Move relay malfunction check to fwd hook (commaai#2087)

* ohhh wait a minute

* fix from merge

* todo

* we need to test this now

* we got it

* fix rest

* rm

Author: sshane

opendbc/safety/safety.h

@@ -219,18 +219,6 @@ bool safety_rx_hook(const CANPacket_t *to_push) {
   // Handles gas, brake, and regen paddle
   generic_rx_checks();
 
-  // the relay malfunction hook runs on all incoming rx messages.
-  // check all tx msgs for liveness on sending bus if specified.
-  // used to detect a relay malfunction or control messages from disabled ECUs like the radar
-  const int bus = GET_BUS(to_push);
-  const int addr = GET_ADDR(to_push);
-  for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
-    const CanMsg *m = &current_safety_config.tx_msgs[i];
-    if (m->check_relay) {
-      stock_ecu_check((m->addr == addr) && (m->bus == bus));
-    }
-  }
-
   // reset mismatches on rising edge of controls_allowed to avoid rare race condition
   if (controls_allowed && !controls_allowed_prev) {
     heartbeat_engaged_mismatches = 0;
@@ -281,6 +269,16 @@ static int get_fwd_bus(int bus_num) {
 }
 
 int safety_fwd_hook(int bus_num, int addr) {
+  // the relay malfunction hook runs on all incoming rx messages.
+  // check all tx msgs for liveness on sending bus if specified.
+  // used to detect a relay malfunction or control messages from disabled ECUs like the radar
+  for (int i = 0; i < current_safety_config.tx_msgs_len; i++) {
+    const CanMsg *m = &current_safety_config.tx_msgs[i];
+    if (m->check_relay) {
+      stock_ecu_check((m->addr == addr) && (m->bus == bus_num));
+    }
+  }
+
   bool blocked = relay_malfunction || current_safety_config.disable_forwarding;
 
   if (!blocked && (current_hooks->fwd != NULL)) {

opendbc/safety/tests/common.py

@@ -751,6 +751,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
                    *range(0x18DA00F1, 0x18DB00F1, 0x100),   # 29-bit UDS physical addressing
                    *range(0x18DB00F1, 0x18DC00F1, 0x100),   # 29-bit UDS functional addressing
                    *range(0x3300, 0x3400)]                  # Honda
+  RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = {}
   FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {}  # {bus: [addr]}
   FWD_BUS_LOOKUP: dict[int, int] = {0: 2, 2: 0}
 
@@ -774,10 +775,13 @@ def test_fwd_hook(self):
     # some safety modes don't forward anything, while others blacklist msgs
     for bus in range(3):
       for addr in self.SCANNED_ADDRS:
+        self.safety.set_relay_malfunction(False)
         # assume len 8
         fwd_bus = self.FWD_BUS_LOOKUP.get(bus, -1)
         if bus in self.FWD_BLACKLISTED_ADDRS and addr in self.FWD_BLACKLISTED_ADDRS[bus]:
           fwd_bus = -1
+        if bus in self.RELAY_MALFUNCTION_ADDRS and addr in self.RELAY_MALFUNCTION_ADDRS[bus]:
+          fwd_bus = -1
         self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, addr), f"{addr=:#x} from {bus=} to {fwd_bus=}")
 
   def test_spam_can_buses(self):
@@ -878,7 +882,6 @@ def test_tx_hook_on_wrong_safety_mode(self):
 class PandaCarSafetyTest(PandaSafetyTest):
   STANDSTILL_THRESHOLD: float = 0.0
   GAS_PRESSED_THRESHOLD = 0
-  RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None
 
   @classmethod
   def setUpClass(cls):
@@ -919,7 +922,7 @@ def test_relay_malfunction(self):
     for bus in range(3):
       for addr in self.SCANNED_ADDRS:
         self.safety.set_relay_malfunction(False)
-        self._rx(make_msg(bus, addr, 8))
+        self.safety.safety_fwd_hook(bus, addr)
         should_relay_malfunction = addr in self.RELAY_MALFUNCTION_ADDRS.get(bus, ())
         self.assertEqual(should_relay_malfunction, self.safety.get_relay_malfunction(), (bus, hex(addr)))
 

opendbc/safety/tests/hyundai_common.py

@@ -2,7 +2,6 @@
 
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.libsafety import libsafety_py
-from opendbc.safety.tests.common import make_msg
 
 
 class Buttons:
@@ -151,5 +150,5 @@ def test_disabled_ecu_alive(self):
 
     addr, bus = self.DISABLED_ECU_ACTUATION_MSG
     self.assertFalse(self.safety.get_relay_malfunction())
-    self._rx(make_msg(bus, addr, 8))
+    self.safety.safety_fwd_hook(bus, addr)
     self.assertTrue(self.safety.get_relay_malfunction())