safety: cleanup ints that are bools (#1726)

* safety: cleanup ints that are bools * update tests
commaai · Nov 20, 2023 · c6248d6 · c6248d6
1 parent 9fed950
commit c6248d6
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Showing 21 changed files with 52 additions and 51 deletions.
diff --git a/board/safety.h b/board/safety.h
@@ -57,7 +57,7 @@ uint16_t current_safety_param = 0;
 const safety_hooks *current_hooks = &nooutput_hooks;
 const addr_checks *current_rx_checks = &default_rx_checks;
 
-int safety_rx_hook(CANPacket_t *to_push) {
+bool safety_rx_hook(CANPacket_t *to_push) {
   bool controls_allowed_prev = controls_allowed;
   int ret = current_hooks->rx(to_push);
 
@@ -69,11 +69,12 @@ int safety_rx_hook(CANPacket_t *to_push) {
   return ret;
 }
 
-int safety_tx_hook(CANPacket_t *to_send) {
-  return (relay_malfunction ? -1 : current_hooks->tx(to_send));
+bool safety_tx_hook(CANPacket_t *to_send) {
+  const bool safety_allowed = current_hooks->tx(to_send);
+  return !relay_malfunction && safety_allowed;
 }
 
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+bool safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return current_hooks->tx_lin(lin_num, data, len);
 }
 

diff --git a/board/safety/safety_body.h b/board/safety/safety_body.h
@@ -6,7 +6,7 @@ AddrCheckStruct body_addr_checks[] = {
 };
 addr_checks body_rx_checks = SET_ADDR_CHECKS(body_addr_checks);
 
-static int body_rx_hook(CANPacket_t *to_push) {
+static bool body_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &body_rx_checks, NULL, NULL, NULL, NULL);
 
@@ -20,7 +20,7 @@ static int body_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int body_tx_hook(CANPacket_t *to_send) {
+static bool body_tx_hook(CANPacket_t *to_send) {
 
   int tx = 0;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
@@ -173,7 +173,7 @@ static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
   return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
 }
 
-static int chrysler_rx_hook(CANPacket_t *to_push) {
+static bool chrysler_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
                                  chrysler_get_checksum, chrysler_compute_checksum,
@@ -223,7 +223,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int chrysler_tx_hook(CANPacket_t *to_send) {
+static bool chrysler_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
@@ -3,7 +3,7 @@ const addr_checks default_rx_checks = {
   .len = 0,
 };
 
-int default_rx_hook(CANPacket_t *to_push) {
+bool default_rx_hook(CANPacket_t *to_push) {
   UNUSED(to_push);
   return true;
 }
@@ -15,12 +15,12 @@ static const addr_checks* nooutput_init(uint16_t param) {
   return &default_rx_checks;
 }
 
-static int nooutput_tx_hook(CANPacket_t *to_send) {
+static bool nooutput_tx_hook(CANPacket_t *to_send) {
   UNUSED(to_send);
   return false;
 }
 
-static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+static bool nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   UNUSED(lin_num);
   UNUSED(data);
   UNUSED(len);
@@ -53,12 +53,12 @@ static const addr_checks* alloutput_init(uint16_t param) {
   return &default_rx_checks;
 }
 
-static int alloutput_tx_hook(CANPacket_t *to_send) {
+static bool alloutput_tx_hook(CANPacket_t *to_send) {
   UNUSED(to_send);
   return true;
 }
 
-static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+static bool alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   UNUSED(lin_num);
   UNUSED(data);
   UNUSED(len);

diff --git a/board/safety/safety_elm327.h b/board/safety/safety_elm327.h
@@ -1,4 +1,4 @@
-static int elm327_tx_hook(CANPacket_t *to_send) {
+static bool elm327_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);
@@ -18,7 +18,7 @@ static int elm327_tx_hook(CANPacket_t *to_send) {
   return tx;
 }
 
-static int elm327_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+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

diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -206,7 +206,7 @@ const SteeringLimits FORD_STEERING_LIMITS = {
   .inactive_angle_is_zero = true,
 };
 
-static int ford_rx_hook(CANPacket_t *to_push) {
+static bool ford_rx_hook(CANPacket_t *to_push) {
   bool valid = addr_safety_check(to_push, &ford_rx_checks,
                                  ford_get_checksum, ford_compute_checksum, ford_get_counter, ford_get_quality_flag_valid);
 
@@ -274,7 +274,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int ford_tx_hook(CANPacket_t *to_send) {
+static bool ford_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
   int tx;
   if (ford_canfd) {

diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -65,7 +65,7 @@ enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
 bool gm_cam_long = false;
 bool gm_pcm_cruise = false;
 
-static int gm_rx_hook(CANPacket_t *to_push) {
+static bool gm_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL, NULL);
 
@@ -146,7 +146,7 @@ static int gm_rx_hook(CANPacket_t *to_push) {
 // else
 //     block all commands that produce actuation
 
-static int gm_tx_hook(CANPacket_t *to_send) {
+static bool gm_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -114,7 +114,7 @@ static uint8_t honda_get_counter(CANPacket_t *to_push) {
   return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
 }
 
-static int honda_rx_hook(CANPacket_t *to_push) {
+static bool honda_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &honda_rx_checks,
                                  honda_get_checksum, honda_compute_checksum, honda_get_counter, NULL);
@@ -256,7 +256,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
 // else
 //     block all commands that produce actuation
 
-static int honda_tx_hook(CANPacket_t *to_send) {
+static bool honda_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
@@ -158,7 +158,7 @@ static uint32_t hyundai_compute_checksum(CANPacket_t *to_push) {
   return chksum;
 }
 
-static int hyundai_rx_hook(CANPacket_t *to_push) {
+static bool hyundai_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &hyundai_rx_checks,
                                  hyundai_get_checksum, hyundai_compute_checksum,
@@ -221,7 +221,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int hyundai_tx_hook(CANPacket_t *to_send) {
+static bool hyundai_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -153,7 +153,7 @@ static uint32_t hyundai_canfd_get_checksum(CANPacket_t *to_push) {
   return chksum;
 }
 
-static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
+static bool hyundai_canfd_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &hyundai_canfd_rx_checks,
                                  hyundai_canfd_get_checksum, hyundai_common_canfd_compute_checksum, hyundai_canfd_get_counter, NULL);
@@ -233,7 +233,7 @@ static int hyundai_canfd_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int hyundai_canfd_tx_hook(CANPacket_t *to_send) {
+static bool hyundai_canfd_tx_hook(CANPacket_t *to_send) {
 
   int tx = 0;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -35,7 +35,7 @@ AddrCheckStruct mazda_addr_checks[] = {
 addr_checks mazda_rx_checks = SET_ADDR_CHECKS(mazda_addr_checks);
 
 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
-static int mazda_rx_hook(CANPacket_t *to_push) {
+static bool mazda_rx_hook(CANPacket_t *to_push) {
   bool valid = addr_safety_check(to_push, &mazda_rx_checks, NULL, NULL, NULL, NULL);
   if (valid && ((int)GET_BUS(to_push) == MAZDA_MAIN)) {
     int addr = GET_ADDR(to_push);
@@ -71,7 +71,7 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int mazda_tx_hook(CANPacket_t *to_send) {
+static bool mazda_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
@@ -41,7 +41,7 @@ const int NISSAN_PARAM_ALT_EPS_BUS = 1;
 
 bool nissan_alt_eps = false;
 
-static int nissan_rx_hook(CANPacket_t *to_push) {
+static bool nissan_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &nissan_rx_checks, NULL, NULL, NULL, NULL);
 
@@ -100,7 +100,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
 }
 
 
-static int nissan_tx_hook(CANPacket_t *to_send) {
+static bool nissan_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -139,7 +139,7 @@ static uint32_t subaru_compute_checksum(CANPacket_t *to_push) {
   return checksum;
 }
 
-static int subaru_rx_hook(CANPacket_t *to_push) {
+static bool subaru_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &subaru_rx_checks,
                                  subaru_get_checksum, subaru_compute_checksum, subaru_get_counter, NULL);
@@ -193,7 +193,7 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int subaru_tx_hook(CANPacket_t *to_send) {
+static bool subaru_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_subaru_preglobal.h b/board/safety/safety_subaru_preglobal.h
@@ -43,7 +43,7 @@ const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1;
 bool subaru_pg_reversed_driver_torque = false;
 
