safety: remove LIN hook (#1741)

* safety: remove LIN hook

* rm more

board/main_comms.h

@@ -59,7 +59,7 @@ int get_rtc_pkt(void *dat) {
 void comms_endpoint2_write(uint8_t *data, uint32_t len) {
   uart_ring *ur = get_ring_by_number(data[0]);
   if ((len != 0U) && (ur != NULL)) {
-    if ((data[0] < 2U) || (data[0] >= 4U) || safety_tx_lin_hook(data[0] - 2U, &data[1], len - 1U)) {
+    if ((data[0] < 2U) || (data[0] >= 4U)) {
       for (uint32_t i = 1; i < len; i++) {
         while (!putc(ur, data[i])) {
           // wait

board/safety.h

@@ -85,10 +85,6 @@ bool safety_tx_hook(CANPacket_t *to_send) {
   return !relay_malfunction && whitelisted && safety_allowed;
 }
 
-bool safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  return current_hooks->tx_lin(lin_num, data, len);
-}
-
 int safety_fwd_hook(int bus_num, int addr) {
   return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, addr));
 }

board/safety/safety_body.h

@@ -42,6 +42,5 @@ const safety_hooks body_hooks = {
   .init = body_init,
   .rx = body_rx_hook,
   .tx = body_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = default_fwd_hook,
 };

board/safety/safety_chrysler.h

@@ -286,7 +286,6 @@ const safety_hooks chrysler_hooks = {
   .init = chrysler_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = chrysler_fwd_hook,
   .get_counter = chrysler_get_counter,
   .get_checksum = chrysler_get_checksum,

board/safety/safety_defaults.h

@@ -14,13 +14,6 @@ static bool nooutput_tx_hook(CANPacket_t *to_send) {
   return false;
 }
 
-static bool nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  UNUSED(lin_num);
-  UNUSED(data);
-  UNUSED(len);
-  return false;
-}
-
 static int default_fwd_hook(int bus_num, int addr) {
   UNUSED(bus_num);
   UNUSED(addr);
@@ -31,7 +24,6 @@ const safety_hooks nooutput_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
   .tx = nooutput_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = default_fwd_hook,
 };
 
@@ -52,13 +44,6 @@ static bool alloutput_tx_hook(CANPacket_t *to_send) {
   return true;
 }
 
-static bool alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  UNUSED(lin_num);
-  UNUSED(data);
-  UNUSED(len);
-  return true;
-}
-
 static int alloutput_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
   UNUSED(addr);
@@ -79,6 +64,5 @@ const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
-  .tx_lin = alloutput_tx_lin_hook,
   .fwd = alloutput_fwd_hook,
 };

board/safety/safety_elm327.h

@@ -17,26 +17,10 @@ static bool elm327_tx_hook(CANPacket_t *to_send) {
   return tx;
 }
 
-static bool elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  int tx = 1;
-  if (lin_num != 0) {
-    tx = 0;  // Only operate on LIN 0, aka serial 2
-  }
-  if ((len < 5) || (len > 11)) {
-    tx = 0;  // Valid KWP size
-  }
-  if (!(((data[0] & 0xF8U) == 0xC0U) && ((data[0] & 0x07U) != 0U) &&
-        (data[1] == 0x33U) && (data[2] == 0xF1U))) {
-    tx = 0;  // Bad msg
-  }
-  return tx;
-}
-
 // If current_board->has_obd and safety_param == 0, bus 1 is multiplexed to the OBD-II port
 const safety_hooks elm327_hooks = {
   .init = nooutput_init,
   .rx = default_rx_hook,
   .tx = elm327_tx_hook,
-  .tx_lin = elm327_tx_lin_hook,
   .fwd = default_fwd_hook,
 };

board/safety/safety_ford.h

@@ -417,7 +417,6 @@ const safety_hooks ford_hooks = {
   .init = ford_init,
   .rx = ford_rx_hook,
   .tx = ford_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = ford_fwd_hook,
   .get_counter = ford_get_counter,
   .get_checksum = ford_get_checksum,

board/safety/safety_gm.h

@@ -240,6 +240,5 @@ const safety_hooks gm_hooks = {
   .init = gm_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = gm_fwd_hook,
 };

board/safety/safety_honda.h

@@ -458,7 +458,6 @@ const safety_hooks honda_nidec_hooks = {
   .init = honda_nidec_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = honda_nidec_fwd_hook,
   .get_counter = honda_get_counter,
   .get_checksum = honda_get_checksum,
@@ -469,7 +468,6 @@ const safety_hooks honda_bosch_hooks = {
   .init = honda_bosch_init,
   .rx = honda_rx_hook,
   .tx = honda_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = honda_bosch_fwd_hook,
   .get_counter = honda_get_counter,
   .get_checksum = honda_get_checksum,

board/safety/safety_hyundai.h

@@ -327,7 +327,6 @@ const safety_hooks hyundai_hooks = {
   .init = hyundai_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = hyundai_fwd_hook,
   .get_counter = hyundai_get_counter,
   .get_checksum = hyundai_get_checksum,
@@ -338,7 +337,6 @@ const safety_hooks hyundai_legacy_hooks = {
   .init = hyundai_legacy_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = hyundai_fwd_hook,
   .get_counter = hyundai_get_counter,
   .get_checksum = hyundai_get_checksum,

board/safety/safety_hyundai_canfd.h

@@ -353,7 +353,6 @@ const safety_hooks hyundai_canfd_hooks = {
   .init = hyundai_canfd_init,
   .rx = hyundai_canfd_rx_hook,
   .tx = hyundai_canfd_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = hyundai_canfd_fwd_hook,
   .get_counter = hyundai_canfd_get_counter,
   .get_checksum = hyundai_canfd_get_checksum,

board/safety/safety_mazda.h

@@ -125,6 +125,5 @@ const safety_hooks mazda_hooks = {
   .init = mazda_init,
   .rx = mazda_rx_hook,
   .tx = mazda_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = mazda_fwd_hook,
 };

board/safety/safety_nissan.h

@@ -155,6 +155,5 @@ const safety_hooks nissan_hooks = {
   .init = nissan_init,
   .rx = nissan_rx_hook,
   .tx = nissan_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = nissan_fwd_hook,
 };

board/safety/safety_subaru.h

@@ -288,7 +288,6 @@ const safety_hooks subaru_hooks = {
   .init = subaru_init,
   .rx = subaru_rx_hook,
   .tx = subaru_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = subaru_fwd_hook,
   .get_counter = subaru_get_counter,
   .get_checksum = subaru_get_checksum,

board/safety/safety_subaru_preglobal.h

@@ -122,6 +122,5 @@ const safety_hooks subaru_preglobal_hooks = {
   .init = subaru_preglobal_init,
   .rx = subaru_preglobal_rx_hook,
   .tx = subaru_preglobal_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = subaru_preglobal_fwd_hook,
 };

board/safety/safety_tesla.h

@@ -222,6 +222,5 @@ const safety_hooks tesla_hooks = {
   .init = tesla_init,
   .rx = tesla_rx_hook,
   .tx = tesla_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = tesla_fwd_hook,
 };

board/safety/safety_toyota.h

@@ -261,7 +261,6 @@ const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,

board/safety/safety_volkswagen_mqb.h

@@ -282,7 +282,6 @@ const safety_hooks volkswagen_mqb_hooks = {
   .init = volkswagen_mqb_init,
   .rx = volkswagen_mqb_rx_hook,
   .tx = volkswagen_mqb_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = volkswagen_mqb_fwd_hook,
   .get_counter = volkswagen_mqb_get_counter,
   .get_checksum = volkswagen_mqb_get_checksum,

board/safety/safety_volkswagen_pq.h

@@ -248,7 +248,6 @@ const safety_hooks volkswagen_pq_hooks = {
   .init = volkswagen_pq_init,
   .rx = volkswagen_pq_rx_hook,
   .tx = volkswagen_pq_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
   .fwd = volkswagen_pq_fwd_hook,
   .get_counter = volkswagen_pq_get_counter,
   .get_checksum = volkswagen_pq_get_checksum,

board/safety_declarations.h

@@ -148,7 +148,6 @@ typedef bool (*get_quality_flag_valid_t)(CANPacket_t *to_push);
 
 bool safety_rx_hook(CANPacket_t *to_push);
 bool safety_tx_hook(CANPacket_t *to_send);
-bool safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
 int to_signed(int d, int bits);
 void update_sample(struct sample_t *sample, int sample_new);
@@ -194,14 +193,12 @@ void pcm_cruise_check(bool cruise_engaged);
 typedef safety_config (*safety_hook_init)(uint16_t param);
 typedef void (*rx_hook)(CANPacket_t *to_push);
 typedef bool (*tx_hook)(CANPacket_t *to_send);
-typedef bool (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
 typedef int (*fwd_hook)(int bus_num, int addr);
 
