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safety: remove LIN hook (#1741) 

* safety: remove LIN hook

* rm more
This commit is contained in:
Adeeb Shihadeh 2023-11-23 16:30:20 -08:00 committed by GitHub
parent 194f2d9657
commit f1cd12651c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
24 changed files with 1 additions and 85 deletions
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2
board/main_comms.h
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@ -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

4
board/safety.h
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@ -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));
}

1
board/safety/safety_body.h
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@ -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,
};

1
board/safety/safety_chrysler.h
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@ -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,

16
board/safety/safety_defaults.h
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@ -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,
};

16
board/safety/safety_elm327.h
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@ -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,
};

1
board/safety/safety_ford.h
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@ -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,

1
board/safety/safety_gm.h
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@ -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,
};

2
board/safety/safety_honda.h
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@ -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,

2
board/safety/safety_hyundai.h
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@ -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,

1
board/safety/safety_hyundai_canfd.h
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@ -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,

1
board/safety/safety_mazda.h
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@ -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,
};

1
board/safety/safety_nissan.h
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@ -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,
};

1
board/safety/safety_subaru.h
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@ -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,

1
board/safety/safety_subaru_preglobal.h
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@ -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,
};

1
board/safety/safety_tesla.h
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@ -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,
};

1
board/safety/safety_toyota.h
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@ -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,

1
board/safety/safety_volkswagen_mqb.h
View File

@ -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,

1
board/safety/safety_volkswagen_pq.h
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@ -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,

3
board/safety_declarations.h
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@ -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;

2
tests/libpanda/libpanda_py.py
View File

@ -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: ...

4
tests/safety/common.py
View File

@ -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):

8
tests/safety/test_defaults.py
View File

@ -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):

14
tests/safety/test_elm327.py
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@ -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