From cb8fc6bd42212f6de2e6ff4635cacd5e98a494ec Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 30 Nov 2022 17:22:42 -0800
Subject: [PATCH] safety: common interceptor checks (#1178)

* interceptor checks

* only one line needed for now

* whoops

* misra

* misread as |
---
 board/safety.h               | 4 ++++
 board/safety/safety_honda.h  | 6 ++----
 board/safety/safety_toyota.h | 6 ++----
 board/safety_declarations.h  | 1 +
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/board/safety.h b/board/safety.h
index c52b7ae1d..b12d75090 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -511,6 +511,10 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
   return violation;
 }
 
+bool longitudinal_interceptor_checks(CANPacket_t *to_send, bool longitudinal_allowed) {
+  return !longitudinal_allowed && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
+}
+
 // Safety checks for torque-based steering commands
 bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits) {
   bool violation = false;
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 7240fcd26..504bf228b 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -333,10 +333,8 @@ static int honda_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
 
   // GAS: safety check (interceptor)
   if (addr == 0x200) {
-    if (!longitudinal_allowed) {
-      if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
-        tx = 0;
-      }
+    if (longitudinal_interceptor_checks(to_send, longitudinal_allowed)) {
+      tx = 0;
     }
   }
 
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 81ab8c149..d695ee16f 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -147,10 +147,8 @@ static int toyota_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
 
     // GAS PEDAL: safety check
     if (addr == 0x200) {
-      if (!longitudinal_allowed) {
-        if (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)) {
-          tx = 0;
-        }
+      if (longitudinal_interceptor_checks(to_send, longitudinal_allowed)) {
+        tx = 0;
       }
     }
 
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index c32d5cd9b..e7d40630e 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -130,6 +130,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
 bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits, const bool longitudinal_allowed);
 bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits, const bool longitudinal_allowed);
+bool longitudinal_interceptor_checks(CANPacket_t *to_send, const bool longitudinal_allowed);
 void pcm_cruise_check(bool cruise_engaged);
 
 typedef const addr_checks* (*safety_hook_init)(uint16_t param);