Merge branch 'master-new' of https://github.com/sunnypilot/panda into master-new

python/__init__.py

@@ -9,10 +9,11 @@ import binascii
 from functools import wraps, partial
 from itertools import accumulate
 
+from opendbc.car.structs import CarParams
+
 from .base import BaseHandle
 from .constants import FW_PATH, McuType
 from .dfu import PandaDFU
-from .isotp import isotp_send, isotp_recv
 from .spi import PandaSpiHandle, PandaSpiException, PandaProtocolMismatch
 from .usb import PandaUsbHandle
 from .utils import logger
@@ -101,48 +102,7 @@ ensure_health_packet_version = partial(ensure_version, "health", "HEALTH_PACKET_
 
 
 
-class ALTERNATIVE_EXPERIENCE:
-  DEFAULT = 0
-  DISABLE_DISENGAGE_ON_GAS = 1
-  DISABLE_STOCK_AEB = 2
-  RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
-  ALLOW_AEB = 16
-
-  # sunnypilot
-  ENABLE_MADS = 2 ** 10
-  DISENGAGE_LATERAL_ON_BRAKE = 2 ** 11
-
 class Panda:
-
-  # matches cereal.car.CarParams.SafetyModel
-  SAFETY_SILENT = 0
-  SAFETY_HONDA_NIDEC = 1
-  SAFETY_TOYOTA = 2
-  SAFETY_ELM327 = 3
-  SAFETY_GM = 4
-  SAFETY_HONDA_BOSCH_GIRAFFE = 5
-  SAFETY_FORD = 6
-  SAFETY_HYUNDAI = 8
-  SAFETY_CHRYSLER = 9
-  SAFETY_TESLA = 10
-  SAFETY_SUBARU = 11
-  SAFETY_MAZDA = 13
-  SAFETY_NISSAN = 14
-  SAFETY_VOLKSWAGEN_MQB = 15
-  SAFETY_ALLOUTPUT = 17
-  SAFETY_GM_ASCM = 18
-  SAFETY_NOOUTPUT = 19
-  SAFETY_HONDA_BOSCH = 20
-  SAFETY_VOLKSWAGEN_PQ = 21
-  SAFETY_SUBARU_PREGLOBAL = 22
-  SAFETY_HYUNDAI_LEGACY = 23
-  SAFETY_HYUNDAI_COMMUNITY = 24
-  SAFETY_STELLANTIS = 25
-  SAFETY_FAW = 26
-  SAFETY_BODY = 27
-  SAFETY_HYUNDAI_CANFD = 28
-  SAFETY_VOLKSWAGEN_MEB = 33
-
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1
   SERIAL_LIN1 = 2
@@ -169,7 +129,7 @@ class Panda:
   CAN_PACKET_VERSION = 4
   HEALTH_PACKET_VERSION = 16
   CAN_HEALTH_PACKET_VERSION = 5
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHBHHBB")
+  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]
@@ -189,50 +149,6 @@ class Panda:
   HARNESS_STATUS_NORMAL = 1
   HARNESS_STATUS_FLIPPED = 2
 
-  # first byte is for EPS scaling factor
-  FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
-  FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
-  FLAG_TOYOTA_LTA = (4 << 8)
-  FLAG_TOYOTA_SECOC = (8 << 8)
-
-  FLAG_HONDA_ALT_BRAKE = 1
-  FLAG_HONDA_BOSCH_LONG = 2
-  FLAG_HONDA_NIDEC_ALT = 4
-  FLAG_HONDA_RADARLESS = 8
-
-  FLAG_HYUNDAI_EV_GAS = 1
-  FLAG_HYUNDAI_HYBRID_GAS = 2
-  FLAG_HYUNDAI_LONG = 4
-  FLAG_HYUNDAI_CAMERA_SCC = 8
-  FLAG_HYUNDAI_CANFD_HDA2 = 16
-  FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
-  FLAG_HYUNDAI_ALT_LIMITS = 64
-  FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
-  FLAG_HYUNDAI_ESCC = 512
-  FLAG_HYUNDAI_LONG_MAIN_CRUISE_TOGGLEABLE = 1024
-
-  FLAG_TESLA_POWERTRAIN = 1
-  FLAG_TESLA_LONG_CONTROL = 2
-  FLAG_TESLA_RAVEN = 4
-
-  FLAG_VOLKSWAGEN_LONG_CONTROL = 1
-
-  FLAG_CHRYSLER_RAM_DT = 1
-  FLAG_CHRYSLER_RAM_HD = 2
-
-  FLAG_SUBARU_GEN2 = 1
-  FLAG_SUBARU_LONG = 2
-  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
-
-  FLAG_NISSAN_ALT_EPS_BUS = 1
-  FLAG_NISSAN_LEAF = 512
-
-  FLAG_GM_HW_CAM = 1
-  FLAG_GM_HW_CAM_LONG = 2
-
-  FLAG_FORD_LONG_CONTROL = 1
-  FLAG_FORD_CANFD = 2
-
   def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
     self._disable_checks = disable_checks
 
@@ -660,7 +576,6 @@ class Panda:
       "sbu1_voltage_mV": a[23],
       "sbu2_voltage_mV": a[24],
       "som_reset_triggered": a[25],
-      "controls_allowed_lat": a[26],
     }
 
   @ensure_can_health_packet_version
@@ -794,10 +709,13 @@ class Panda:
 
   # ******************* configuration *******************
 
+  def set_alternative_experience(self, alternative_experience, safety_param_sp=0):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xdf, int(alternative_experience), int(safety_param_sp), b'')
+
   def set_power_save(self, power_save_enabled=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
 
-  def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
+  def set_safety_mode(self, mode=CarParams.SafetyModel.silent, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
 
   def set_obd(self, obd):
@@ -878,14 +796,6 @@ class Panda:
     """
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xf1, bus, 0, b'')
 
-  # ******************* isotp *******************
-
-  def isotp_send(self, addr, dat, bus, recvaddr=None, subaddr=None):
-    return isotp_send(self, dat, addr, bus, recvaddr, subaddr)
-
-  def isotp_recv(self, addr, bus=0, sendaddr=None, subaddr=None):
-    return isotp_recv(self, addr, bus, sendaddr, subaddr)
-
   # ******************* serial *******************
 
   def serial_read(self, port_number):