 typedef struct {
   safety_hook_init init;
   rx_hook rx;
   tx_hook tx;
-  tx_lin_hook tx_lin;
   fwd_hook fwd;
   get_checksum_t get_checksum;
   compute_checksum_t compute_checksum;

tests/libpanda/libpanda_py.py

@@ -27,7 +27,6 @@ typedef struct {
 ffi.cdef("""
 bool safety_rx_hook(CANPacket_t *to_send);
 bool safety_tx_hook(CANPacket_t *to_push);
-bool safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
 int safety_fwd_hook(int bus_num, int addr);
 int set_safety_hooks(uint16_t mode, uint16_t param);
 """)
@@ -78,7 +77,6 @@ class Panda(PandaSafety, Protocol):
   # safety
   def safety_rx_hook(self, to_send: CANPacket) -> int: ...
   def safety_tx_hook(self, to_push: CANPacket) -> int: ...
-  def safety_tx_lin_hook(self, lin_num: int, data: bytes, _len: int) -> int: ...
   def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ...
   def set_safety_hooks(self, mode: int, param: int) -> int: ...
 

tests/safety/common.py

@@ -75,10 +75,6 @@ class PandaSafetyTestBase(unittest.TestCase):
   def _tx(self, msg):
     return self.safety.safety_tx_hook(msg)
 
-  def _tx_lin(self, priority: int, lin_num: int, to_addr: int, from_addr: int, dat: bytes):
-    msg = bytes([priority | len(dat), to_addr, from_addr]) + dat
-    return self.safety.safety_tx_lin_hook(lin_num, msg, len(msg))
-
   def _generic_limit_safety_check(self, msg_function: MessageFunction, min_allowed_value: float, max_allowed_value: float,
                                   min_possible_value: float, max_possible_value: float, test_delta: float = 1, inactive_value: float = 0,
                                   msg_allowed = True, additional_setup: Optional[Callable[[float], None]] = None):

tests/safety/test_defaults.py

@@ -23,10 +23,6 @@ class TestNoOutput(TestDefaultRxHookBase):
     self.safety.set_safety_hooks(Panda.SAFETY_NOOUTPUT, 0)
     self.safety.init_tests()
 
-  def test_tx_lin_hook(self):
-    for lin_num in range(2):
-      self.assertFalse(self._tx_lin(0x0, lin_num, 0x0, 0x0, b'\x00' * 8), f"allowed TX LIN {lin_num=}")
-
 
 class TestSilent(TestNoOutput):
   """SILENT uses same hooks as NOOUTPUT"""
@@ -47,10 +43,6 @@ class TestAllOutput(TestDefaultRxHookBase):
     self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 0)
     self.safety.init_tests()
 
-  def test_tx_lin_hook(self):
-    for lin_num in range(2):
-      self.assertTrue(self._tx_lin(0x0, lin_num, 0x0, 0x0, b'\x00' * 8), f"not allowed TX LIN {lin_num=}")
-
   def test_spam_can_buses(self):
     # asserts tx allowed for all scanned addrs
     for bus in range(4):

tests/safety/test_elm327.py

@@ -31,20 +31,6 @@ class TestElm327(TestDefaultRxHookBase):
       should_tx = msg_len == 8
       self.assertEqual(should_tx, self._tx(common.make_msg(0, 0x700, msg_len)))
 
-  def test_tx_lin_hook(self):
-    # spot check some cases
-    self.assertFalse(self._tx_lin(0xC0, 1, 0x33, 0xF1, b'\x01\x0F'))  # wrong lin number/bus
-    self.assertFalse(self._tx_lin(0xC0, 0, 0x33, 0xF1, b''))  # wrong length
-    self.assertFalse(self._tx_lin(0xB0, 0, 0x33, 0xF1, b'\x01\x0E'))  # bad priority
-    self.assertFalse(self._tx_lin(0xC0, 0, 0x00, 0xF1, b'\x01\x0D'))  # bad addr
-    self.assertFalse(self._tx_lin(0xC0, 0, 0x33, 0x00, b'\x01\x0C'))  # bad addr
-
-    for msg_len in range(8 + 1):
-      # first three bytes are made up of priority, len, rx/tx addresses
-      # payload is not checked, try sending 0xFF
-      should_tx = 2 <= (msg_len) <= 7
-      self.assertEqual(should_tx, self._tx_lin(0xC0, 0, 0x33, 0xF1, b'\xFF' * msg_len))
-
   def test_tx_hook_on_wrong_safety_mode(self):
     # No point, since we allow many diagnostic addresses
     pass