Move CanHandle to python/ (#1550)

__init__.py

@@ -1,6 +1,7 @@
 from .python.constants import McuType, BASEDIR, FW_PATH, USBPACKET_MAX_SIZE  # noqa: F401
 from .python.spi import PandaSpiException, PandaProtocolMismatch  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
+from .python.canhandle import CanHandle # noqa: F401
 from .python import (Panda, PandaDFU, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum, unpack_log,
                      DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)

python/base.py

@@ -15,7 +15,7 @@ class BaseHandle(ABC):
     ...
 
   @abstractmethod
-  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
+  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
     ...
 
   @abstractmethod

python/canhandle.py

@@ -1,8 +1,10 @@
 import struct
 import signal
 
+from .base import BaseHandle
 
-class CanHandle(object):
+
+class CanHandle(BaseHandle):
   def __init__(self, p, bus):
     self.p = p
     self.bus = bus
@@ -29,7 +31,10 @@ class CanHandle(object):
 
     return ret
 
-  def controlWrite(self, request_type, request, value, index, data, timeout=0):
+  def close(self):
+    pass
+
+  def controlWrite(self, request_type, request, value, index, data, timeout=0, expect_disconnect=False):
     # ignore data in reply, panda doesn't use it
     return self.controlRead(request_type, request, value, index, 0, timeout)
 

tests/pedal/enter_canloader.py

@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 import time
 import argparse
-from panda import Panda, McuType
-from panda.tests.pedal.canhandle import CanHandle
+from panda import Panda, CanHandle, McuType
 
 
 if __name__ == "__main__":

tests/pedal/test_pedal.py

@@ -3,9 +3,8 @@ import os
 import time
 import subprocess
 import unittest
-from panda import Panda, BASEDIR
+from panda import Panda, CanHandle, BASEDIR
 from panda_jungle import PandaJungle  # pylint: disable=import-error
-from panda.tests.pedal.canhandle import CanHandle
 
 
 JUNGLE_SERIAL = os.getenv("PEDAL_JUNGLE")