 
-static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
+static bool subaru_preglobal_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &subaru_preglobal_rx_checks, NULL, NULL, NULL, NULL);
 
@@ -83,7 +83,7 @@ static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int subaru_preglobal_tx_hook(CANPacket_t *to_send) {
+static bool subaru_preglobal_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
@@ -58,7 +58,7 @@ bool tesla_powertrain = false;  // Are we the second panda intercepting the powe
 
 bool tesla_stock_aeb = false;
 
-static int tesla_rx_hook(CANPacket_t *to_push) {
+static bool tesla_rx_hook(CANPacket_t *to_push) {
   bool valid = addr_safety_check(to_push, tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks),
                                  NULL, NULL, NULL, NULL);
 
@@ -126,7 +126,7 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
 }
 
 
-static int tesla_tx_hook(CANPacket_t *to_send) {
+static bool tesla_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -69,7 +69,7 @@ static uint32_t toyota_get_checksum(CANPacket_t *to_push) {
   return (uint8_t)(GET_BYTE(to_push, checksum_byte));
 }
 
-static int toyota_rx_hook(CANPacket_t *to_push) {
+static bool toyota_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &toyota_rx_checks,
                                  toyota_get_checksum, toyota_compute_checksum, NULL, NULL);
@@ -133,7 +133,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int toyota_tx_hook(CANPacket_t *to_send) {
+static bool toyota_tx_hook(CANPacket_t *to_send) {
 
   int tx = 1;
   int addr = GET_ADDR(to_send);

diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
@@ -105,7 +105,7 @@ static const addr_checks* volkswagen_mqb_init(uint16_t param) {
   return &volkswagen_mqb_rx_checks;
 }
 
-static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
+static bool volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &volkswagen_mqb_rx_checks,
                                  volkswagen_mqb_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter, NULL);
@@ -196,7 +196,7 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
+static bool volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
   int tx = 1;
 

diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h
@@ -95,7 +95,7 @@ static const addr_checks* volkswagen_pq_init(uint16_t param) {
   return &volkswagen_pq_rx_checks;
 }
 
-static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
+static bool volkswagen_pq_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &volkswagen_pq_rx_checks,
                                 volkswagen_pq_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter, NULL);
@@ -174,7 +174,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
   return valid;
 }
 
-static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
+static bool volkswagen_pq_tx_hook(CANPacket_t *to_send) {
   int addr = GET_ADDR(to_send);
   int tx = 1;
 

diff --git a/board/safety_declarations.h b/board/safety_declarations.h
@@ -132,9 +132,9 @@ typedef struct {
   int len;
 } addr_checks;
 
-int safety_rx_hook(CANPacket_t *to_push);
-int safety_tx_hook(CANPacket_t *to_send);
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
+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);
@@ -178,9 +178,9 @@ bool longitudinal_interceptor_checks(CANPacket_t *to_send);
 void pcm_cruise_check(bool cruise_engaged);
 
 typedef const addr_checks* (*safety_hook_init)(uint16_t param);
-typedef int (*rx_hook)(CANPacket_t *to_push);
-typedef int (*tx_hook)(CANPacket_t *to_send);
-typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
+typedef bool (*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 {

diff --git a/tests/libpanda/libpanda_py.py b/tests/libpanda/libpanda_py.py
@@ -25,9 +25,9 @@
 """, packed=True)
 
 ffi.cdef("""
-int safety_rx_hook(CANPacket_t *to_send);
-int safety_tx_hook(CANPacket_t *to_push);
-int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
+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);
 """)

diff --git a/tests/safety/common.py b/tests/safety/common.py
@@ -931,7 +931,7 @@ def test_relay_malfunction(self):
     self.safety.set_relay_malfunction(True)
     for bus in range(3):
       for addr in self.SCANNED_ADDRS:
-        self.assertEqual(-1, self._tx(make_msg(bus, addr, 8)))
+        self.assertFalse(self._tx(make_msg(bus, addr, 8)))
         self.assertEqual(-1, self.safety.safety_fwd_hook(bus, addr))
 
   def test_prev_gas(self):