-
 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 int alloutput_fwd_hook(int bus_num, int addr) {
-  int bus_fwd = -1;
-  UNUSED(addr);
-
-  if (alloutput_passthrough) {
-    if (bus_num == 0) {
-      bus_fwd = 2;
-    }
-    if (bus_num == 2) {
-      bus_fwd = 0;
-    }
-  }
-
-  return bus_fwd;
-}
-
 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

@@ -188,6 +188,7 @@ static void ford_rx_hook(const CANPacket_t *to_push) {
 
     // If steering controls messages are received on the destination bus, it's an indication
     // that the relay might be malfunctioning.
+    // TODO: replace with blocked messages!
     bool stock_ecu_detected = ford_lkas_msg_check(addr);
     if (ford_longitudinal) {
       stock_ecu_detected = stock_ecu_detected || (addr == FORD_ACCDATA);
@@ -319,38 +320,6 @@ static bool ford_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static int ford_fwd_hook(int bus_num, int addr) {
-  int bus_fwd = -1;
-
-  switch (bus_num) {
-    case FORD_MAIN_BUS: {
-      // Forward all traffic from bus 0 onward
-      bus_fwd = FORD_CAM_BUS;
-      break;
-    }
-    case FORD_CAM_BUS: {
-      if (ford_lkas_msg_check(addr)) {
-        // Block stock LKAS and UI messages
-        bus_fwd = -1;
-      } else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
-        // Block stock ACC message
-        bus_fwd = -1;
-      } else {
-        // Forward remaining traffic
-        bus_fwd = FORD_MAIN_BUS;
-      }
-      break;
-    }
-    default: {
-      // No other buses should be in use; fallback to do-not-forward
-      bus_fwd = -1;
-      break;
-    }
-  }
-
-  return bus_fwd;
-}
-
 static safety_config ford_init(uint16_t param) {
   bool ford_canfd = false;
 
@@ -369,33 +338,33 @@ static safety_config ford_init(uint16_t param) {
     {.msg = {{FORD_DesiredTorqBrk, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 50U}, { 0 }, { 0 }}},
   };
 
-  #define FORD_COMMON_TX_MSGS       \
-    {FORD_Steering_Data_FD1, 0, 8}, \
-    {FORD_Steering_Data_FD1, 2, 8}, \
-    {FORD_ACCDATA_3, 0, 8},         \
-    {FORD_Lane_Assist_Data1, 0, 8}, \
-    {FORD_IPMA_Data, 0, 8},         \
+  #define FORD_COMMON_TX_MSGS                        \
+    {FORD_Steering_Data_FD1, 0, 8},                  \
+    {FORD_Steering_Data_FD1, 2, 8},                  \
+    {FORD_ACCDATA_3, 0, 8, .blocked = true},         \
+    {FORD_Lane_Assist_Data1, 0, 8, .blocked = true}, \
+    {FORD_IPMA_Data, 0, 8, .blocked = true},         \
 
   static const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
     FORD_COMMON_TX_MSGS
-    {FORD_ACCDATA, 0, 8},
-    {FORD_LateralMotionControl2, 0, 8},
+    {FORD_ACCDATA, 0, 8, .blocked = true},
+    {FORD_LateralMotionControl2, 0, 8, .blocked = true},
   };
 
   static const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
     FORD_COMMON_TX_MSGS
-    {FORD_LateralMotionControl2, 0, 8},
+    {FORD_LateralMotionControl2, 0, 8, .blocked = true},
   };
 
   static const CanMsg FORD_STOCK_TX_MSGS[] = {
     FORD_COMMON_TX_MSGS
-    {FORD_LateralMotionControl, 0, 8},
+    {FORD_LateralMotionControl, 0, 8, .blocked = true},
   };
 
   static const CanMsg FORD_LONG_TX_MSGS[] = {
     FORD_COMMON_TX_MSGS
-    {FORD_ACCDATA, 0, 8},
-    {FORD_LateralMotionControl, 0, 8},
+    {FORD_ACCDATA, 0, 8, .blocked = true},
+    {FORD_LateralMotionControl, 0, 8, .blocked = true},
   };
 
   const uint16_t FORD_PARAM_CANFD = 2;
@@ -426,7 +395,6 @@ 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

@@ -16,7 +16,6 @@ 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) {
@@ -159,32 +158,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   return tx;
 }
 
-static int gm_fwd_hook(int bus_num, int addr) {
-  int bus_fwd = -1;
-
-  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) {
-        bus_fwd = 2;
-      }
-    }
-
-    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);
-      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
-      if (!block_msg) {
-        bus_fwd = 0;
-      }
-    }
-  }
-
-  return bus_fwd;
-}
-
 static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_HW_CAM = 1;
 
@@ -207,8 +180,9 @@ static safety_config gm_init(uint16_t param) {
     .max_brake = 400,
   };
 
-  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6},  // pt bus
-                                               {0x184, 2, 8}};  // 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, .blocked = true}, {0x315, 0, 5, .blocked = true}, {0x2CB, 0, 8, .blocked = true}, {0x370, 0, 6, .blocked = true},  // pt bus
+                                               {0x184, 2, 8, .blocked = true}};  // camera bus
 
 
   // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
@@ -223,8 +197,9 @@ static safety_config gm_init(uint16_t param) {
     {.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
   };
 
-  static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4},  // pt bus
-                                          {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
+  // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
+  static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .blocked = true},  // pt bus
+                                          {0x1E1, 2, 7}, {0x184, 2, 8, .blocked = true}};  // camera bus
 
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
 
@@ -235,18 +210,22 @@ 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);
 #endif
   gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
 
-  safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
+  safety_config ret;
   if (gm_hw == GM_CAM) {
     // FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
     // if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
     // cppcheck-suppress knownConditionTrueFalse
     ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
+  } else {
+    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
+    ret.block_fwding = true;
   }
   return ret;
 }
@@ -255,5 +234,4 @@ const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
-  .fwd = gm_fwd_hook,
 };