Remove car specific flags (#2116)

* Subaru: combine panda flags * Remove car-specific panda flags * Rename usages in tests * update opendbc ref * ? ? * fix ltl * order --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
2026-02-18 09:13:52 +08:00 · 2025-02-10 20:10:29 -07:00
parent c73bc7bfe8
commit e7940cc3e9
17 changed files with 89 additions and 98 deletions
--- a/4
+++ b/4
@@ -37,11 +37,11 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]

 # TODO: this should be a "pip install" or not even in this repo at all
 RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="7af6f3885dc43be8ecf331df1f0914cf3338de50"
+ENV OPENDBC_REF="25b3266b0bf95fced1589fd28f824227da62ffc0"
 RUN cd /tmp/ && \
    git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
    cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
-    pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
+    pip3 install --break-system-packages --no-cache-dir Cython numpy pycapnp  && \
    ln -s $PWD/opendbc $PYTHONPATH/opendbc && \
    scons -j8 --minimal opendbc/

--- a/python/init.py
+++ b/python/init.py
@@ -184,47 +184,6 @@ 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_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_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

--- a/tests/hitl/2_health.py
+++ b/tests/hitl/2_health.py
@@ -1,6 +1,7 @@
 import time
 import pytest

+from opendbc.car.hyundai.values import HyundaiPandaFlags
 from panda import Panda


@@ -36,10 +37,10 @@ def test_hw_type(p):
 def test_heartbeat(p, panda_jungle):
  panda_jungle.set_ignition(True)
  # TODO: add more cases here once the tests aren't super slow
-  p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
+  p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
  p.send_heartbeat()
  assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
-  assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
+  assert p.health()['safety_param'] == HyundaiPandaFlags.FLAG_HYUNDAI_LONG

  # shouldn't do anything once we're in a car safety mode
  p.set_heartbeat_disabled()
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.chrysler.values import ChryslerPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -89,7 +91,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
  def setUp(self):
    self.packer = CANPackerPanda("chrysler_ram_dt_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT)
+    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_DT)
    self.safety.init_tests()

  def _speed_msg(self, speed):
@@ -113,7 +115,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
  def setUp(self):
    self.packer = CANPackerPanda("chrysler_ram_hd_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_HD)
+    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_HD)
    self.safety.init_tests()

  def _speed_msg(self, speed):
--- a/tests/safety/test_ford.py
+++ b/tests/safety/test_ford.py
@@ -4,6 +4,7 @@ import random
 import unittest

 import panda.tests.safety.common as common
+from opendbc.car.ford.values import FordPandaFlags

 from panda import Panda
 from panda.tests.libpanda import libpanda_py
@@ -365,7 +366,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
  def setUp(self):
    self.packer = CANPackerPanda("ford_lincoln_base_pt")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD)
+    self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_CANFD)
    self.safety.init_tests()


@@ -457,7 +458,7 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
  def setUp(self):
    self.packer = CANPackerPanda("ford_lincoln_base_pt")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD)
+    self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_LONG_CONTROL | FordPandaFlags.FLAG_FORD_CANFD)
    self.safety.init_tests()


--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.gm.values import GMPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -187,7 +189,7 @@ class TestGmCameraSafety(TestGmCameraSafetyBase):
    self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
    self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM)
    self.safety.init_tests()

  def test_buttons(self):
@@ -219,7 +221,7 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
    self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
    self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM | GMPandaFlags.FLAG_GM_HW_CAM_LONG)
    self.safety.init_tests()


--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -2,6 +2,7 @@
 import unittest
 import numpy as np

+from opendbc.car.honda.values import HondaPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -357,7 +358,7 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
  def setUp(self):
    self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, HondaPandaFlags.FLAG_HONDA_NIDEC_ALT)
    self.safety.init_tests()

  def _acc_state_msg(self, main_on):
@@ -422,7 +423,7 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
  """
  def setUp(self):
    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_ALT_BRAKE)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
    self.safety.init_tests()

  def _user_brake_msg(self, brake):
@@ -471,7 +472,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):

  def setUp(self):
    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
    self.safety.init_tests()

  def _send_gas_brake_msg(self, gas, accel):
@@ -531,7 +532,7 @@ class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessS

  def setUp(self):
    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS)
    self.safety.init_tests()


@@ -542,7 +543,7 @@ class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRa

  def setUp(self):
    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_ALT_BRAKE)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
    self.safety.init_tests()


