fix tests for outside pip install (openpilot)

opendbc/car/__init__.py

@@ -5,7 +5,7 @@
 from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
-from panda.python.uds import SERVICE_TYPE
+from panda import uds
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.docs_definitions import CarDocs
@@ -192,7 +192,7 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
 
 
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
+  dat = [0x02, uds.SERVICE_TYPE.TESTER_PRESENT]
   if subaddr is not None:
     dat.insert(0, subaddr)
   dat.append(0x80 if suppress_response else 0x0)  # sub-function

opendbc/car/chrysler/values.py

@@ -1,7 +1,7 @@
 from enum import IntFlag
 from dataclasses import dataclass, field
 
-from panda.python import uds
+from panda import uds
 from opendbc.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts

opendbc/car/ecu_addrs.py

@@ -1,6 +1,6 @@
 import time
 
-from panda.python.uds import SERVICE_TYPE
+from panda import uds
 from opendbc.car import make_tester_present_msg, carlog
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_query_definitions import EcuAddrBusType
@@ -12,10 +12,10 @@ def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
   dat_offset = 1 if subaddr is not None else 0
   if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
     # success response
-    if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
+    if msg.dat[dat_offset + 1] == (uds.SERVICE_TYPE.TESTER_PRESENT + 0x40):
       return True
     # error response
-    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
+    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == uds.SERVICE_TYPE.TESTER_PRESENT:
       return True
   return False
 

opendbc/car/ford/values.py

@@ -3,7 +3,7 @@
 from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
-import panda.python.uds as uds
+from panda import uds
 from opendbc.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \

opendbc/car/fw_query_definitions.py

@@ -3,7 +3,7 @@
 import struct
 from collections.abc import Callable
 
-import panda.python.uds as uds
+from panda import uds
 
 from opendbc.car.structs import CarParams
 

opendbc/car/fw_versions.py

@@ -4,7 +4,7 @@
 
 from tqdm import tqdm
 
-import panda.python.uds as uds
+from panda import uds
 from opendbc.car import carlog
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
 from opendbc.car.structs import CarParams

opendbc/car/honda/values.py

@@ -1,7 +1,7 @@
 from dataclasses import dataclass
 from enum import Enum, IntFlag
 
-from panda.python import uds
+from panda import uds
 from opendbc.car import CarSpecs, PlatformConfig, Platforms, dbc_dict, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column

opendbc/car/hyundai/values.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from panda.python import uds
+from panda import uds
 from opendbc.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams

opendbc/car/isotp_parallel_query.py

@@ -5,7 +5,7 @@
 from opendbc.car import carlog
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_query_definitions import AddrType
-from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
+from panda import uds
 
 
 class IsoTpParallelQuery:
@@ -23,9 +23,9 @@ def __init__(self, can_send: CanSendCallable, can_recv: CanRecvCallable, bus: in
 
     real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs]
     for tx_addr, _ in real_addrs:
-      assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
+      assert tx_addr not in uds.FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
-    self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
+    self.msg_addrs = {tx_addr: uds.get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
     self.msg_buffer: dict[int, list[CanData]] = defaultdict(list)
 
   def rx(self) -> None:
@@ -66,14 +66,14 @@ def _drain_rx(self) -> None:
     self.msg_buffer = defaultdict(list)
 
   def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
-    can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
-                           self.bus, sub_addr=sub_addr, debug=self.debug)
+    can_client = uds.CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
+                               self.bus, sub_addr=sub_addr, debug=self.debug)
 
     max_len = 8 if sub_addr is None else 7
     # uses iso-tp frame separation time of 10 ms
     # TODO: use single_frame_mode so ECUs can send as fast as they want,
     # as well as reduces chances we process messages from previous queries
-    return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len)
+    return uds.IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len)
 
   def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]:
     self._drain_rx()

opendbc/car/nissan/values.py

@@ -1,6 +1,6 @@
 from dataclasses import dataclass, field
 
-from panda.python import uds
+from panda import uds
 from opendbc.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts

opendbc/car/subaru/values.py

@@ -1,7 +1,7 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from panda.python import uds
+from panda import uds
 from opendbc.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column

opendbc/car/toyota/interface.py

@@ -1,5 +1,5 @@
 from panda import Panda
-from panda.python import uds
+from panda import uds
 from opendbc.car import structs, get_safety_config
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR

opendbc/car/vin.py

@@ -1,6 +1,6 @@
 import re
 
-from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
+from panda import uds
 from opendbc.car import carlog
 from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
 from opendbc.car.fw_query_definitions import STANDARD_VIN_ADDRS, StdQueries
@@ -17,8 +17,8 @@ def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
   for i in range(retry):
     for bus in buses:
       for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
-        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
-        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, uds.FUNCTIONAL_ADDRS, 0x8),
+        (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, uds.FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
         (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
         (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0,), [0x74f], None, 0x6a),  # Volkswagen fwdCamera
@@ -49,7 +49,7 @@ def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2, debug=False):
                 vin = vin[1:18]
 
               carlog.error(f"got vin with {request=}")
-              return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
+              return uds.get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
         except Exception:
           carlog.exception("VIN query exception")
 

opendbc/car/volkswagen/values.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
 
-from panda.python import uds
+from panda import uds
 from opendbc.can.can_define import CANDefine
 from opendbc.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from opendbc.car.common.conversions import Conversions as CV

requirements.txt

@@ -8,7 +8,9 @@ scons
 pytest
 pytest-xdist
 pytest-subtests
+pytest-mock
 hypothesis==6.47.*
 crcmod
 natsort
-https://github.com/commaai/panda.git
+parameterized>=0.8,<0.9
+git+https://github.com/commaai/panda.git