safety: common interceptor checks (commaai#1178)

* interceptor checks * only one line needed for now * whoops * misra * misread as |
budney · Dec 1, 2022 · cb8fc6b · cb8fc6b
1 parent b19a74f
commit cb8fc6b
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Showing 4 changed files with 9 additions and 8 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -511,6 +511,10 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
   return violation;
 }
 
+bool longitudinal_interceptor_checks(CANPacket_t *to_send, bool longitudinal_allowed) {
+  return !longitudinal_allowed && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
+}
+
 // Safety checks for torque-based steering commands
 bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits) {
   bool violation = false;

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -333,10 +333,8 @@ static int honda_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
 
   // GAS: safety check (interceptor)
   if (addr == 0x200) {
-    if (!longitudinal_allowed) {
-      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
-        tx = 0;
-      }
+    if (longitudinal_interceptor_checks(to_send, longitudinal_allowed)) {
+      tx = 0;
     }
   }
 

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -147,10 +147,8 @@ static int toyota_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
 
     // GAS PEDAL: safety check
     if (addr == 0x200) {
-      if (!longitudinal_allowed) {
-        if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
-          tx = 0;
-        }
+      if (longitudinal_interceptor_checks(to_send, longitudinal_allowed)) {
+        tx = 0;
       }
     }
 

diff --git a/board/safety_declarations.h b/board/safety_declarations.h
@@ -130,6 +130,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits, const bool longitudinal_allowed);
+bool longitudinal_interceptor_checks(CANPacket_t *to_send, const bool longitudinal_allowed);
 void pcm_cruise_check(bool cruise_engaged);
 
 typedef const addr_checks* (*safety_hook_init)(uint16_t param);