openpilot v0.9.7 release

date: 2024-06-11T01:36:39
master commit: f8cb04e4a8

panda/python/__init__.py

@@ -6,10 +6,8 @@ import usb1
 import struct
 import hashlib
 import binascii
-import datetime
 import logging
 from functools import wraps, partial
-from typing import Optional
 from itertools import accumulate
 
 from .base import BaseHandle
@@ -150,9 +148,6 @@ class Panda:
   SERIAL_LIN2 = 3
   SERIAL_SOM_DEBUG = 4
 
-  GMLAN_CAN2 = 1
-  GMLAN_CAN3 = 2
-
   USB_PIDS = (0xddee, 0xddcc)
   REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
   REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
@@ -170,9 +165,9 @@ class Panda:
   HW_TYPE_CUATRO = b'\x0a'
 
   CAN_PACKET_VERSION = 4
-  HEALTH_PACKET_VERSION = 15
+  HEALTH_PACKET_VERSION = 16
   CAN_HEALTH_PACKET_VERSION = 5
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBHBBBHfBBHBHHB")
+  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHB")
   CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
 
   F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
@@ -196,13 +191,11 @@ class Panda:
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
   FLAG_TOYOTA_LTA = (4 << 8)
-  FLAG_TOYOTA_GAS_INTERCEPTOR = (8 << 8)
 
   FLAG_HONDA_ALT_BRAKE = 1
   FLAG_HONDA_BOSCH_LONG = 2
   FLAG_HONDA_NIDEC_ALT = 4
   FLAG_HONDA_RADARLESS = 8
-  FLAG_HONDA_GAS_INTERCEPTOR = 16
 
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2
@@ -215,6 +208,7 @@ class Panda:
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
+  FLAG_TESLA_RAVEN = 4
 
   FLAG_VOLKSWAGEN_LONG_CONTROL = 1
 
@@ -234,7 +228,7 @@ class Panda:
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
 
-  def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
+  def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
     self._connect_serial = serial
     self._disable_checks = disable_checks
 
@@ -310,6 +304,10 @@ class Panda:
     for bus in range(PANDA_BUS_CNT):
       self.set_can_speed_kbps(bus, self._can_speed_kbps)
 
+  @property
+  def spi(self) -> bool:
+    return isinstance(self._handle, PandaSpiHandle)
+
   @classmethod
   def spi_connect(cls, serial, ignore_version=False):
     # get UID to confirm slave is present and up
@@ -363,6 +361,7 @@ class Panda:
           try:
             this_serial = device.getSerialNumber()
           except Exception:
+            logging.exception("failed to get serial number of panda")
             continue
 
           if serial is None or this_serial == serial:
@@ -414,7 +413,7 @@ class Panda:
               else:
                 logging.warning(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
             except Exception:
-              continue
+              logging.exception("error connecting to panda")
     except Exception:
       logging.exception("exception while listing pandas")
     return ret
@@ -439,6 +438,8 @@ class Panda:
           self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', timeout=timeout, expect_disconnect=True)
     except Exception:
       pass
+
+    self.close()
     if not enter_bootloader and reconnect:
       self.reconnect()
 
@@ -530,7 +531,7 @@ class Panda:
     if reconnect:
       self.reconnect()
 
-  def recover(self, timeout: Optional[int] = 60, reset: bool = True) -> bool:
+  def recover(self, timeout: int | None = 60, reset: bool = True) -> bool:
     dfu_serial = self.get_dfu_serial()
 
     if reset:
@@ -549,7 +550,7 @@ class Panda:
     return True
 
   @staticmethod
-  def wait_for_dfu(dfu_serial: Optional[str], timeout: Optional[int] = None) -> bool:
+  def wait_for_dfu(dfu_serial: str | None, timeout: int | None = None) -> bool:
     t_start = time.monotonic()
     dfu_list = PandaDFU.list()
     while (dfu_serial is None and len(dfu_list) == 0) or (dfu_serial is not None and dfu_serial not in dfu_list):
@@ -561,7 +562,7 @@ class Panda:
     return True
 
   @staticmethod
-  def wait_for_panda(serial: Optional[str], timeout: int) -> bool:
+  def wait_for_panda(serial: str | None, timeout: int) -> bool:
     t_start = time.monotonic()
     serials = Panda.list()
     while (serial is None and len(serials) == 0) or (serial is not None and serial not in serials):
@@ -596,26 +597,25 @@ class Panda:
       "safety_rx_invalid": a[4],
       "tx_buffer_overflow": a[5],
       "rx_buffer_overflow": a[6],
-      "gmlan_send_errs": a[7],
-      "faults": a[8],
-      "ignition_line": a[9],
-      "ignition_can": a[10],
-      "controls_allowed": a[11],
-      "car_harness_status": a[12],
-      "safety_mode": a[13],
-      "safety_param": a[14],
-      "fault_status": a[15],
-      "power_save_enabled": a[16],
-      "heartbeat_lost": a[17],
-      "alternative_experience": a[18],
-      "interrupt_load": a[19],
-      "fan_power": a[20],
-      "safety_rx_checks_invalid": a[21],
-      "spi_checksum_error_count": a[22],
-      "fan_stall_count": a[23],
-      "sbu1_voltage_mV": a[24],
-      "sbu2_voltage_mV": a[25],
-      "som_reset_triggered": a[26],
+      "faults": a[7],
+      "ignition_line": a[8],
+      "ignition_can": a[9],
+      "controls_allowed": a[10],
+      "car_harness_status": a[11],
+      "safety_mode": a[12],
+      "safety_param": a[13],
+      "fault_status": a[14],
+      "power_save_enabled": a[15],
+      "heartbeat_lost": a[16],
+      "alternative_experience": a[17],
+      "interrupt_load": a[18],
+      "fan_power": a[19],
+      "safety_rx_checks_invalid": a[20],
+      "spi_checksum_error_count": a[21],
+      "fan_stall_count": a[22],
+      "sbu1_voltage_mV": a[23],
+      "sbu2_voltage_mV": a[24],
+      "som_reset_triggered": a[25],
     }
 
   @ensure_can_health_packet_version
@@ -752,21 +752,10 @@ class Panda:
   def set_power_save(self, power_save_enabled=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
 
-  def enable_deepsleep(self):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xfb, 0, 0, b'')
-
   def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
 
-  def set_gmlan(self, bus=2):
-    # TODO: check panda type
-    if bus is None:
-      self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 0, 0, b'')
-    elif bus in (Panda.GMLAN_CAN2, Panda.GMLAN_CAN3):
-      self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
-
   def set_obd(self, obd):
-    # TODO: check panda type
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(obd), 0, b'')
 
   def set_can_loopback(self, enable):
@@ -894,21 +883,6 @@ class Panda:
   def set_heartbeat_disabled(self):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf8, 0, 0, b'')
 
-  # ******************* RTC *******************
-  def set_datetime(self, dt):
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa2, int(dt.month), 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa3, int(dt.day), 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa4, int(dt.isoweekday()), 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa5, int(dt.hour), 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa6, int(dt.minute), 0, b'')
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa7, int(dt.second), 0, b'')
-
-  def get_datetime(self):
-    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
-    a = struct.unpack("HBBBBBB", dat)
-    return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
-
   # ****************** Timer *****************
   def get_microsecond_timer(self):
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa8, 0, 0, 4)