safety: only run rx hooks on whitelisted msgs #1903

sshane · 2025-03-03T19:38:38Z

#1851 but for rx

catches a few missing rx checks:

FAILED test_models.py::TestCarModel_14_CHEVROLET_BOLT_EUV::test_panda_safety_carstate@CarTestRoute(route='f08912a233c1584f|2022-08-11--18-02-41', car_model=<CAR.CHEVROLET_BOLT_EUV>, segment=1) - AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'regenBraking': 312}
FAILED test_models.py::TestCarModel_20_CHEVROLET_VOLT::test_panda_safety_carstate@CarTestRoute(route='c950e28c26b5b168|2018-05-30--22-03-41', car_model=<CAR.CHEVROLET_VOLT>, segment=None) - AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'regenBraking': 30}
FAILED test_models.py::TestCarModel_43_GENESIS_GV60_EV_1ST_GEN::test_panda_safety_carstate@CarTestRoute(route='b5d6dc830ad63071|2022-12-12--21-28-25', car_model=<CAR.GENESIS_GV60_EV_1ST_GEN>, segment=12) - AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'controlsAllowed': 9}
FAILED test_models.py::TestCarModel_183_RIVIAN_R1_GEN1::test_panda_safety_carstate_fuzzy@CarTestRoute(route='bc095dc92e101734/000000db--ee9fe46e57', car_model=<CAR.RIVIAN_R1_GEN1>, segment=None) - IndexError: list index out of range
FAILED test_models.py::TestCarModel_241_TOYOTA_RAV4_PRIME::test_panda_safety_carstate@CarTestRoute(route='20ba9ade056a8c7b|2021-02-08--21-57-35', car_model=<CAR.TOYOTA_RAV4_PRIME>, segment=None) - AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 349}
FAILED test_models.py::TestCarModel_247_TOYOTA_SIENNA::test_panda_safety_carstate@CarTestRoute(route='eb6acd681135480d|2019-06-20--20-00-00', car_model=<CAR.TOYOTA_SIENNA>, segment=None) - AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'brakePressed': 184}

rivian is also bad!

sshane · 2025-03-07T08:05:29Z

Just did the structure so far, will fix the bugs in another PR first. @adeebshihadeh Did you have any thoughts about how this is done? Maybe it's cleaner if this hook returns a bool like the others, so true if it detects a relay malfunction and false if not, instead of calling this generic_rx_checks everywhere.

sshane · 2025-03-07T08:06:36Z

opendbc/safety/safety/safety_chrysler.h

 const safety_hooks chrysler_hooks = {
  .init = chrysler_init,
  .rx = chrysler_rx_hook,
+  .rx_relay_malfunction = chrysler_rx_relay_malfunction_hook,


Suggested change

.rx_relay_malfunction = chrysler_rx_relay_malfunction_hook,

.stock_ecu_hook = chrysler_stock_ecu_hook,

?

opendbc/safety/safety.h

sshane · 2025-03-08T00:36:40Z

There's actually failures in 7 safety modes, and the Hyundai ones seem the most complex to fix. We might need to clean up the safety first. Going to fix the latest one only for the release (Rivian): #1949

@jyoung8607 Toyota SEC OC doesn't define different RX checks, so it's missing some of the new addresses, can you fix?

split from commaai#1903

* don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * .

split from commaai#1903

* don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * .

split from commaai#1903

* don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * .

* Add secoc ACC command * Remove commented out secoc long disable code * Add Toyota 2021 SecOC route * Send 0 accel for ACC_CONTROL to match stock * Update opendbc/car/toyota/carcontroller.py Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> * Add new ACC steering wheel message for SecOC cars. Update distance_button with the new message. * Add new DBC file for Toyota SecOC cars. * Update Toyota Rav4 Prime and 4th Gen Sienna to use SecOC DBC file. * Update carstate.py l * dont save button state on secoc Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update opendbc/car/toyota/carstate.py Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Remove unreachable code * Move secoc safety to opendbc * Update R4P SecOC route * Build safety with -Wextra * safety: relay malfunction config (#1959) * Do Toyota relay malfunction config * clean up * not needed * rm this * rm * fix * great name (rename after #1954) * do gm * need this since we will dynamically block it * subie * some more brands * Ford * Chrysler * Hyundai * huge oof hyundai * toyota & vw * fix * tesla * 0x194 isn't on Honda Bosch * Honda: we can check bus 1 for 0xe4 * misra * static * ugh need this * correct * nl * like * space * Hyundai: dashcam FCEV (#1973) * Disable FCEV * coverage * fixme * misra misra * Hyundai CAN FD: Accurate hybrid powertrain detection (#1891) * Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA * Tesla: Autopilot enabled signal (#1978) * new Tesla signals * consistent --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * Tesla: fix incorrect DBC msg length (#1980) actually DBC is wrong * Subaru Pre-Global: fix missing rx checks (#1982) passes tm * Honda Nidec: missing brake command rx check (#1981) * missing honda rx nidec brake command * misra * move up * Honda safety: only test alt brake for alt brake param split from #1903 * safety tests: remove redundant test skips (#1983) remove useless skiptests * GM safety: add missing regen rx check (#1984) * from pr * forgot * fix test * cleaner * misra * Fingerprint: 2022 Civic Si (#1952) * 2022 Civic Si * fix * Hyundai CAN FD safety: more clear what is common (#1986) * more clear what is common * here too * Hyundai CANFD safety tests: common safety param combinations (#1987) clean this up * Hyundai CAN FD safety: replace alt buttons live detection with param (#1985) * alt buttons needs to be checked with the param * flip * do tests * Hyundai safety: add missing rx checks (#1989) * add torque driver addr check and always check buttons (for interaction) * fix * safety: rename allowed less confusing next to `safety_allowed` * safety: only run rx hooks on whitelisted msgs (#1903) * don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * . * Hyundai: Fix FCEV RX check and move out of dashcam (#1974) * Revert "Hyundai: dashcam FCEV (#1973)" This reverts commit 6254215. * Hyundai: Fix FCEV RX check and move out of dashcam * less duplication * line * same * add missing test --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * HKG: spas remove unused frame param (#1966) spas remove unused frame param * Added FW for Mazda CX5 2025 (#1911) Add other CX-5 2025 FP fw * Hyundai CAN FD: Fix steering messages in safety replay (#1975) * Hyundai: split car controller by CAN FD (#1990) * split main can sends part * use_clu11 was confusing * better * bet * clean up * Toyota: add static rx check for alt brake (#1991) rx check for alt brake * whoops bad pull * PR suggestions * Remove unnecessary parens * PR suggestions * Fix some logical errors * Fix tester present test * Update safety for non-op long secoc * Update tests * Update safety * Update tests * whitespace adjustment for clarity * PR suggestions --------- Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: PenitentTangent2401 <klabuschagne@kd9atp.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Lukas <61192133+lukasloetkolben@users.noreply.github.com> Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Co-authored-by: royjr <royjr96@gmail.com> Co-authored-by: kenhuang14 <97474725+kenhuang14@users.noreply.github.com> Co-authored-by: Warren Togami <wtogami@gmail.com> Co-authored-by: Jason Young <jyoung8607@gmail.com>

* Add secoc ACC command * Remove commented out secoc long disable code * Add Toyota 2021 SecOC route * Send 0 accel for ACC_CONTROL to match stock * Update opendbc/car/toyota/carcontroller.py Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> * Add new ACC steering wheel message for SecOC cars. Update distance_button with the new message. * Add new DBC file for Toyota SecOC cars. * Update Toyota Rav4 Prime and 4th Gen Sienna to use SecOC DBC file. * Update carstate.py l * dont save button state on secoc Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update opendbc/car/toyota/carstate.py Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Remove unreachable code * Move secoc safety to opendbc * Update R4P SecOC route * Build safety with -Wextra * safety: relay malfunction config (commaai#1959) * Do Toyota relay malfunction config * clean up * not needed * rm this * rm * fix * great name (rename after commaai#1954) * do gm * need this since we will dynamically block it * subie * some more brands * Ford * Chrysler * Hyundai * huge oof hyundai * toyota & vw * fix * tesla * 0x194 isn't on Honda Bosch * Honda: we can check bus 1 for 0xe4 * misra * static * ugh need this * correct * nl * like * space * Hyundai: dashcam FCEV (commaai#1973) * Disable FCEV * coverage * fixme * misra misra * Hyundai CAN FD: Accurate hybrid powertrain detection (commaai#1891) * Hyundai CAN FD: Accurate hybrid powertrain detection * label message names * use 0xFA * Tesla: Autopilot enabled signal (commaai#1978) * new Tesla signals * consistent --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * Tesla: fix incorrect DBC msg length (commaai#1980) actually DBC is wrong * Subaru Pre-Global: fix missing rx checks (commaai#1982) passes tm * Honda Nidec: missing brake command rx check (commaai#1981) * missing honda rx nidec brake command * misra * move up * Honda safety: only test alt brake for alt brake param split from commaai#1903 * safety tests: remove redundant test skips (commaai#1983) remove useless skiptests * GM safety: add missing regen rx check (commaai#1984) * from pr * forgot * fix test * cleaner * misra * Fingerprint: 2022 Civic Si (commaai#1952) * 2022 Civic Si * fix * Hyundai CAN FD safety: more clear what is common (commaai#1986) * more clear what is common * here too * Hyundai CANFD safety tests: common safety param combinations (commaai#1987) clean this up * Hyundai CAN FD safety: replace alt buttons live detection with param (commaai#1985) * alt buttons needs to be checked with the param * flip * do tests * Hyundai safety: add missing rx checks (commaai#1989) * add torque driver addr check and always check buttons (for interaction) * fix * safety: rename allowed less confusing next to `safety_allowed` * safety: only run rx hooks on whitelisted msgs (commaai#1903) * don't run rx hook on non-allowed messages * better name * fix toyota (bug w/ secoc) * looks like honda is broken * rivian is also bad! (missing EPAS_SystemStatus) * misra so far rivian is also bad! * nissan is fine * tesla is also borked * mazda's good * subaru's fine * gm broke * ford's good * chrysler's good * vw is good * hyundai is broky, canfd is good * Fix Rivian * revert these * do relay malfunction check on all addresses * Found a Tesla bug * fix subaru pg * body * rm * Fix Honda * stash * fix Hyundai * fix * Hyundai: buttons are used always (for interaction) * revert tesla * body: we don't rx _torque_cmd_msg * Revert "body: we don't rx _torque_cmd_msg" This reverts commit 2f973f6. * simpler * GM EV param for correct rxchecks * no need * might read better * rm extras * fix hyundai * we weren't testing lfa (non-hda2), alt buttons, long * fix * tested * rm * not needed * clean up * that too * . * Hyundai: Fix FCEV RX check and move out of dashcam (commaai#1974) * Revert "Hyundai: dashcam FCEV (commaai#1973)" This reverts commit 6254215. * Hyundai: Fix FCEV RX check and move out of dashcam * less duplication * line * same * add missing test --------- Co-authored-by: Shane Smiskol <shane@smiskol.com> * HKG: spas remove unused frame param (commaai#1966) spas remove unused frame param * Added FW for Mazda CX5 2025 (commaai#1911) Add other CX-5 2025 FP fw * Hyundai CAN FD: Fix steering messages in safety replay (commaai#1975) * Hyundai: split car controller by CAN FD (commaai#1990) * split main can sends part * use_clu11 was confusing * better * bet * clean up * Toyota: add static rx check for alt brake (commaai#1991) rx check for alt brake * whoops bad pull * PR suggestions * Remove unnecessary parens * PR suggestions * Fix some logical errors * Fix tester present test * Update safety for non-op long secoc * Update tests * Update safety * Update tests * whitespace adjustment for clarity * PR suggestions --------- Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> Co-authored-by: PenitentTangent2401 <klabuschagne@kd9atp.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Lukas <61192133+lukasloetkolben@users.noreply.github.com> Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com> Co-authored-by: royjr <royjr96@gmail.com> Co-authored-by: kenhuang14 <97474725+kenhuang14@users.noreply.github.com> Co-authored-by: Warren Togami <wtogami@gmail.com> Co-authored-by: Jason Young <jyoung8607@gmail.com>

