Move safety constants to opendbc (commaai#2145)

* move to opendbc

* all passing

* do the rest

* fix

* and another

* order

* and update ref to master

Dockerfile

@@ -37,7 +37,7 @@ 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="0eab9bf26e1b36678db4f198986091c82e538967"
+ENV OPENDBC_REF="950e7b34efa64d2ad41df3300652661fbae06f57"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/sunnypilot/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

__init__.py

@@ -5,7 +5,7 @@
 from .python.utils import logger # noqa: F401
 from .python import (Panda, PandaDFU, isotp, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,
-                     DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
+                     DLC_TO_LEN, LEN_TO_DLC, CANPACKET_HEAD_SIZE)
 
 
 # panda jungle

board/jungle/scripts/loopback_test.py

@@ -5,6 +5,7 @@
 import random
 from termcolor import cprint
 
+from opendbc.safety import Safety
 from panda import Panda, PandaJungle
 
 NUM_PANDAS_PER_TEST = 1
@@ -88,7 +89,7 @@ def can_loopback(sender):
 def test_loopback():
   # disable safety modes
   for panda in pandas:
-    panda.set_safety_mode(Panda.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Panda.SAFETY_ALLOUTPUT)
+    panda.set_safety_mode(Safety.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Safety.SAFETY_ALLOUTPUT)
 
   # perform loopback with jungle as a sender
   can_loopback(jungle)
@@ -99,7 +100,7 @@ def test_loopback():
 
   # enable safety modes
   for panda in pandas:
-    panda.set_safety_mode(Panda.SAFETY_SILENT)
+    panda.set_safety_mode(Safety.SAFETY_SILENT)
 
 #################################################################
 ############################# MAIN ##############################

board/jungle/scripts/spam_can.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import random
+from opendbc.safety import Safety
 from panda import PandaJungle
 
 def get_test_string():
@@ -9,7 +10,7 @@ def get_test_string():
 if __name__ == "__main__":
   p = PandaJungle()
 
-  p.set_safety_mode(PandaJungle.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   print("Spamming all buses...")
   while True:

examples/query_fw_versions.py

@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 import argparse
 from tqdm import tqdm
-from panda import Panda
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
                             SESSION_TYPE, DATA_IDENTIFIER_TYPE
+from opendbc.safety import Safety
+from panda import Panda
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
@@ -63,7 +64,7 @@
     exit()
 
   panda = Panda(serial=args.serial)
-  panda.set_safety_mode(Panda.SAFETY_ELM327, 1 if args.no_obd else 0)
+  panda.set_safety_mode(Safety.SAFETY_ELM327, 1 if args.no_obd else 0)
   print("querying addresses ...")
   with tqdm(addrs) as t:
     for addr in t:

examples/query_vin_and_stats.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import time
 import struct
+from opendbc.safety import Safety
 from panda import Panda
 from hexdump import hexdump
 from panda.python.isotp import isotp_send, isotp_recv
@@ -30,7 +31,7 @@ def get_supported_pids():
 
 if __name__ == "__main__":
   panda = Panda()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  panda.set_safety_mode(Safety.SAFETY_ELM327)
   panda.can_clear(0)
 
   # 09 02 = Get VIN

examples/tesla_tester.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 import binascii
+from opendbc.safety import Safety
 from panda import Panda
 
 def tesla_tester():
@@ -13,7 +14,7 @@ def tesla_tester():
   # Now set the panda from its default of SAFETY_SILENT (read only) to SAFETY_ALLOUTPUT
   # Careful, as this will let us send any CAN messages we want (which could be very bad!)
   print("Setting Panda to output mode...")
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   # BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more.
   # For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
@@ -26,7 +27,7 @@ def tesla_tester():
 
   #Back to safety...
   print("Disabling output on Panda...")
-  p.set_safety_mode(Panda.SAFETY_SILENT)
+  p.set_safety_mode(Safety.SAFETY_SILENT)
 
   print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
 

python/__init__.py

@@ -9,6 +9,8 @@
 from functools import wraps, partial
 from itertools import accumulate
 
+from opendbc.safety import Safety
+
 from .base import BaseHandle
 from .constants import FW_PATH, McuType
 from .dfu import PandaDFU
@@ -101,48 +103,8 @@ def wrapper(self, *args, **kwargs):
 
 
 
-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_PSA = 31
-
   SERIAL_DEBUG = 0
   SERIAL_ESP = 1
   SERIAL_LIN1 = 2
@@ -752,7 +714,7 @@ def get_interrupt_call_rate(self, irqnum):
   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=Safety.SAFETY_SILENT, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
 
   def set_obd(self, obd):

tests/black_white_loopback_test.py

@@ -9,6 +9,7 @@
 import time
 import random
 import argparse
+from opendbc.safety import Safety
 from panda import Panda
 
 def get_test_string():
@@ -47,8 +48,8 @@ def run_test(sleep_duration):
     raise Exception("Connect white/grey and black panda to run this test!")
 
   # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
+  other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   # test health packet
   print("black panda health", black_panda.health())
@@ -62,9 +63,9 @@ def run_test(sleep_duration):
     print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors)
 
     # Toggle relay
-    black_panda.set_safety_mode(Panda.SAFETY_SILENT)
+    black_panda.set_safety_mode(Safety.SAFETY_SILENT)
     time.sleep(1)
-    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
     time.sleep(1)
 
 

tests/black_white_relay_endurance.py

@@ -10,6 +10,7 @@
 import random
 import argparse
 
+from opendbc.safety import Safety
 from panda import Panda
 
 def get_test_string():
@@ -48,8 +49,8 @@ def run_test(sleep_duration):
     raise Exception("Connect white/grey and black panda to run this test!")
 
   # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
+  other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   # test health packet
   print("black panda health", black_panda.health())
@@ -69,9 +70,9 @@ def run_test(sleep_duration):
 
     if (time.time() - temp_start_time) > 3600 * 6:
       # Toggle relay
-      black_panda.set_safety_mode(Panda.SAFETY_SILENT)
+      black_panda.set_safety_mode(Safety.SAFETY_SILENT)
       time.sleep(1)
-      black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+      black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
       time.sleep(1)
       temp_start_time = time.time()
 

tests/black_white_relay_test.py

@@ -9,6 +9,7 @@
 import random
 import argparse
 
+from opendbc.safety import Safety
 from panda import Panda
 
 def get_test_string():
@@ -50,8 +51,8 @@ def run_test(sleep_duration):
     raise Exception("Connect white/grey and black panda to run this test!")
 
   # disable safety modes
-  black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
+  other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   # test health packet
   print("black panda health", black_panda.health())
@@ -60,15 +61,15 @@ def run_test(sleep_duration):
   # test black -> other
   while True:
     # Switch on relay
-    black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
     time.sleep(0.05)
 
     if not test_buses(black_panda, other_panda, (0, False, [0])):
       open_errors += 1
       raise Exception("Open error")
 
     # Switch off relay
-    black_panda.set_safety_mode(Panda.SAFETY_SILENT)
+    black_panda.set_safety_mode(Safety.SAFETY_SILENT)
     time.sleep(0.05)
 
     if not test_buses(black_panda, other_panda, (0, False, [0, 2])):

tests/bulk_write_test.py

@@ -4,6 +4,7 @@
 import threading
 from typing import Any
 
+from opendbc.safety import Safety
 from panda import Panda
 
 JUNGLE = "JUNGLE" in os.environ
@@ -30,9 +31,9 @@ def flood_tx(panda):
       raise Exception("Connect two pandas to perform this test!")
     sender = Panda(serials[0])
     receiver = Panda(serials[1])  # type: ignore
-    receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    receiver.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
-  sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  sender.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   # Start transmisson
   threading.Thread(target=flood_tx, args=(sender,)).start()

tests/can_printer.py

@@ -4,6 +4,7 @@
 from collections import defaultdict
 import binascii
 
+from opendbc.safety import Safety
 from panda import Panda
 
 # fake
@@ -16,7 +17,7 @@ def can_printer():
   time.sleep(1)
 
   p.can_clear(0xFFFF)
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
 
   start = sec_since_boot()
   lp = sec_since_boot()

tests/canfd/test_canfd.py

@@ -3,6 +3,7 @@
 import time
 import random
 from collections import defaultdict
+from opendbc.safety import Safety
 from panda import Panda, calculate_checksum, DLC_TO_LEN
 from panda import PandaJungle
 from panda.tests.hitl.helpers import time_many_sends
@@ -44,14 +45,14 @@ def panda_init(serial, enable_canfd=False, enable_non_iso=False):
       p.set_can_data_speed_kbps(bus, 2000)
     if enable_non_iso:
       p.set_canfd_non_iso(bus, True)
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
   return p
 
 def test_canfd_throughput(p, p_recv=None):
   two_pandas = p_recv is not None
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
   if two_pandas:
-    p_recv.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+    p_recv.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
   # enable output mode
   else:
     p.set_can_loopback(True)

tests/echo.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
+from opendbc.safety import Safety
 from panda import Panda
 
 # This script is intended to be used in conjunction with the echo_loopback_test.py test script from panda jungle.
 # It sends a reversed response back for every message received containing b"test".
 if __name__ == "__main__":
   p = Panda()
-  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
   p.set_power_save(False)
 
   while True:

tests/elm_car_simulator.py

@@ -10,6 +10,7 @@
 import threading
 from collections import deque
 
+from opendbc.safety import Safety
 from panda import Panda
 
 def lin_checksum(dat):
@@ -61,7 +62,7 @@ def set_enable(self, on):
         self.__on = on
 
     def start(self):
-        self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+        self.panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
         if self.__lin_enable:
             self.__lin_monitor_thread.start()
         if self.__can_enable: