From 27ef9f2236ca45eae9adaa395969133c2a59b75b Mon Sep 17 00:00:00 2001
From: Nigel Armstrong <legonigel@users.noreply.github.com>
Date: Fri, 12 Apr 2019 16:57:32 -0700
Subject: [PATCH] Squashed 'panda/' changes from 06958e4..38dc4e6

38dc4e6 Chrysler safety: better to mention messages we don't want to forward
236705f chrysler: forward bus 0 to bus 2 (#177)
62d4219 debug_console.py: exit when no pandas found (#175)

git-subtree-dir: panda
git-subtree-split: 38dc4e678325d13b4324f91f6eff8cb6a0fe575d
---
 board/safety/safety_chrysler.h | 23 ++++++++++++++++++++---
 tests/debug_console.py         |  3 +++
 2 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index b1c6a743f1..4af588401e 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -5,7 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 
-int chrysler_camera_detected = 0;
+int chrysler_camera_detected = 0;             // is giraffe switch 2 high?
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
@@ -125,12 +125,29 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return true;
 }
 
+static void chrysler_init(int16_t param) {
+  chrysler_camera_detected = 0;
+}
+
+static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  int32_t addr = to_fwd->RIR >> 21;
+  // forward CAN 0 -> 2 so stock LKAS camera sees messages
+  if (bus_num == 0 && !chrysler_camera_detected) {
+    return 2;
+  }
+  // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
+  if (bus_num == 2 && !chrysler_camera_detected && addr != 658 && addr != 678) {
+    return 0;
+  }
+  return -1;  // do not forward
+}
+
 
 const safety_hooks chrysler_hooks = {
-  .init = nooutput_init,
+  .init = chrysler_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = chrysler_fwd_hook,
 };
diff --git a/tests/debug_console.py b/tests/debug_console.py
index f4db77f091..0238ed7897 100755
--- a/tests/debug_console.py
+++ b/tests/debug_console.py
@@ -21,6 +21,9 @@ if __name__ == "__main__":
 
   pandas = list(map(lambda x: Panda(x, claim=claim), serials))
 
+  if not len(pandas):
+    sys.exit("no pandas found")
+
   if os.getenv("BAUD") is not None:
     for panda in pandas:
       panda.set_uart_baud(port_number, int(os.getenv("BAUD")))