Misra 15 7 (#219)

* Fixed Misra 15_7 violations

* switch case for buttons

board/safety/safety_cadillac.h

@@ -44,7 +44,8 @@ static void cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int cruise_engaged = to_push->RDLR & 0x800000;  // bit 23
     if (cruise_engaged && !cadillac_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     cadillac_cruise_engaged_last = cruise_engaged;

board/safety/safety_chrysler.h

@@ -30,7 +30,8 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
     if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     chrysler_cruise_engaged_last = cruise_engaged;

board/safety/safety_ford.h

@@ -27,7 +27,8 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     bool set_or_resume = (to_push->RDLR >> 28) & 0x3;
     if (cancel) {
       controls_allowed = 0;
-    } else if (set_or_resume) {
+    }
+    if (set_or_resume) {
       controls_allowed = 1;
     }
   }
@@ -69,9 +70,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // STEER: safety check
   if (addr == 0x3CA) {
-    if (current_controls_allowed) {
-      // all messages are fine here
-    } else {
+    if (!current_controls_allowed) {
       // bits 7-4 need to be 0xF to disallow lkas commands
       if (((to_send->RDLR >> 4) & 0xF) != 0xF) {
         tx = 0;

board/safety/safety_gm.h

@@ -65,12 +65,17 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // ACC steering wheel buttons
   if (addr == 481) {
-    int buttons = (to_push->RDHR >> 12) & 0x7;
-    // res/set - enable, cancel button - disable
-    if ((buttons == 2) || (buttons == 3)) {
-      controls_allowed = 1;
-    } else if (buttons == 6) {
-      controls_allowed = 0;
+    int button = (to_push->RDHR >> 12) & 0x7;
+    switch (button) {
+      case 2:  // resume
+      case 3:  // set
+        controls_allowed = 1;
+        break;
+      case 6:  // cancel
+        controls_allowed = 0;
+        break;
+      default:
+        break;  // any other button is irrelevant
     }
   }
 
@@ -134,15 +139,14 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     uint32_t rdlr = to_send->RDLR;
     int brake = ((rdlr & 0xFU) << 8) + ((rdlr & 0xFF00U) >> 8);
     brake = (0x1000 - brake) & 0xFFF;
-    if (current_controls_allowed && long_controls_allowed) {
-      if (brake > GM_MAX_BRAKE) {
-        tx = 0;
-      }
-    } else {
+    if (!current_controls_allowed || !long_controls_allowed) {
       if (brake != 0) {
         tx = 0;
       }
     }
+    if (brake > GM_MAX_BRAKE) {
+      tx = 0;
+    }
   }
 
   // LKA STEER: safety check
@@ -203,18 +207,17 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   if (addr == 715) {
     uint32_t rdlr = to_send->RDLR;
     int gas_regen = ((rdlr & 0x7F0000U) >> 11) + ((rdlr & 0xF8000000U) >> 27);
-    bool apply = (rdlr & 1U) != 0U;
-    if (current_controls_allowed && long_controls_allowed) {
-      if (gas_regen > GM_MAX_GAS) {
-        tx = 0;
-      }
-    } else {
-      // Disabled message is !engaed with gas
-      // value that corresponds to max regen.
+    // Disabled message is !engaed with gas
+    // value that corresponds to max regen.
+    if (!current_controls_allowed || !long_controls_allowed) {
+      bool apply = (rdlr & 1U) != 0U;
       if (apply || (gas_regen != GM_MAX_REGEN)) {
         tx = 0;
       }
     }
+    if (gas_regen > GM_MAX_GAS) {
+      tx = 0;
+    }
   }
 
   // 1 allows the message through

board/safety/safety_gm_ascm.h

@@ -17,7 +17,8 @@ static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
       if (!supercruise_on) {
         bus_fwd = -1;
       }
-    } else if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
+    }
+    if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
       // on the chassis bus, the OBDII port is on the module side, so we need to read
       // the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
       // the actuator as 0x152 and 0x154

board/safety/safety_honda.h

@@ -28,11 +28,17 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // state machine to enter and exit controls
   // 0x1A6 for the ILX, 0x296 for the Civic Touring
   if ((addr == 0x1A6) || (addr == 0x296)) {
-    int buttons = (to_push->RDLR & 0xE0) >> 5;
-    if ((buttons == 4) || (buttons == 3)) {
-      controls_allowed = 1;
-    } else if (buttons == 2) {
-      controls_allowed = 0;
+    int button = (to_push->RDLR & 0xE0) >> 5;
+    switch (button) {
+      case 2:  // cancel
+        controls_allowed = 0;
+        break;
+      case 3:  // set
+      case 4:  // resume
+        controls_allowed = 1;
+        break;
+      default:
+        break; // any other button is irrelevant
     }
   }
 
