commaai · sshane · May 15, 2025 · May 15, 2025
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -29,12 +29,13 @@ repos:
     hooks:
     -   id: cython-lint
     -   id: double-quote-cython-strings
--   repo: https://github.com/cpplint/cpplint
-    rev: 2.0.2
-    hooks:
-    -   id: cpplint
-        args:
-        - --quiet
-        - --counting=detailed
-        - --linelength=240
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+# TODO: enable this and fix all the errors
+#-   repo: https://github.com/cpplint/cpplint
+#    rev: 2.0.2
+#    hooks:
+#    -   id: cpplint
+#        args:
+#        - --quiet
+#        - --counting=detailed
+#        - --linelength=240
+#        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
diff --git a/SConstruct b/SConstruct
@@ -11,7 +11,6 @@ if platform.system() == "Darwin":
 python_path = sysconfig.get_paths()['include']
 cpppath = [
   '#',
-  '#opendbc',
   '/usr/lib/include',
   python_path
 ]

diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc
@@ -1,8 +1,5 @@
 #include <array>
-#include <cstdio>
-#include <string>
 #include <unordered_map>
-#include <vector>
 
 #include "opendbc/can/common.h"
 

diff --git a/opendbc/can/dbc.cc b/opendbc/can/dbc.cc
@@ -2,11 +2,9 @@
 #include <filesystem>
 #include <fstream>
 #include <map>
-#include <memory>
 #include <regex>
 #include <set>
 #include <sstream>
-#include <string>
 #include <vector>
 #include <mutex>
 #include <iterator>

diff --git a/opendbc/can/packer.cc b/opendbc/can/packer.cc
@@ -3,9 +3,7 @@
 #include <cmath>
 #include <map>
 #include <stdexcept>
-#include <string>
 #include <utility>
-#include <vector>
 
 #include "opendbc/can/common.h"
 

diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc
@@ -2,11 +2,8 @@
 #include <cassert>
 #include <cstring>
 #include <limits>
-#include <set>
 #include <stdexcept>
 #include <sstream>
-#include <string>
-#include <vector>
 
 #include "opendbc/can/common.h"
 

diff --git a/opendbc/safety/board/can.h b/opendbc/safety/board/can.h
@@ -1,4 +1,4 @@
 #pragma once
-#include "safety/board/can_declarations.h"
+#include "can_declarations.h"
 
 static const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
diff --git a/opendbc/safety/board/drivers/can_common.h b/opendbc/safety/board/drivers/can_common.h
@@ -1,5 +1,5 @@
 #pragma once
-#include "safety/board/drivers/can_common_declarations.h"
+#include "can_common_declarations.h"
 
 uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) {
   uint8_t checksum = 0U;

diff --git a/opendbc/safety/board/fake_stm.h b/opendbc/safety/board/fake_stm.h
@@ -3,7 +3,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 
-#include "safety/board/utils.h"
+#include "utils.h"
 
 #define ALLOW_DEBUG
 #define PANDA

diff --git a/opendbc/safety/board/faults.h b/opendbc/safety/board/faults.h
@@ -1,4 +1,4 @@
-#include "safety/board/faults_declarations.h"
+#include "faults_declarations.h"
 
 uint8_t fault_status = FAULT_STATUS_NONE;
 uint32_t faults = 0U;

diff --git a/opendbc/safety/board/utils.h b/opendbc/safety/board/utils.h
@@ -1,14 +1,14 @@
 // cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
 #define MIN(a, b) ({ \
-  __typeof__(a) _a = (a); \
-  __typeof__(b) _b = (b); \
+  __typeof__ (a) _a = (a); \
+  __typeof__ (b) _b = (b); \
   (_a < _b) ? _a : _b; \
 })
 
 // cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
 #define MAX(a, b) ({ \
-  __typeof__(a) _a = (a); \
-  __typeof__(b) _b = (b); \
+  __typeof__ (a) _a = (a); \
+  __typeof__ (b) _b = (b); \
   (_a > _b) ? _a : _b; \
 })
 
@@ -22,7 +22,7 @@
 
 // cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
 #define ABS(a) ({ \
-  __typeof__(a) _a = (a); \
+  __typeof__ (a) _a = (a); \
   (_a > 0) ? _a : (-_a); \
 })
 

diff --git a/opendbc/safety/main.c b/opendbc/safety/main.c
@@ -1,4 +1,4 @@
-#include "safety/safety.h"
+#include "safety.h"
 
