Added fwd hook coverage test for Cadillac and created default_fwd_hook instead of nooutput and alloutput, which were teh same

board/safety/safety_cadillac.h

@@ -127,5 +127,5 @@ const safety_hooks cadillac_hooks = {
   .tx = cadillac_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = cadillac_ign_hook,
-  .fwd = alloutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };

board/safety/safety_defaults.h

@@ -18,7 +18,7 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return false;
 }
 
-static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
@@ -28,7 +28,7 @@ const safety_hooks nooutput_hooks = {
   .tx = nooutput_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };
 
 // *** all output safety mode ***
@@ -45,15 +45,11 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
   return true;
 }
 
-static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks alloutput_hooks = {
   .init = alloutput_init,
   .rx = default_rx_hook,
   .tx = alloutput_tx_hook,
   .tx_lin = alloutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = alloutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };

board/safety/safety_elm327.h

@@ -31,5 +31,5 @@ const safety_hooks elm327_hooks = {
   .tx = elm327_tx_hook,
   .tx_lin = elm327_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };

board/safety/safety_ford.h

@@ -89,5 +89,5 @@ const safety_hooks ford_hooks = {
   .tx = ford_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };

board/safety/safety_gm.h

@@ -240,5 +240,5 @@ const safety_hooks gm_hooks = {
   .tx = gm_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = gm_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = default_fwd_hook,
 };

tests/safety/test_cadillac.py

@@ -34,6 +34,13 @@ class TestCadillacSafety(unittest.TestCase):
     cls.safety.safety_set_mode(6, 0)
     cls.safety.init_tests_cadillac()
 
+  def _send_msg(self, bus, addr, length):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = addr << 21
+    to_send[0].RDTR = length
+    to_send[0].RDTR = bus << 4
+    return to_send
+
   def _set_prev_torque(self, t):
     self.safety.set_cadillac_desired_torque_last(t)
     self.safety.set_cadillac_rt_torque_last(t)
@@ -174,5 +181,16 @@ class TestCadillacSafety(unittest.TestCase):
       self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
 
 
+  def test_fwd_hook(self):
+    # nothing allowed
+    buss = range(0x0, 0x3)
+    msgs = range(0x1, 0x800)
+
+    for b in buss:
+      for m in msgs:
+        # assume len 8
+        self.assertEqual(-1, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+
+
 if __name__ == "__main__":
   unittest.main()