@@ -100,22 +106,19 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // BRAKE: safety check
   if (addr == 0x1FA) {
-    if (current_controls_allowed && long_controls_allowed) {
-      if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) {
-        tx = 0;
-      }
-    } else {
+    if (!current_controls_allowed || !long_controls_allowed) {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
         tx = 0;
       }
     }
+    if ((to_send->RDLR & 0xFFFFFF3F) != to_send->RDLR) {
+      tx = 0;
+    }
   }
 
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
-    if (current_controls_allowed) {
-      // all messages are fine here
-    } else {
+    if (!current_controls_allowed) {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
         tx = 0;
       }
@@ -124,9 +127,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // GAS: safety check
   if (addr == 0x200) {
-    if (current_controls_allowed && long_controls_allowed) {
-      // all messages are fine here
-    } else {
+    if (!current_controls_allowed || !long_controls_allowed) {
       if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
         tx = 0;
       }
@@ -169,7 +170,8 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
   if (bus_num == 0) {
     bus_fwd = 2;
-  } else if (bus_num == 2) {
+  }
+  if (bus_num == 2) {
     // block stock lkas messages and stock acc messages (if OP is doing ACC)
     int addr = GET_ADDR(to_fwd);
     int is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
@@ -187,7 +189,8 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
   if (bus_num == 2) {
     bus_fwd = 1;
-  } else if (bus_num == 1)  {
+  }
+  if (bus_num == 1)  {
     int addr = GET_ADDR(to_fwd);
     int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
     if (!is_lkas_msg) {

board/safety/safety_hyundai.h

@@ -42,7 +42,8 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
     if (cruise_engaged && !hyundai_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     hyundai_cruise_engaged_last = cruise_engaged;
@@ -132,7 +133,8 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   if (hyundai_giraffe_switch_2) {
     if (bus_num == 0) {
       bus_fwd = hyundai_camera_bus;
-    } else if (bus_num == hyundai_camera_bus) {
+    }
+    if (bus_num == hyundai_camera_bus) {
       int addr = GET_ADDR(to_fwd);
       if (addr != 832) {
         bus_fwd = 0;

board/safety/safety_subaru.h

@@ -31,7 +31,8 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int cruise_engaged = (to_push->RDHR >> 9) & 1;
     if (cruise_engaged && !subaru_cruise_engaged_last) {
       controls_allowed = 1;
-    } else if (!cruise_engaged) {
+    }
+    if (!cruise_engaged) {
       controls_allowed = 0;
     }
     subaru_cruise_engaged_last = cruise_engaged;
@@ -99,7 +100,8 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int bus_fwd = -1;
   if (bus_num == 0) {
     bus_fwd = 2;  // Camera CAN
-  } else if (bus_num == 2) {
+  }
+  if (bus_num == 2) {
     // 356 is LKAS for outback 2015
     // 356 is LKAS for Global Platform
     // 545 is ES_Distance

board/safety/safety_tesla.h

@@ -59,7 +59,8 @@ static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (lever_position == 2) { // pull forward
       // activate openpilot
       controls_allowed = 1;
-    } else if (lever_position == 1) { // push towards the back
+    }
+    if (lever_position == 1) { // push towards the back
       // deactivate openpilot
       controls_allowed = 0;
     }

board/safety/safety_toyota.h

@@ -59,7 +59,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     int cruise_engaged = to_push->RDLR & 0x20;
     if (!cruise_engaged) {
       controls_allowed = 0;
-    } else if (cruise_engaged && !toyota_cruise_engaged_last) {
+    }
+    if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
     }
     toyota_cruise_engaged_last = cruise_engaged;
@@ -113,9 +114,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
     // GAS PEDAL: safety check
     if (addr == 0x200) {
-      if (controls_allowed && long_controls_allowed) {
-        // all messages are fine here
-      } else {
+      if (!controls_allowed || !long_controls_allowed) {
         if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) {
           tx = 0;
         }
@@ -126,12 +125,13 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (addr == 0x343) {
       int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
       desired_accel = to_signed(desired_accel, 16);
-      if (controls_allowed && long_controls_allowed) {
-        bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
-        if (violation) {
+      if (!controls_allowed || !long_controls_allowed) {
+        if (desired_accel != 0) {
           tx = 0;
         }
-      } else if (desired_accel != 0) {
+      }
+      bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+      if (violation) {
         tx = 0;
       }
     }
@@ -202,7 +202,8 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   if (toyota_camera_forwarded && !toyota_giraffe_switch_1) {
     if (bus_num == 0) {
       bus_fwd = 2;
-    } else if (bus_num == 2) {
+    }
+    if (bus_num == 2) {
       int addr = GET_ADDR(to_fwd);
       // block stock lkas messages and stock acc messages (if OP is doing ACC)
       int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412));