Squashed 'panda/' changes from 9881e6118..30c7ca8a5

30c7ca8a5 bump version to 1.5.3
9403dbebe Need to fix wifi test before re-enabling.
0812362b5 GPS UART fix until boardd is refactored (#294)
ffbdb87a8 python2 -> 3 fixes to pedal flasher (#292)
78b75ef59 Added build type to release version strings
736c2cbf7 Fixed sending of bytes over PandaSerial
0894b28f1 Fixed USB power mode on black (#291)
4b3358c92 patch to be able to switch from EON to PC with a Panda that has EON b… (#290)
a95c44a71 Made setting of NOOUTPUT on no heartbeat more efficient (#287)
948683688 UART instability fix with high interrupt load (#283)
9a9e9d47b Fix usb_power_mode missing initialization (#289)
af0960ad3 DFU fix (#288)
70219d7bb match safety enum in cereal (#285)
a338d3932 Fix build for jenkins test
78ef4a6eb Stop charge (#284)
5266a4028 Fix typo (#286)
f4787ec5a Revert "turn on CDP when ignition switches on (#281)"
d37daee97 Revert "NONE and CLIENT should be the same thing in white/grey pandas"
e97b283e7 NONE and CLIENT should be the same thing in white/grey pandas
8c1df559f turn on CDP when ignition switches on (#281)
847a35d42 Fix bullet points
fac027716 Misra update (#280)
5a04df6b1 Added description of regression tests to README
c4aabae59 Fixed some python3 bugs in the test scripts and PandaSerial
9af0cb353 Bump version
c4ac3d63b Disable GPS load switching on black pandas
078ee588c This is the correct table, actually
578b95ee3 Misra table of coverage added
d383a2625 bump panda
b98ca010d fix sdk build in python3 env (#279)
63d3dc7d3 Set python3 env before runnign get_sdk, so we know if it fails
e951d79c0 legacy code we don't control can remain python2
11b715118 Merge pull request #276 from commaai/python3
9893a842a Merge pull request #277 from zorrobyte/patch-1
d3268690c Revert "revert back esptool to python2 and force to build esptools with python2"
875e76012 revert back esptool to python2 and force to build esptools with python2
9c40e6240 needed to install python3
ed2ac87cf Also moved safety tests to python3
6842b2d2c move esptool sdk installation before python3 env is set. Kind of a cheat
b5a2cabcd this hopefully fixes build test
628050955 Fixes safety replay
2c220b623 this fixes language regr test
fdbe789b8 use python 3 in Docker container
ee1ae4f86 Better hash print
0de9ef73c Revert "Final 2to3 on the whole repo"
c92fd3bc9 Final 2to3 on the whole repo
5f2bc4460 better
b2a30fdbd make works!
b74005d10 fix sign.py
fe727706b read file as byte and no tab before sleep
32a344ef6 Update README.md
2dc34096a 2to3 applied
ffa68ef71 undo unnecessary brackets for print
dbc248027 Fix all the prints with 2to3, some need to be undo
5a7aeba0f xrange is gone
982c4c928 one more python3 env
1e2412a29 env python -> env python3

git-subtree-dir: panda
git-subtree-split: 30c7ca8a53a3adb05d23d7cfe64fb716a656ef1a

python/__init__.py

@@ -1,5 +1,5 @@
 # python library to interface with panda
-from __future__ import print_function
+
 import binascii
 import struct
 import hashlib
@@ -9,12 +9,12 @@ import os
 import time
 import traceback
 import subprocess
-from dfu import PandaDFU
-from esptool import ESPROM, CesantaFlasher
-from flash_release import flash_release
-from update import ensure_st_up_to_date
-from serial import PandaSerial
-from isotp import isotp_send, isotp_recv
+from .dfu import PandaDFU
+from .esptool import ESPROM, CesantaFlasher
+from .flash_release import flash_release
+from .update import ensure_st_up_to_date
+from .serial import PandaSerial
+from .isotp import isotp_send, isotp_recv
 
 __version__ = '0.0.9'
 
@@ -23,7 +23,6 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 DEBUG = os.getenv("PANDADEBUG") is not None
 
 # *** wifi mode ***
-
 def build_st(target, mkfile="Makefile"):
   from panda import BASEDIR
   cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
@@ -46,7 +45,7 @@ def parse_can_buffer(dat):
       address = f1 >> 21
     dddat = ddat[8:8+(f2&0xF)]
     if DEBUG:
-      print("  R %x: %s" % (address, str(dddat).encode("hex")))
+      print("  R %x: %s" % (address, binascii.hexlify(dddat)))
     ret.append((address, f2>>16, dddat, (f2>>4)&0xFF))
   return ret
 
