safety: fwd hook config #1954

sshane · 2025-03-08T07:54:17Z

Closes #1950

removes turing completeness

haven't checked all cases, but we might be able to just do the relay malfunction part of #1903 with nothing more than blocked and a few more lines (plus checking a bunch more addresses automatically)!

opendbc/safety/safety_declarations.h

fix do GM

sshane · 2025-03-08T11:13:08Z

blockers:

Hyundai CAN FD: needs clean up, and we forward/block when bus is 1?
Subaru: clean up, some long messages that we either block or don't block are in common (they're used for canceling)
Honda: dynamic AEB fwding
Tesla: dynamic AEB fwding and soon Autopark/Summon

sshane · 2025-03-08T11:35:57Z

opendbc/safety/safety_declarations.h

  int addr;
  int bus;
  int len;
+  bool blocked;


Suggested change

bool blocked;

bool block_fwding; // or no_fwding

makes this more clear

adeebshihadeh

Looks great!

opendbc/safety/safety.h

adeebshihadeh · 2025-03-08T23:56:15Z

opendbc/safety/safety_declarations.h

  int rx_checks_len;
  const CanMsg *tx_msgs;
  int tx_msgs_len;
+  bool block_fwding;


I'd call this enable_forwarding or disable_forwarding

* 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

* 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

sshane · 2025-04-10T21:26:09Z

Done in #2095

* 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

* 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>

move toyota fwd to tx config

d885b0c

github-actions bot added the car safety vehicle-specific safety code label Mar 8, 2025

sshane added 4 commits March 8, 2025 01:35

don't love this

09b6ecb

oh nice

bff5121

closer to top

4803ade

Rivian is nice and clean

649cdd6

sshane commented Mar 8, 2025

View reviewed changes

opendbc/safety/safety_declarations.h Outdated Show resolved Hide resolved

sshane added 2 commits March 8, 2025 01:56

Nissan is also nice diff

4d82389

do GM

9d790a8

fix do GM

sshane force-pushed the fwd-config branch from 1c9c459 to 9d790a8 Compare March 8, 2025 10:11

sshane added 9 commits March 8, 2025 02:14

Chrysler

8a3d636

Mazda

c3933e1

VW PQ

9b72aa2

sweet wins

db7ec1e

small wins

cf5aa8b

hyundai not too bad

66d489f

elm and alloutput

8f9179e

ah an actual ford test bug

27695a5

forgot to remove these & body

1c2c045

sshane added 4 commits March 8, 2025 03:17

do subaru. we can't block what is sent on bus 1, so check that

5d68c09

misra!

2fb7103

forgot to remove these

e3d4039

for now pass tests

125dd29

sshane commented Mar 8, 2025

View reviewed changes

sshane added 2 commits March 8, 2025 03:55

use a bool for this

e641d0f

Do part of Tesla

956071b

adeebshihadeh reviewed Mar 8, 2025

View reviewed changes

This was referenced Mar 9, 2025

safety: relay malfunction config #1959

Merged

safety fwd hook: returns a bool #1970

Merged

sshane added a commit that referenced this pull request Mar 10, 2025

great name (rename after #1954)

2673f6c

sshane mentioned this pull request Mar 10, 2025

Ford safety: only check relevant LKAS addresses #1971

Merged

sshane force-pushed the fwd-config branch 2 times, most recently from da484a8 to 0753240 Compare March 14, 2025 03:13

Merge remote-tracking branch 'upstream/master' into fwd-config

28ded4e

sshane force-pushed the fwd-config branch from 686f0ba to 28ded4e Compare March 14, 2025 03:33

sshane added 13 commits March 13, 2025 20:35

remove

9ae80c3

whoops

e7bbdfe

woo

c5bf64f

first

c0c0b2d

Merge remote-tracking branch 'upstream/master' into fwd-config

087a8c4

more

4da0129

more

06245ec

more

7dd8098

these are the same now!

9d0ad08

rm addr check

ef02a3e

fix rivian

73167f1

fix gm

f91efec

more

1bd3f89

This was referenced Mar 14, 2025

safety: start fwd hook config #1997

Merged

safety: start per-message fwd config #1998

Closed

sshane closed this Apr 10, 2025

sshane deleted the fwd-config branch April 10, 2025 21:26

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

safety: fwd hook config #1954

safety: fwd hook config #1954

Uh oh!

sshane commented Mar 8, 2025 •

edited

Loading

Uh oh!

Uh oh!

sshane commented Mar 8, 2025 •

edited

Loading

Uh oh!

sshane Mar 8, 2025

Uh oh!

adeebshihadeh left a comment

Uh oh!

Uh oh!

adeebshihadeh Mar 8, 2025

Uh oh!

sshane commented Apr 10, 2025 •

edited

Loading

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

safety: fwd hook config #1954

safety: fwd hook config #1954

Uh oh!

Conversation

sshane commented Mar 8, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Uh oh!

sshane commented Mar 8, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

sshane Mar 8, 2025

Choose a reason for hiding this comment

Uh oh!

adeebshihadeh left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

adeebshihadeh Mar 8, 2025

Choose a reason for hiding this comment

Uh oh!

sshane commented Apr 10, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

sshane commented Mar 8, 2025 •

edited

Loading

sshane commented Mar 8, 2025 •

edited

Loading

sshane commented Apr 10, 2025 •

edited

Loading