Safety: Utilize boolean values for message block checks in forward hooks

sunnypilot · Aug 30, 2023 · ee9809d · ee9809d
1 parent d41a0ab
commit ee9809d
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Showing 8 changed files with 28 additions and 28 deletions.
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -217,17 +217,17 @@ static int gm_fwd_hook(int bus_num, int addr) {
   if (gm_hw == GM_CAM) {
     if (bus_num == 0) {
       // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
-      bool is_pscm_msg = (addr == 388);
+      const bool is_pscm_msg = (addr == 388);
       if (!is_pscm_msg) {
         bus_fwd = 2;
       }
     }
 
     if (bus_num == 2) {
       // block lkas message and acc messages if gm_cam_long, forward all others
-      bool is_lkas_msg = (addr == 384);
-      bool is_acc_msg = (addr == 789) || (addr == 715) || (addr == 880);
-      int block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      const bool is_lkas_msg = (addr == 384);
+      const bool is_acc_msg = (addr == 789) || (addr == 715) || (addr == 880);
+      const bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
       if (!block_msg) {
         bus_fwd = 0;
       }

diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
@@ -441,9 +441,9 @@ static int honda_bosch_fwd_hook(int bus_num, int addr) {
     bus_fwd = 2;
   }
   if (bus_num == 2)  {
-    int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
-    int is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
-    bool block_msg = is_lkas_msg || is_acc_msg;
+    const bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
+    const bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long;
+    const bool block_msg = is_lkas_msg || is_acc_msg;
     if (!block_msg) {
       bus_fwd = 0;
     }

diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -320,16 +320,16 @@ static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
   }
   if (bus_num == 2) {
     // LKAS for HDA2, LFA for HDA1
-    int is_lkas_msg = (((addr == 0x50) || (addr == 0x2a4)) && hyundai_canfd_hda2);
-    int is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
+    const bool is_lkas_msg = (((addr == 0x50) || (addr == 0x2a4)) && hyundai_canfd_hda2);
+    const bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);
 
     // HUD icons
-    int is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
+    const bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);
 
     // CRUISE_INFO for non-HDA2, we send our own longitudinal commands
-    int is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
+    const bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);
 
-    int block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
+    const bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
     if (!block_msg) {
       bus_fwd = 0;
     }

diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
@@ -114,7 +114,7 @@ static int mazda_fwd_hook(int bus, int addr) {
   if (bus == MAZDA_MAIN) {
     bus_fwd = MAZDA_CAM;
   } else if (bus == MAZDA_CAM) {
-    bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
+    const bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
     if (!block) {
       bus_fwd = MAZDA_MAIN;
     }

diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
@@ -140,15 +140,15 @@ static int nissan_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
   if (bus_num == 0) {
-    int block_msg = (addr == 0x280); // CANCEL_MSG
+    const bool block_msg = (addr == 0x280); // CANCEL_MSG
     if (!block_msg) {
       bus_fwd = 2;  // ADAS
     }
   }
 
   if (bus_num == 2) {
     // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
-    int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
+    const bool block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
     if (!block_msg) {
       bus_fwd = 0;  // V-CAN
     }

diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
@@ -202,7 +202,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   if (addr == MSG_SUBARU_ES_Distance) {
     int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0xFFFU);
     bool cruise_cancel = GET_BIT(to_send, 56U) != 0U;
-    
+
     if (subaru_longitudinal) {
       violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS);
     } else {
@@ -234,16 +234,16 @@ static int subaru_fwd_hook(int bus_num, int addr) {
 
   if (bus_num == SUBARU_CAM_BUS) {
     // Global platform
-    bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
-                       (addr == MSG_SUBARU_ES_DashStatus) ||
-                       (addr == MSG_SUBARU_ES_LKAS_State) ||
-                       (addr == MSG_SUBARU_ES_Infotainment));
+    const bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
+                             (addr == MSG_SUBARU_ES_DashStatus) ||
+                             (addr == MSG_SUBARU_ES_LKAS_State) ||
+                             (addr == MSG_SUBARU_ES_Infotainment));
 
-    bool block_long = ((addr == MSG_SUBARU_ES_Brake) ||
-                       (addr == MSG_SUBARU_ES_Distance) ||
-                       (addr == MSG_SUBARU_ES_Status));
+    const bool block_long = ((addr == MSG_SUBARU_ES_Brake) ||
+                             (addr == MSG_SUBARU_ES_Distance) ||
+                             (addr == MSG_SUBARU_ES_Status));
 
-    bool block_msg = block_lkas || (subaru_longitudinal && block_long);
+    const bool block_msg = block_lkas || (subaru_longitudinal && block_long);
     if (!block_msg) {
       bus_fwd = SUBARU_MAIN_BUS;  // Main CAN
     }

diff --git a/board/safety/safety_subaru_preglobal.h b/board/safety/safety_subaru_preglobal.h
@@ -108,7 +108,7 @@ static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
   }
 
   if (bus_num == SUBARU_PG_CAM_BUS) {
-    int block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
+    const bool block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
     if (!block_msg) {
       bus_fwd = SUBARU_PG_MAIN_BUS;  // Main CAN
     }

diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
@@ -246,10 +246,10 @@ static int toyota_fwd_hook(int bus_num, int addr) {
   if (bus_num == 2) {
     // block stock lkas messages and stock acc messages (if OP is doing ACC)
     // in TSS2, 0x191 is LTA which we need to block to avoid controls collision
-    int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+    const bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
     // in TSS2 the camera does ACC as well, so filter 0x343
-    int is_acc_msg = (addr == 0x343);
-    int block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
+    const bool is_acc_msg = (addr == 0x343);
+    const bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
     if (!block_msg) {
       bus_fwd = 0;
     }