@@ -556,7 +557,7 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond

  def setUp(self):
    super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
    self.safety.init_tests()

  def _accel_msg(self, accel):
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import random
 import unittest
+
+from opendbc.car.hyundai.values import HyundaiPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -121,7 +123,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_kia_generic")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS)
    self.safety.init_tests()


@@ -132,7 +134,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_kia_generic")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC)
    self.safety.init_tests()


@@ -178,7 +180,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_kia_generic")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
    self.safety.init_tests()

  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
--- a/tests/safety/test_hyundai_canfd.py
+++ b/tests/safety/test_hyundai_canfd.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 from parameterized import parameterized_class
 import unittest
+
+from opendbc.car.hyundai.values import HyundaiPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -107,13 +109,17 @@ class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase):

@parameterized_class([
  # Radar SCC, test with long flag to ensure flag is not respected until it is supported
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                                                                  HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
  # Camera SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                                                                  HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
 ])
 class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
  pass
@@ -121,13 +127,16 @@ class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):

@parameterized_class([
  # Radar SCC, test with long flag to ensure flag is not respected until it is supported
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
  # Camera SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                                                                  HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
 ])
 class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):

@@ -136,7 +145,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_canfd")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
    self.safety.init_tests()

  def _button_msg(self, buttons, main_button=0, bus=1):
@@ -171,7 +180,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_canfd")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
    self.safety.init_tests()


@@ -191,8 +200,8 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_canfd")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
-                                 Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                 HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
    self.safety.init_tests()


@@ -213,7 +222,8 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_canfd")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 |
+                                 HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
    self.safety.init_tests()

  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -227,9 +237,9 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
 # Tests HDA1 longitudinal for ICE, hybrid, EV
@parameterized_class([
  # Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS},
 ])
 class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):

@@ -253,7 +263,7 @@ class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base
  def setUp(self):
    self.packer = CANPackerPanda("hyundai_canfd")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
    self.safety.init_tests()

  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.nissan.values import NissanPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -88,7 +90,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
  def setUp(self):
    self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS)
+    self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, NissanPandaFlags.FLAG_NISSAN_ALT_EPS_BUS)
    self.safety.init_tests()


--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import enum
 import unittest
+
+from opendbc.car.subaru.values import SubaruPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -182,17 +184,17 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):


 class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
-  FLAGS = Panda.FLAG_SUBARU_GEN2
+  FLAGS = SubaruPandaFlags.FLAG_SUBARU_GEN2
  TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)


 class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
-  FLAGS = Panda.FLAG_SUBARU_LONG
+  FLAGS = SubaruPandaFlags.FLAG_SUBARU_LONG
  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS)


 class TestSubaruGen2LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):
-  FLAGS = Panda.FLAG_SUBARU_LONG | Panda.FLAG_SUBARU_GEN2
+  FLAGS = SubaruPandaFlags.FLAG_SUBARU_LONG | SubaruPandaFlags.FLAG_SUBARU_GEN2
  TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + long_tx_msgs(SUBARU_ALT_BUS) + gen2_long_additional_tx_msgs()

  def _rdbi_msg(self, did: int):
--- a/tests/safety/test_subaru_preglobal.py
+++ b/tests/safety/test_subaru_preglobal.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.subaru.values import SubaruPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -62,7 +64,7 @@ class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSt


 class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
-  FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
+  FLAGS = SubaruPandaFlags.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE
  DBC = "subaru_outback_2019_generated"


--- a/tests/safety/test_tesla.py
+++ b/tests/safety/test_tesla.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
+
+from opendbc.car.tesla.values import TeslaPandaFlags
 from panda import Panda
 import panda.tests.safety.common as common
 from panda.tests.libpanda import libpanda_py
@@ -112,7 +114,7 @@ class TestTeslaRavenSteeringSafety(TestTeslaSteeringSafety):
  def setUp(self):
    self.packer = CANPackerPanda("tesla_can")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_RAVEN)
+    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, TeslaPandaFlags.FLAG_TESLA_RAVEN)
    self.safety.init_tests()

  def _angle_meas_msg(self, angle: float):
@@ -165,7 +167,7 @@ class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety):
  def setUp(self):
    self.packer = CANPackerPanda("tesla_can")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL)
+    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, TeslaPandaFlags.FLAG_TESLA_LONG_CONTROL)
    self.safety.init_tests()