 // this file is checked by cppcheck
 

diff --git a/opendbc/safety/safety.h b/opendbc/safety/safety.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
-#include "safety/board/can.h"
+#include "safety_declarations.h"
+#include "can.h"
 
 // include the safety policies.
 #include "safety/safety_defaults.h"

diff --git a/opendbc/safety/safety/safety_body.h b/opendbc/safety/safety/safety_body.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 static void body_rx_hook(const CANPacket_t *to_push) {
   // body is never at standstill

diff --git a/opendbc/safety/safety/safety_chrysler.h b/opendbc/safety/safety/safety_chrysler.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 typedef struct {
   const int EPS_2;

diff --git a/opendbc/safety/safety/safety_defaults.h b/opendbc/safety/safety/safety_defaults.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // GCOV_EXCL_START
 // Unreachable by design (doesn't define any rx msgs)
@@ -13,7 +13,7 @@ void default_rx_hook(const CANPacket_t *to_push) {
 
 static safety_config nooutput_init(uint16_t param) {
   UNUSED(param);
-  return (safety_config){NULL, 0, NULL, 0, true}; // NOLINT(readability/braces)
+  return (safety_config){NULL, 0, NULL, 0, true};
 }
 
 // GCOV_EXCL_START
@@ -36,7 +36,7 @@ static safety_config alloutput_init(uint16_t param) {
   const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
   controls_allowed = true;
   bool alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
-  return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough}; // NOLINT(readability/braces)
+  return (safety_config){NULL, 0, NULL, 0, !alloutput_passthrough};
 }
 
 static bool alloutput_tx_hook(const CANPacket_t *to_send) {

diff --git a/opendbc/safety/safety/safety_elm327.h b/opendbc/safety/safety/safety_elm327.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
-#include "safety/safety_defaults.h"
+#include "safety_declarations.h"
+#include "safety_defaults.h"
 
 static bool elm327_tx_hook(const CANPacket_t *to_send) {
   const int GM_CAMERA_DIAG_ADDR = 0x24B;

diff --git a/opendbc/safety/safety/safety_ford.h b/opendbc/safety/safety/safety_ford.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // Safety-relevant CAN messages for Ford vehicles.
 #define FORD_EngBrakeData          0x165   // RX from PCM, for driver brake pedal and cruise state

diff --git a/opendbc/safety/safety/safety_gm.h b/opendbc/safety/safety/safety_gm.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 #define GM_COMMON_RX_CHECKS \

diff --git a/opendbc/safety/safety/safety_honda.h b/opendbc/safety/safety/safety_honda.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration
 #define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus)                                                         \

diff --git a/opendbc/safety/safety/safety_hyundai.h b/opendbc/safety/safety/safety_hyundai.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
-#include "safety/safety_hyundai_common.h"
+#include "safety_declarations.h"
+#include "safety_hyundai_common.h"
 
 #define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \
   .max_torque = (steer), \

diff --git a/opendbc/safety/safety/safety_hyundai_canfd.h b/opendbc/safety/safety/safety_hyundai_canfd.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
-#include "safety/safety_hyundai_common.h"
+#include "safety_declarations.h"
+#include "safety_hyundai_common.h"
 
 #define HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(bus) \
   {0x1CF, bus, 8, .check_relay = false},  /* CRUISE_BUTTON */   \

diff --git a/opendbc/safety/safety/safety_hyundai_common.h b/opendbc/safety/safety/safety_hyundai_common.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 extern uint16_t hyundai_canfd_crc_lut[256];
 uint16_t hyundai_canfd_crc_lut[256];

diff --git a/opendbc/safety/safety/safety_mazda.h b/opendbc/safety/safety/safety_mazda.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // CAN msgs we care about
 #define MAZDA_LKAS          0x243

diff --git a/opendbc/safety/safety/safety_nissan.h b/opendbc/safety/safety/safety_nissan.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 static bool nissan_alt_eps = false;
 

diff --git a/opendbc/safety/safety/safety_rivian.h b/opendbc/safety/safety/safety_rivian.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 #define RIVIAN_MAX_SPEED_DELTA 2.0  // m/s
 

diff --git a/opendbc/safety/safety/safety_subaru.h b/opendbc/safety/safety/safety_subaru.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 #define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)               \
   {                                                                                   \

diff --git a/opendbc/safety/safety/safety_subaru_preglobal.h b/opendbc/safety/safety/safety_subaru_preglobal.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // Preglobal platform
 // 0x161 is ES_CruiseThrottle

diff --git a/opendbc/safety/safety/safety_tesla.h b/opendbc/safety/safety/safety_tesla.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // parameters for lateral accel/jerk angle limiting using a simple vehicle model
 typedef struct {

diff --git a/opendbc/safety/safety/safety_toyota.h b/opendbc/safety/safety/safety_toyota.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
+#include "safety_declarations.h"
 
 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \

diff --git a/opendbc/safety/safety/safety_volkswagen_common.h b/opendbc/safety/safety/safety_volkswagen_common.h
@@ -53,15 +53,15 @@ static uint32_t volkswagen_mqb_meb_compute_crc(const CANPacket_t *to_push) {
 
   uint8_t counter = volkswagen_mqb_meb_get_counter(to_push);
   if (addr == MSG_LH_EPS_03) {
-    crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
+    crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
   } else if (addr == MSG_ESP_05) {
-    crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
+    crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
   } else if (addr == MSG_TSK_06) {
-    crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
+    crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
   } else if (addr == MSG_MOTOR_20) {
-    crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
+    crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
   } else if (addr == MSG_GRA_ACC_01) {
-    crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
+    crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
   } else {
     // Undefined CAN message, CRC check expected to fail
   }

diff --git a/opendbc/safety/safety/safety_volkswagen_mqb.h b/opendbc/safety/safety/safety_volkswagen_mqb.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
-#include "safety/safety_volkswagen_common.h"
+#include "safety_declarations.h"
+#include "safety_volkswagen_common.h"
 
 static bool volkswagen_mqb_brake_pedal_switch = false;
 static bool volkswagen_mqb_brake_pressure_detected = false;

diff --git a/opendbc/safety/safety/safety_volkswagen_pq.h b/opendbc/safety/safety/safety_volkswagen_pq.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "safety/safety_declarations.h"
-#include "safety/safety_volkswagen_common.h"
+#include "safety_declarations.h"
+#include "safety_volkswagen_common.h"
 
 #define MSG_LENKHILFE_3         0x0D0   // RX from EPS, for steering angle and driver steering torque
 #define MSG_HCA_1               0x0D2   // TX by OP, Heading Control Assist steering torque

diff --git a/opendbc/safety/safety_declarations.h b/opendbc/safety/safety_declarations.h
@@ -52,7 +52,7 @@
     (config).tx_msgs = (tx); \
     (config).tx_msgs_len = sizeof((tx)) / sizeof((tx)[0]); \
     (config).disable_forwarding = false; \
-  } while (0);
+  } while(0);
 
 #define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
 

diff --git a/opendbc/safety/tests/libsafety/SConscript b/opendbc/safety/tests/libsafety/SConscript
@@ -23,7 +23,7 @@ env = Environment(
     '-Wfatal-errors',
     '-Wno-pointer-to-int-cast',
   ],
-  CPPPATH=[".", "../../board/", "../../", "../../../"],
+  CPPPATH=[".", "../../board/", "../../"],
 )
 if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')

diff --git a/opendbc/safety/tests/libsafety/safety.c b/opendbc/safety/tests/libsafety/safety.c
@@ -1,13 +1,13 @@
 #include <stdbool.h>
 
-#include "safety/board/fake_stm.h"
-#include "safety/board/can.h"
+#include "fake_stm.h"
+#include "can.h"
 
 //int safety_tx_hook(CANPacket_t *to_send) { return 1; }
 
-#include "safety/board/faults.h"
-#include "safety/safety.h"
-#include "safety/board/drivers/can_common.h"
+#include "faults.h"
+#include "safety.h"
+#include "drivers/can_common.h"
 
 // libsafety stuff
-#include "safety/tests/libsafety/safety_helpers.h"
+#include "safety_helpers.h"
diff --git a/opendbc/safety/tests/libsafety/safety_helpers.h b/opendbc/safety/tests/libsafety/safety_helpers.h
@@ -1,5 +1,3 @@
-#include <stdio.h>
-
 void safety_tick_current_safety_config() {
   safety_tick(&current_safety_config);
 }