expose TX messages blocked by safety hook (#742)

* expose tx messages blocked by safety hook * update unit tests * preserve bus of original message * update tests
commaai · Oct 18, 2021 · 80260c6 · 80260c6
1 parent c5adfa4
commit 80260c6
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diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -6,7 +6,8 @@ typedef struct {
 } can_ring;
 
 #define CAN_BUS_RET_FLAG 0x80U
-#define CAN_BUS_NUM_MASK 0x7FU
+#define CAN_BUS_BLK_FLAG 0x40U
+#define CAN_BUS_NUM_MASK 0x3FU
 
 #define BUS_MAX 4U
 
@@ -235,6 +236,9 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx
         process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
       }
     }
+  } else {
+    to_push->RDTR = (to_push->RDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | CAN_BUS_BLK_FLAG | bus_number) << 4);
+    can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
   }
 }
 

diff --git a/tests/automated/3_usb_to_can.py b/tests/automated/3_usb_to_can.py
@@ -59,7 +59,9 @@ def test_safety_nooutput(p):
   # confirm receive nothing
   time.sleep(0.05)
   r = p.can_recv()
-  assert len(r) == 0
+  # bus 192 is messages blocked by TX safety hook on bus 0
+  assert len([x for x in r if x[3] != 192]) == 0
+  assert len([x for x in r if x[3] == 192]) == 1
 
 @test_all_pandas
 @panda_connect_and_init