sshane added 2 commits March 3, 2025 11:36

don't run rx hook on non-allowed messages

2c070df

better name

c0bff74

sshane changed the title ~~Only run rx hooks on msgs in safety_config.rx_msgs~~ safety: only run rx hooks on whitelisted msgs Mar 3, 2025

github-actions bot added the car safety vehicle-specific safety code label Mar 3, 2025

sshane added 13 commits March 3, 2025 11:45

fix toyota (bug w/ secoc)

eb3424c

looks like honda is broken

b6a9089

rivian is also bad! (missing EPAS_SystemStatus)

3382d4a

misra so far

b28ddda

rivian is also bad!

nissan is fine

fcbddec

tesla is also borked

f289e52

mazda's good

d82214c

subaru's fine

425612b

gm broke

0a9b5aa

ford's good

ad18efc

chrysler's good

ddc8290

vw is good

2facb73

hyundai is broky, canfd is good

961d3cc

sshane added this to the openpilot 0.9.8 milestone Mar 3, 2025

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

1648ad9

sshane requested a review from adeebshihadeh March 7, 2025 08:04

sshane commented Mar 7, 2025

View reviewed changes

adeebshihadeh requested changes Mar 7, 2025

View reviewed changes

opendbc/safety/safety.h Outdated Show resolved Hide resolved

sshane added 3 commits March 7, 2025 13:10

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

7992dd0

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

c27ff5f

Fix Rivian

1f2ed53

sshane mentioned this pull request Mar 8, 2025

Rivian safety: check missing rx addr #1949

Merged

sshane modified the milestones: openpilot 0.9.8, openpilot 0.9.9 Mar 8, 2025

sshane added 2 commits March 11, 2025 17:20

rm extras

ac472da

fix hyundai

1f12d82

sshane mentioned this pull request Mar 12, 2025

Hyundai CAN FD safety: replace alt buttons live detection with param #1985

Merged

sshane added 7 commits March 11, 2025 22:37

we weren't testing lfa (non-hda2), alt buttons, long

700703f

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

5037164

fix

32f71be

tested

d8d3685

rm

01440ce

not needed

f8e8b44

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

1b431ef

sshane mentioned this pull request Mar 12, 2025

Hyundai safety: add missing rx checks #1989

Merged

sshane added 5 commits March 11, 2025 23:22

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

dc71049

clean up

7864bfc

that too

dbdea15

Merge remote-tracking branch 'upstream/master' into rx-hook-whitelist

957a07b

.

9442d46

sshane marked this pull request as ready for review March 12, 2025 06:29

sshane merged commit febbf0f into master Mar 12, 2025
8 checks passed

sshane deleted the rx-hook-whitelist branch March 12, 2025 06:29

chrispypatt pushed a commit to chrispypatt/opendbc that referenced this pull request Mar 12, 2025

Honda safety: only test alt brake for alt brake param

fdfc8f3

split from commaai#1903

Edison-CBS pushed a commit to Edison-CBS/opendbc that referenced this pull request Apr 5, 2025

Honda safety: only test alt brake for alt brake param

45ab600

split from commaai#1903

This was referenced Apr 9, 2025

safety: replace fwd hooks with relay addr check config #2086

Closed

Move relay malfunction check to fwd hook #2087

Merged

eli-davis pushed a commit to eli-davis/opendbc_reference that referenced this pull request Jul 15, 2025

Honda safety: only test alt brake for alt brake param

99d2fa2

split from commaai#1903

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	.rx_relay_malfunction = chrysler_rx_relay_malfunction_hook,
	.stock_ecu_hook = chrysler_stock_ecu_hook,

safety: only run rx hooks on whitelisted msgs #1903

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