Revert "safety: pull out cam -> pt fwd blocking (#1785)"

This reverts commit af1e63f.

Author: adeebshihadeh

opendbc/safety/safety.h

@@ -246,16 +246,7 @@ bool safety_tx_hook(CANPacket_t *to_send) {
 }
 
 int safety_fwd_hook(int bus_num, int addr) {
-  bool blocked = false;
-  for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
-    const CanMsg *m = &current_safety_config.tx_msgs[i];
-    if ((bus_num == 2) && (m->addr == addr) && m->block_from_cam) {
-      blocked = true;
-      break;
-    }
-  }
-
-  return ((relay_malfunction || blocked) ? -1 : current_hooks->fwd(bus_num, addr));
+  return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, addr));
 }
 
 bool get_longitudinal_allowed(void) {

opendbc/safety/safety/safety_mazda.h

@@ -92,14 +92,15 @@ static bool mazda_tx_hook(const CANPacket_t *to_send) {
 }
 
 static int mazda_fwd_hook(int bus, int addr) {
-  UNUSED(addr);
-
   int bus_fwd = -1;
 
   if (bus == MAZDA_MAIN) {
     bus_fwd = MAZDA_CAM;
   } else if (bus == MAZDA_CAM) {
-    bus_fwd = MAZDA_MAIN;
+    bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
+    if (!block) {
+      bus_fwd = MAZDA_MAIN;
+    }
   } else {
     // don't fwd
   }
@@ -108,7 +109,7 @@ static int mazda_fwd_hook(int bus, int addr) {
 }
 
 static safety_config mazda_init(uint16_t param) {
-  static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8, true}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8, true}};
+  static const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
 
   static RxCheck mazda_rx_checks[] = {
     {.msg = {{MAZDA_CRZ_CTRL,     0, 8, .frequency = 50U}, { 0 }, { 0 }}},

opendbc/safety/safety/safety_tesla.h

@@ -158,6 +158,10 @@ static int tesla_fwd_hook(int bus_num, int addr) {
 
   if (bus_num == 2) {
     bool block_msg = false;
+    // DAS_steeringControl, APS_eacMonitor
+    if ((addr == 0x488) || (addr == 0x27d)) {
+      block_msg = true;
+    }
 
     // DAS_control
     if (tesla_longitudinal && (addr == 0x2b9) && !tesla_stock_aeb) {
@@ -175,9 +179,9 @@ static int tesla_fwd_hook(int bus_num, int addr) {
 static safety_config tesla_init(uint16_t param) {
 
   static const CanMsg TESLA_M3_Y_TX_MSGS[] = {
+    {0x488, 0, 4},  // DAS_steeringControl
     {0x2b9, 0, 8},  // DAS_control
-    {0x27D, 0, 3, true},  // APS_eacMonitor
-    {0x488, 0, 4, true},  // DAS_steeringControl
+    {0x27D, 0, 3},  // APS_eacMonitor
   };
 
   UNUSED(param);

opendbc/safety/safety/safety_toyota.h

@@ -4,15 +4,15 @@
 
 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \
-  {0x191, 0, 8, true}, {0x412, 0, 8, true}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
+  {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
 
 #define TOYOTA_COMMON_TX_MSGS \
   TOYOTA_BASE_TX_MSGS \
-  {0x2E4, 0, 5, true}, \
+  {0x2E4, 0, 5}, \
 
 #define TOYOTA_COMMON_SECOC_TX_MSGS \
   TOYOTA_BASE_TX_MSGS \
-  {0x2E4, 0, 8, true}, {0x131, 0, 8, true}, \
+  {0x2E4, 0, 8}, {0x131, 0, 8}, \
 
 #define TOYOTA_COMMON_LONG_TX_MSGS                                                                                                          \
   TOYOTA_COMMON_TX_MSGS                                                                                                                     \
@@ -386,8 +386,14 @@ 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
+    bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
+    // on SecOC cars 0x131 is also LTA
+    is_lkas_msg |= toyota_secoc && (addr == 0x131);
     // in TSS2 the camera does ACC as well, so filter 0x343
-    bool block_msg = ((addr == 0x343) && !toyota_stock_longitudinal);
+    bool is_acc_msg = (addr == 0x343);
+    bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal);
     if (!block_msg) {
       bus_fwd = 0;
     }

opendbc/safety/safety_declarations.h

@@ -49,7 +49,6 @@ typedef struct {
   int addr;
   int bus;
   int len;
-  bool block_from_cam;
 } CanMsg;
 
 typedef enum {

opendbc/safety/tests/misra/test_mutation.py

@@ -19,7 +19,7 @@
   # default
   (None, None, False),
   # general safety
-  ("opendbc/safety/safety/safety_honda.h", "s/is_lkas_msg =.*;/is_lkas_msg = addr == 1 || addr == 2;/g", True),
+  ("opendbc/safety/safety/safety_toyota.h", "s/is_lkas_msg =.*;/is_lkas_msg = addr == 1 || addr == 2;/g", True),
 ]
 
 patterns = [