@@ -177,7 +179,7 @@ class TestTeslaPTLongitudinalSafety(TestTeslaLongitudinalSafety):
  def setUp(self):
    self.packer = CANPackerPanda("tesla_powertrain")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN)
+    self.safety.set_safety_hooks(Panda.SAFETY_TESLA, TeslaPandaFlags.FLAG_TESLA_LONG_CONTROL | TeslaPandaFlags.FLAG_TESLA_POWERTRAIN)
    self.safety.init_tests()


--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -4,6 +4,7 @@ import random
 import unittest
 import itertools

+from opendbc.car.toyota.values import ToyotaPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -166,7 +167,7 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
  def setUp(self):
    self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_LTA)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_LTA)
    self.safety.init_tests()

  # Only allow LKA msgs with no actuation
@@ -268,7 +269,7 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
  def setUp(self):
    self.packer = CANPackerPanda("toyota_new_mc_pt_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_ALT_BRAKE)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_ALT_BRAKE)
    self.safety.init_tests()

  def _user_brake_msg(self, brake):
@@ -313,7 +314,7 @@ class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToy
  def setUp(self):
    self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL)
    self.safety.init_tests()


@@ -322,7 +323,7 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
  def setUp(self):
    self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_LTA)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL | ToyotaPandaFlags.FLAG_TOYOTA_LTA)
    self.safety.init_tests()


@@ -335,7 +336,7 @@ class TestToyotaSecOcSafety(TestToyotaStockLongitudinalBase):
  def setUp(self):
    self.packer = CANPackerPanda("toyota_secoc_pt_generated")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_SECOC)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | ToyotaPandaFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL | ToyotaPandaFlags.FLAG_TOYOTA_SECOC)
    self.safety.init_tests()

  # This platform also has alternate brake and PCM messages, but same naming in the DBC, so same packers work
--- a/tests/safety/test_volkswagen_mqb.py
+++ b/tests/safety/test_volkswagen_mqb.py
@@ -5,6 +5,7 @@ from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
 from panda.tests.safety.common import CANPackerPanda
+from opendbc.car.volkswagen.values import VolkswagenPandaFlags

 MAX_ACCEL = 2.0
 MIN_ACCEL = -3.5
@@ -165,7 +166,7 @@ class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety):
  def setUp(self):
    self.packer = CANPackerPanda("vw_mqb_2010")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
+    self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, VolkswagenPandaFlags.FLAG_VOLKSWAGEN_LONG_CONTROL)
    self.safety.init_tests()

  # stock cruise controls are entirely bypassed under openpilot longitudinal control
--- a/tests/safety/test_volkswagen_pq.py
+++ b/tests/safety/test_volkswagen_pq.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.volkswagen.values import VolkswagenPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -147,7 +149,7 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAcce
  def setUp(self):
    self.packer = CANPackerPanda("vw_golf_mk4")
    self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL)
+    self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, VolkswagenPandaFlags.FLAG_VOLKSWAGEN_LONG_CONTROL)
    self.safety.init_tests()

  # stock cruise controls are entirely bypassed under openpilot longitudinal control
--- a/tests/safety_replay/helpers.py
+++ b/tests/safety_replay/helpers.py
@@ -1,3 +1,4 @@
+from opendbc.car.toyota.values import ToyotaPandaFlags
 import panda.tests.libpanda.libpanda_py as libpanda_py
 from panda import Panda

@@ -12,7 +13,7 @@ def is_steering_msg(mode, param, addr):
  if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
    ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
  elif mode == Panda.SAFETY_TOYOTA:
-    ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
+    ret = addr == (0x191 if param & ToyotaPandaFlags.FLAG_TOYOTA_LTA else 0x2E4)
  elif mode == Panda.SAFETY_GM:
    ret = addr == 384
  elif mode == Panda.SAFETY_HYUNDAI:
@@ -33,7 +34,7 @@ def get_steer_value(mode, param, to_send):
    torque = (to_send.data[0] << 8) | to_send.data[1]
    torque = to_signed(torque, 16)
  elif mode == Panda.SAFETY_TOYOTA:
-    if param & Panda.FLAG_TOYOTA_LTA:
+    if param & ToyotaPandaFlags.FLAG_TOYOTA_LTA:
      angle = (to_send.data[1] << 8) | to_send.data[2]
      angle = to_signed(angle, 16)
    else: