Fix Misra 20.1 violations: Moved safety declarations in its own header and qdded optional input to run misra tests for safety code only.

board/safety.h

@@ -1,56 +1,5 @@
-// sample struct that keeps 3 samples in memory
+// include first, needed by safety policies
-struct sample_t {
+#include "safety_declarations.h"
-  int values[6];
-  int min;
-  int max;
-} sample_t_default = {{0}, 0, 0};
-
-// safety code requires floats
-struct lookup_t {
-  float x[3];
-  float y[3];
-};
-
-void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
-int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
-int safety_ignition_hook();
-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);
-int max_limit_check(int val, const int MAX, const int MIN);
-int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
-  const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
-int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
-  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
-int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-float interpolate(struct lookup_t xy, float x);
-
-typedef void (*safety_hook_init)(int16_t param);
-typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
-typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
-typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
-typedef int (*ign_hook)();
-typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
-
-typedef struct {
-  safety_hook_init init;
-  ign_hook ignition;
-  rx_hook rx;
-  tx_hook tx;
-  tx_lin_hook tx_lin;
-  fwd_hook fwd;
-} safety_hooks;
-
-// This can be set by the safety hooks.
-int controls_allowed = 0;
-int gas_interceptor_detected = 0;
-int gas_interceptor_prev = 0;
-
-// This is set by USB command 0xdf
-int long_controls_allowed = 1;
-
 // Include the actual safety policies.
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"

board/safety_declarations.h

@@ -0,0 +1,52 @@
+// sample struct that keeps 3 samples in memory
+struct sample_t {
+  int values[6];
+  int min;
+  int max;
+} sample_t_default = {{0}, 0, 0};
+
+// safety code requires floats
+struct lookup_t {
+  float x[3];
+  float y[3];
+};
+
+void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
+int safety_ignition_hook();
+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);
+int max_limit_check(int val, const int MAX, const int MIN);
+int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
+  const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
+int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
+  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
+  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
+int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
+float interpolate(struct lookup_t xy, float x);
+
+typedef void (*safety_hook_init)(int16_t param);
+typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
+typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
+typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
+typedef int (*ign_hook)();
+typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
+
+typedef struct {
+  safety_hook_init init;
+  ign_hook ignition;
+  rx_hook rx;
+  tx_hook tx;
+  tx_lin_hook tx_lin;
+  fwd_hook fwd;
+} safety_hooks;
+
+// This can be set by the safety hooks.
+int controls_allowed = 0;
+int gas_interceptor_detected = 0;
+int gas_interceptor_prev = 0;
+
+// This is set by USB command 0xdf
+int long_controls_allowed = 1;

tests/misra/test_misra.sh

@@ -1,13 +1,20 @@
 #!/bin/bash -e
+
+INPUT1=$1
+
+echo $INPUT1
+
 git clone https://github.com/danmar/cppcheck.git || true
 cd cppcheck
 git checkout 1584e6236758d54b0d246d41771d67338e0bd41b
 make -j4
 cd ../../../
 
-# whole panda code
+if [ "$INPUT1" != "safety-only" ]; then
-tests/misra/cppcheck/cppcheck --dump --enable=all board/main.c 2>/tmp/misra/cppcheck_output.txt || true
+  # whole panda code
-python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt || true
+  tests/misra/cppcheck/cppcheck --dump --enable=all board/main.c 2>/tmp/misra/cppcheck_output.txt || true
+  python tests/misra/cppcheck/addons/misra.py board/main.c.dump 2>/tmp/misra/misra_output.txt || true
+fi
 
 # just safety
 tests/misra/cppcheck/cppcheck --dump --enable=all board/safety.h 2>/tmp/misra/cppcheck_safety_output.txt || true