safety: more int -> bool (#1742)

board/safety/safety_body.h

@@ -16,18 +16,18 @@ static void body_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool body_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   int len = GET_LEN(to_send);
 
   if (!controls_allowed && (addr != 0x1)) {
-    tx = 0;
+    tx = false;
   }
 
   // Allow going into CAN flashing mode for base & knee even if controls are not allowed
   bool flash_msg = ((addr == 0x250) || (addr == 0x350)) && (len == 8);
   if (!controls_allowed && (GET_BYTES(to_send, 0, 4) == 0xdeadfaceU) && (GET_BYTES(to_send, 4, 4) == 0x0ab00b1eU) && flash_msg) {
-    tx = 1;
+    tx = true;
   }
 
   return tx;

board/safety/safety_chrysler.h

@@ -214,7 +214,7 @@ static void chrysler_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool chrysler_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
 
   // STEERING
@@ -228,7 +228,7 @@ static bool chrysler_tx_hook(CANPacket_t *to_send) {
 
     bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? (GET_BIT(to_send, 4U) != 0U) : ((GET_BYTE(to_send, 3) & 0x7U) == 2U);
     if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -238,7 +238,7 @@ static bool chrysler_tx_hook(CANPacket_t *to_send) {
     const bool is_resume = GET_BYTE(to_send, 0) == 0x10U;
     const bool allowed = is_cancel || (is_resume && controls_allowed);
     if (!allowed) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_elm327.h

@@ -1,18 +1,18 @@
 static bool elm327_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   int len = GET_LEN(to_send);
 
   // All ISO 15765-4 messages must be 8 bytes long
   if (len != 8) {
-    tx = 0;
+    tx = false;
   }
 
   // Check valid 29 bit send addresses for ISO 15765-4
   // Check valid 11 bit send addresses for ISO 15765-4
   if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) &&
       ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700)) {
-    tx = 0;
+    tx = false;
   }
   return tx;
 }

board/safety/safety_ford.h

@@ -286,7 +286,7 @@ static bool ford_tx_hook(CANPacket_t *to_send) {
     violation |= cmbb_deny != 0; // do not prevent stock AEB actuation
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -301,7 +301,7 @@ static bool ford_tx_hook(CANPacket_t *to_send) {
     violation |= (GET_BIT(to_send, 25U) == 1U) && !controls_allowed;     // Signal: CcAsllButtnResPress (resume)
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -313,7 +313,7 @@ static bool ford_tx_hook(CANPacket_t *to_send) {
     // but the action (LkaActvStats_D2_Req) must be set to zero.
     unsigned int action = GET_BYTE(to_send, 0) >> 5;
     if (action != 0U) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -334,7 +334,7 @@ static bool ford_tx_hook(CANPacket_t *to_send) {
     violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -355,7 +355,7 @@ static bool ford_tx_hook(CANPacket_t *to_send) {
     violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_gm.h

@@ -136,7 +136,7 @@ static void gm_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool gm_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
 
   // BRAKE: safety check
@@ -144,7 +144,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
     int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1);
     brake = (0x1000 - brake) & 0xFFF;
     if (longitudinal_brake_checks(brake, *gm_long_limits)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -156,7 +156,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
     bool steer_req = (GET_BIT(to_send, 3U) != 0U);
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -171,7 +171,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
     violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -181,7 +181,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
 
     bool allowed_cancel = (button == 6) && cruise_engaged_prev;
     if (!allowed_cancel) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_honda.h

@@ -261,7 +261,7 @@ static void honda_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool honda_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
@@ -277,7 +277,7 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
     violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS);
     violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS);
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -285,10 +285,10 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
   if ((addr == 0x1FA) && (bus == bus_pt)) {
     honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
     if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
     if (honda_fwd_brake) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -304,7 +304,7 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
     violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
     violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS);
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -316,7 +316,7 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
     bool violation = false;
     violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS);
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -325,7 +325,7 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
     if (!controls_allowed) {
       bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
       if (steer_applied) {
-        tx = 0;
+        tx = false;
       }
     }
   }
@@ -333,14 +333,14 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
   // Bosch supplemental control check
   if (addr == 0xE5) {
     if ((GET_BYTES(to_send, 0, 4) != 0x10800004U) || ((GET_BYTES(to_send, 4, 4) & 0x00FFFFFFU) != 0x0U)) {
-      tx = 0;
+      tx = false;
     }
   }
 
   // GAS: safety check (interceptor)
   if (addr == 0x200) {
     if (longitudinal_interceptor_checks(to_send)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -349,14 +349,14 @@ static bool honda_tx_hook(CANPacket_t *to_send) {
   // This avoids unintended engagements while still allowing resume spam
   if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) {
     if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
-      tx = 0;
+      tx = false;
     }
   }
 
   // Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (addr == 0x18DAB0F1) {
     if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_hyundai.h

@@ -215,7 +215,7 @@ static void hyundai_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool hyundai_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
 
   // FCA11: Block any potential actuation
@@ -225,7 +225,7 @@ static bool hyundai_tx_hook(CANPacket_t *to_send) {
     int CF_VSM_DecCmdAct = GET_BIT(to_send, 31U);
 
     if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -245,7 +245,7 @@ static bool hyundai_tx_hook(CANPacket_t *to_send) {
     violation |= (aeb_req != 0);
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -256,14 +256,14 @@ static bool hyundai_tx_hook(CANPacket_t *to_send) {
 
     const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
     if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
-      tx = 0;
+      tx = false;
     }
   }
 
   // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
   if (addr == 0x7D0) {
     if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -274,7 +274,7 @@ static bool hyundai_tx_hook(CANPacket_t *to_send) {
     bool allowed_resume = (button == 1) && controls_allowed;
     bool allowed_cancel = (button == 4) && cruise_engaged_prev;
     if (!(allowed_resume || allowed_cancel)) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_hyundai_canfd.h

@@ -228,7 +228,7 @@ static void hyundai_canfd_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool hyundai_canfd_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
 
   // steering
@@ -238,7 +238,7 @@ static bool hyundai_canfd_tx_hook(CANPacket_t *to_send) {
     bool steer_req = GET_BIT(to_send, 52U) != 0U;
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -250,14 +250,14 @@ static bool hyundai_canfd_tx_hook(CANPacket_t *to_send) {
 
     bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed);
     if (!allowed) {
-      tx = 0;
+      tx = false;
     }
   }
 
   // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
   if ((addr == 0x730) && hyundai_canfd_hda2) {
     if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -279,7 +279,7 @@ static bool hyundai_canfd_tx_hook(CANPacket_t *to_send) {
     }
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_mazda.h

@@ -69,7 +69,7 @@ static void mazda_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool mazda_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
@@ -81,7 +81,7 @@ static bool mazda_tx_hook(CANPacket_t *to_send) {
       int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - 2048U;
 
       if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) {
-        tx = 0;
+        tx = false;
       }
     }
 
@@ -91,7 +91,7 @@ static bool mazda_tx_hook(CANPacket_t *to_send) {
       // only allow cancel while contrls not allowed
       bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
       if (!controls_allowed && !cancel_cmd) {
-        tx = 0;
+        tx = false;
       }
     }
   }

board/safety/safety_nissan.h

@@ -94,7 +94,7 @@ static void nissan_rx_hook(CANPacket_t *to_push) {
 
 
 static bool nissan_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   bool violation = false;
 
@@ -118,7 +118,7 @@ static bool nissan_tx_hook(CANPacket_t *to_send) {
   }
 
   if (violation) {
-    tx = 0;
+    tx = false;
   }
 
   return tx;

board/safety/safety_subaru.h

@@ -181,7 +181,7 @@ static void subaru_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool subaru_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   bool violation = false;
 
@@ -234,7 +234,7 @@ static bool subaru_tx_hook(CANPacket_t *to_send) {
   }
 
   if (violation){
-    tx = 0;
+    tx = false;
   }
   return tx;
 }

board/safety/safety_subaru_preglobal.h

@@ -78,7 +78,7 @@ static void subaru_preglobal_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool subaru_preglobal_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
 
   // steer cmd checks
@@ -89,7 +89,7 @@ static bool subaru_preglobal_tx_hook(CANPacket_t *to_send) {
     bool steer_req = (GET_BIT(to_send, 24U) != 0U);
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
 
   }

board/safety/safety_tesla.h

@@ -117,7 +117,7 @@ static void tesla_rx_hook(CANPacket_t *to_push) {
 
 
 static bool tesla_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   bool violation = false;
 
@@ -168,7 +168,7 @@ static bool tesla_tx_hook(CANPacket_t *to_send) {
   }
 
   if (violation) {
-    tx = 0;
+    tx = false;
   }
 
   return tx;

board/safety/safety_toyota.h

@@ -140,7 +140,7 @@ static void toyota_rx_hook(CANPacket_t *to_push) {
 }
 
 static bool toyota_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
+  bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
@@ -150,7 +150,7 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
     // GAS PEDAL: safety check
     if (addr == 0x200) {
       if (longitudinal_interceptor_checks(to_send)) {
-        tx = 0;
+        tx = false;
       }
     }
 
@@ -174,7 +174,7 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
       }
 
       if (violation) {
-        tx = 0;
+        tx = false;
       }
     }
 
@@ -183,7 +183,7 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
       // only allow the checksum, which is the last byte
       bool block = (GET_BYTES(to_send, 0, 4) != 0U) || (GET_BYTE(to_send, 4) != 0U) || (GET_BYTE(to_send, 5) != 0U);
       if (block) {
-        tx = 0;
+        tx = false;
       }
     }
 
@@ -199,7 +199,7 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
 
       // block LTA msgs with actuation requests
       if (lta_request || lta_request2 || (lta_angle != 0) || (setme_x64 != 0)) {
-        tx = 0;
+        tx = false;
       }
     }
 
@@ -209,11 +209,11 @@ static bool toyota_tx_hook(CANPacket_t *to_send) {
       desired_torque = to_signed(desired_torque, 16);
       bool steer_req = GET_BIT(to_send, 0U) != 0U;
       if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_STEERING_LIMITS)) {
-        tx = 0;
+        tx = false;
       }
       // When using LTA (angle control), assert no actuation on LKA message
       if (toyota_lta && ((desired_torque != 0) || steer_req)) {
-        tx = 0;
+        tx = false;
       }
     }
   }

board/safety/safety_volkswagen_mqb.h

@@ -194,7 +194,7 @@ static void volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
 
 static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
-  int tx = 1;
+  bool tx = true;
 
   // Safety check for HCA_01 Heading Control Assist torque
   // Signal: HCA_01.HCA_01_LM_Offset (absolute torque)
@@ -209,7 +209,7 @@ static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
     bool steer_req = GET_BIT(to_send, 30U) != 0U;
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -233,7 +233,7 @@ static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
     violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS);
 
     if (violation) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -242,7 +242,7 @@ static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
   if ((addr == MSG_GRA_ACC_01) && !controls_allowed) {
     // disallow resume and set: bits 16 and 19
     if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) {
-      tx = 0;
+      tx = false;
     }
   }
 

board/safety/safety_volkswagen_pq.h

@@ -171,7 +171,7 @@ static void volkswagen_pq_rx_hook(CANPacket_t *to_push) {
 
 static bool volkswagen_pq_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
-  int tx = 1;
+  bool tx = true;
 
   // Safety check for HCA_1 Heading Control Assist torque
   // Signal: HCA_1.LM_Offset (absolute torque)
@@ -188,7 +188,7 @@ static bool volkswagen_pq_tx_hook(CANPacket_t *to_send) {
     bool steer_req = (hca_status == 5U);
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_PQ_STEERING_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -199,7 +199,7 @@ static bool volkswagen_pq_tx_hook(CANPacket_t *to_send) {
     int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U;
 
     if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) {
-      tx = 0;
+      tx = false;
     }
   }
 
@@ -209,7 +209,7 @@ static bool volkswagen_pq_tx_hook(CANPacket_t *to_send) {
     // Signal: GRA_Neu.GRA_Neu_Setzen
     // Signal: GRA_Neu.GRA_Neu_Recall
     if (GET_BIT(to_send, 16U) || GET_BIT(to_send, 17U)) {
-      tx = 0;
+      tx = false;
     }
   }