From dd78b2bf6c9d63ef59e81d0c400e85c8b477a8be Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 20 Jul 2023 13:07:06 -0700
Subject: [PATCH] python lib: allow infinite timeout

---
 python/base.py |  3 +--
 python/spi.py  | 13 ++++++-------
 python/usb.py  |  3 +--
 3 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/python/base.py b/python/base.py
index 5bfa5648..d19a2b86 100644
--- a/python/base.py
+++ b/python/base.py
@@ -1,5 +1,4 @@
 from abc import ABC, abstractmethod
-from typing import List
 
 from .constants import McuType
 
@@ -24,7 +23,7 @@ class BaseHandle(ABC):
     ...
 
   @abstractmethod
-  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
+  def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
     ...
 
   @abstractmethod
diff --git a/python/spi.py b/python/spi.py
index abba7940..ad0225b1 100644
--- a/python/spi.py
+++ b/python/spi.py
@@ -32,7 +32,7 @@ CHECKSUM_START = 0xAB
 MIN_ACK_TIMEOUT_MS = 100
 MAX_XFER_RETRY_COUNT = 5
 
-XFER_SIZE = 1000
+XFER_SIZE = 0x40*31
 
 DEV_PATH = "/dev/spidev0.0"
 
@@ -164,7 +164,6 @@ class PandaSpiHandle(BaseHandle):
     logging.debug("- waiting for header ACK")
     self._wait_for_ack(spi, HACK, MIN_ACK_TIMEOUT_MS, 0x11)
 
-    # send data
     logging.debug("- sending data")
     packet = bytes([*data, self._calc_checksum(data)])
     spi.xfer2(packet)
@@ -187,6 +186,7 @@ class PandaSpiHandle(BaseHandle):
       if remaining > 0:
         dat += bytes(spi.readbytes(remaining))
 
+
       dat = dat[:3 + response_len + 1]
       if self._calc_checksum(dat) != 0:
         raise PandaSpiBadChecksum
@@ -216,7 +216,7 @@ class PandaSpiHandle(BaseHandle):
     n = 0
     start_time = time.monotonic()
     exc = PandaSpiException()
-    while (time.monotonic() - start_time) < timeout*1e-3:
+    while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3:
       n += 1
       logging.debug("\ntry #%d", n)
       with self.dev.acquire() as spi:
@@ -274,20 +274,19 @@ class PandaSpiHandle(BaseHandle):
   def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
     return self._transfer(0, struct.pack("<BHHH", request, value, index, length), timeout, max_rx_len=length)
 
-  # TODO: implement these properly
-  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
+  def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
     for x in range(math.ceil(len(data) / XFER_SIZE)):
       self._transfer(endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
     return len(data)
 
   def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
-    ret: List[int] = []
+    ret = b""
     for _ in range(math.ceil(length / XFER_SIZE)):
       d = self._transfer(endpoint, [], timeout, max_rx_len=XFER_SIZE)
       ret += d
       if len(d) < XFER_SIZE:
         break
-    return bytes(ret)
+    return ret
 
 
 class STBootloaderSPIHandle(BaseSTBootloaderHandle):
diff --git a/python/usb.py b/python/usb.py
index 140b4cf9..0f1bff7c 100644
--- a/python/usb.py
+++ b/python/usb.py
@@ -1,5 +1,4 @@
 import struct
-from typing import List
 
 from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
 from .constants import McuType
@@ -17,7 +16,7 @@ class PandaUsbHandle(BaseHandle):
   def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
     return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
 
-  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
+  def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
     return self._libusb_handle.bulkWrite(endpoint, data, timeout)  # type: ignore
 
   def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes: