Move to safety core and trigger rx_checks_invalid.

commaai · Feb 22, 2025 · 1acfd9b · 1acfd9b
1 parent 3482e71
commit 1acfd9b
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Showing 3 changed files with 32 additions and 25 deletions.
diff --git a/opendbc/safety/safety.h b/opendbc/safety/safety.h
@@ -80,6 +80,7 @@ bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
 bool safety_rx_checks_invalid = false;
+bool add_check_failed = false;
 
 // for safety modes with torque steering control
 int desired_torque_last = 0;       // last desired steer torque
@@ -169,6 +170,30 @@ static void update_counter(RxCheck addr_list[], int index, uint8_t counter) {
   }
 }
 
+// This is pretty arbirary. It's more than enough for now.
+#define MAX_RX_CHECKS 16
+
+static safety_config safety_config_init(void) {
+  static RxCheck rx_checks[MAX_RX_CHECKS] = {0};
+  safety_config ret = {
+    .rx_checks = rx_checks,
+    .rx_checks_len = 0,
+    .tx_msgs = NULL,
+    .tx_msgs_len = 0
+  };
+  return ret;
+}
+
+static void add_rx_check(safety_config *safetyConfig, RxCheck config) {
+  const uint8_t index = safetyConfig->rx_checks_len;
+  if (index < (uint8_t)MAX_RX_CHECKS) {
+    safetyConfig->rx_checks_len++;
+    (void)memcpy(&safetyConfig->rx_checks[index], &config, sizeof(RxCheck));
+  } else {
+    add_check_failed = true;
+  }
+}
+
 static bool rx_msg_safety_check(const CANPacket_t *to_push,
                          const safety_config *cfg,
                          const safety_hooks *safety_hooks) {
@@ -309,7 +334,7 @@ void safety_tick(const safety_config *cfg) {
     }
   }
 
-  safety_rx_checks_invalid = rx_checks_invalid;
+  safety_rx_checks_invalid = rx_checks_invalid || add_check_failed;
 }
 
 static void relay_malfunction_set(void) {
@@ -418,6 +443,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   controls_allowed = false;
   relay_malfunction_reset();
   safety_rx_checks_invalid = false;
+  add_check_failed = false;
 
   current_safety_config.rx_checks = NULL;
   current_safety_config.rx_checks_len = 0;

diff --git a/opendbc/safety/safety/safety_hyundai_canfd.h b/opendbc/safety/safety/safety_hyundai_canfd.h
@@ -3,29 +3,6 @@
 #include "safety_declarations.h"
 #include "safety_hyundai_common.h"
 
-#define MAX_RX_CHECKS 16
-
-static safety_config hyundai_canfd_init_safety_config(void) {
-  static RxCheck hyundai_canfd_rx_checks[MAX_RX_CHECKS] = {0};
-  safety_config ret = {
-    .rx_checks = hyundai_canfd_rx_checks,
-    .rx_checks_len = 0,
-    .tx_msgs = NULL,
-    .tx_msgs_len = 0
-  };
-  return ret;
-}
-
-static void add_rx_check(safety_config *safetyConfig, RxCheck config) {
-  const uint8_t index = safetyConfig->rx_checks_len;
-  if (index < (uint8_t)MAX_RX_CHECKS) {
-    safetyConfig->rx_checks_len++;
-    (void)memcpy(&safetyConfig->rx_checks[index], &config, sizeof(RxCheck));
-  } else {
-    // TODO: Trigger safety_rx_checks_invalid.
-  }
-}
-
 static bool hyundai_canfd_alt_buttons = false;
 static bool hyundai_canfd_lka_steering_alt = false;
 
@@ -280,7 +257,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     hyundai_longitudinal = false;
   }
 
-  safety_config ret = hyundai_canfd_init_safety_config();
+  safety_config ret = safety_config_init();
 
   // RX Common checks.
   const int pt_bus = hyundai_canfd_lka_steering ? 1 : 0;

diff --git a/opendbc/safety/safety_declarations.h b/opendbc/safety/safety_declarations.h
@@ -21,6 +21,7 @@
     (config).tx_msgs_len = sizeof((tx)) / sizeof((tx)[0]); \
   } while(0);
 
+
 #define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
 
 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len);
@@ -168,6 +169,8 @@ typedef struct {
   get_quality_flag_valid_t get_quality_flag_valid;
 } safety_hooks;
 
+static safety_config safety_config_init(void);
+static void add_rx_check(safety_config *safetyConfig, RxCheck config);
 bool safety_rx_hook(const CANPacket_t *to_push);
 bool safety_tx_hook(CANPacket_t *to_send);
 uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
@@ -206,6 +209,7 @@ extern bool vehicle_moving;
 extern bool acc_main_on; // referred to as "ACC off" in ISO 15622:2018
 extern int cruise_button_prev;
 extern bool safety_rx_checks_invalid;
+extern bool add_check_failed;
 
 // for safety modes with torque steering control
 extern int desired_torque_last;       // last desired steer torque