openpilot v0.9.4 release

date: 2023-07-27T18:38:32
master commit: fa310d9e25

panda/python/base.py

@@ -0,0 +1,66 @@
+from abc import ABC, abstractmethod
+
+from .constants import McuType
+
+TIMEOUT = int(15 * 1e3)  # default timeout, in milliseconds
+
+class BaseHandle(ABC):
+  """
+    A handle to talk to a panda.
+    Borrows heavily from the libusb1 handle API.
+  """
+
+  @abstractmethod
+  def close(self) -> None:
+    ...
+
+  @abstractmethod
+  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
+    ...
+
+  @abstractmethod
+  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT) -> bytes:
+    ...
+
+  @abstractmethod
+  def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
+    ...
+
+  @abstractmethod
+  def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
+    ...
+
+
+class BaseSTBootloaderHandle(ABC):
+  """
+    A handle to talk to a panda while it's in the STM32 bootloader.
+  """
+
+  @abstractmethod
+  def get_mcu_type(self) -> McuType:
+    ...
+
+  @abstractmethod
+  def close(self) -> None:
+    ...
+
+  @abstractmethod
+  def clear_status(self) -> None:
+    ...
+
+  @abstractmethod
+  def program(self, address: int, dat: bytes) -> None:
+    ...
+
+  @abstractmethod
+  def erase_app(self) -> None:
+    ...
+
+  @abstractmethod
+  def erase_bootstub(self) -> None:
+    ...
+
+  @abstractmethod
+  def jump(self, address: int) -> None:
+    ...
+