@@ -109,20 +108,25 @@ class WifiHandle(object):
 # *** normal mode ***
 
 class Panda(object):
+
+  # matches cereal.car.CarParams.SafetyModel
   SAFETY_NOOUTPUT = 0
   SAFETY_HONDA = 1
   SAFETY_TOYOTA = 2
-  SAFETY_GM = 3
-  SAFETY_HONDA_BOSCH = 4
-  SAFETY_FORD = 5
-  SAFETY_CADILLAC = 6
-  SAFETY_HYUNDAI = 7
-  SAFETY_TESLA = 8
+  SAFETY_ELM327 = 3
+  SAFETY_GM = 4
+  SAFETY_HONDA_BOSCH = 5
+  SAFETY_FORD = 6
+  SAFETY_CADILLAC = 7
+  SAFETY_HYUNDAI = 8
   SAFETY_CHRYSLER = 9
-  SAFETY_TOYOTA_IPAS = 0x1335
-  SAFETY_TOYOTA_NOLIMITS = 0x1336
-  SAFETY_ALLOUTPUT = 0x1337
-  SAFETY_ELM327 = 0xE327
+  SAFETY_TESLA = 10
+  SAFETY_SUBARU = 11
+  SAFETY_GM_PASSIVE = 12
+  SAFETY_MAZDA = 13
+  SAFETY_TOYOTA_IPAS = 16
+  SAFETY_ALLOUTPUT = 17
+  SAFETY_GM_ASCM = 18
 
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1
@@ -135,11 +139,11 @@ class Panda(object):
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
 
-  HW_TYPE_UNKNOWN = '\x00'
-  HW_TYPE_WHITE_PANDA = '\x01'
-  HW_TYPE_GREY_PANDA = '\x02'
-  HW_TYPE_BLACK_PANDA = '\x03'
-  HW_TYPE_PEDAL = '\x04'
+  HW_TYPE_UNKNOWN = b'\x00'
+  HW_TYPE_WHITE_PANDA = b'\x01'
+  HW_TYPE_GREY_PANDA = b'\x02'
+  HW_TYPE_BLACK_PANDA = b'\x03'
+  HW_TYPE_PEDAL = b'\x04'
 
   def __init__(self, serial=None, claim=True):
     self._serial = serial
@@ -232,7 +236,7 @@ class Panda(object):
   def flash_static(handle, code):
     # confirm flasher is present
     fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
-    assert fr[4:8] == "\xde\xad\xd0\x0d"
+    assert fr[4:8] == b"\xde\xad\xd0\x0d"
 
     # unlock flash
     print("flash: unlocking")
@@ -274,7 +278,7 @@ class Panda(object):
       fn = os.path.join(BASEDIR, "board", fn)
 
     if code is None:
-      with open(fn) as f:
+      with open(fn, "rb") as f:
         code = f.read()
 
     # get version
@@ -364,7 +368,7 @@ class Panda(object):
       pass
 
   def get_version(self):
-    return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
+    return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
 
   def get_type(self):
     return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
@@ -429,7 +433,7 @@ class Panda(object):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')
 
   def set_uart_baud(self, uart, rate):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, rate/300, b'')
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate/300), b'')
 
   def set_uart_parity(self, uart, parity):
     # parity, 0=off, 1=even, 2=odd
@@ -447,7 +451,7 @@ class Panda(object):
     for addr, _, dat, bus in arr:
       assert len(dat) <= 8
       if DEBUG:
-        print("  W %x: %s" % (addr, dat.encode("hex")))
+        print("  W %x: %s" % (addr, binascii.hexlify(dat)))
       if addr >= 0x800:
         rir = (addr << 3) | transmit | extended
       else:
@@ -479,7 +483,7 @@ class Panda(object):
         break
       except (usb1.USBErrorIO, usb1.USBErrorOverflow):
         print("CAN: BAD RECV, RETRYING")
-	time.sleep(0.1)
+        time.sleep(0.1)
     return parse_can_buffer(dat)
 
   def can_clear(self, bus):
@@ -546,7 +550,7 @@ class Panda(object):
       if len(ret) == 0:
         break
       elif DEBUG:
-        print("kline drain: "+str(ret).encode("hex"))
+        print("kline drain: " + binascii.hexlify(ret))
       bret += ret
     return bytes(bret)
 
@@ -555,7 +559,7 @@ class Panda(object):
     while len(echo) != cnt:
       ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
       if DEBUG and len(ret) > 0:
-        print("kline recv: "+ret.encode("hex"))
+        print("kline recv: " + binascii.hexlify(ret))
       echo += ret
     return str(echo)
 
@@ -572,7 +576,7 @@ class Panda(object):
     for i in range(0, len(x), 0xf):
       ts = x[i:i+0xf]
       if DEBUG:
-        print("kline send: "+ts.encode("hex"))
+        print("kline send: " + binascii.hexlify(ts))
       self._handle.bulkWrite(2, chr(bus).encode()+ts)
       echo = self.kline_ll_recv(len(ts), bus=bus)
       if echo != ts: