Move car-specific panda flags into opendbc

opendbc/car/chrysler/interface.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
-from panda import Panda
 from opendbc.car import get_safety_config, structs
-from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
+from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerPandaFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 
@@ -19,9 +18,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     # safety config
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
     if candidate in RAM_HD:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
+      ret.safetyConfigs[0].safetyParam |= ChryslerPandaFlags.FLAG_CHRYSLER_RAM_HD.value
     elif candidate in RAM_DT:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
+      ret.safetyConfigs[0].safetyParam |= ChryslerPandaFlags.FLAG_CHRYSLER_RAM_DT.value
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:

opendbc/car/chrysler/values.py

@@ -10,6 +10,11 @@
 Ecu = CarParams.Ecu
 
 
+class ChryslerPandaFlags(IntFlag):
+  FLAG_CHRYSLER_RAM_DT = 1
+  FLAG_CHRYSLER_RAM_HD = 2
+
+
 class ChryslerFlags(IntFlag):
   # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1

opendbc/car/ford/interface.py

@@ -1,9 +1,8 @@
-from panda import Panda
 from opendbc.car.common.numpy_fast import interp
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR
+from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordPandaFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -45,11 +44,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     # TODO: verify stock AEB compatibility and longitudinal limit safety before shipping to release
     ret.experimentalLongitudinalAvailable = ret.radarUnavailable
     if experimental_long or not ret.radarUnavailable:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
+      ret.safetyConfigs[-1].safetyParam |= FordPandaFlags.FLAG_FORD_LONG_CONTROL.value
       ret.openpilotLongitudinalControl = True
 
     if ret.flags & FordFlags.CANFD:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
+      ret.safetyConfigs[-1].safetyParam |= FordPandaFlags.FLAG_FORD_CANFD.value
     else:
       # Lock out if the car does not have needed lateral and longitudinal control APIs.
       # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists

opendbc/car/ford/values.py

@@ -42,6 +42,11 @@ def __init__(self, CP):
     pass
 
 
+class FordPandaFlags(IntFlag):
+  FLAG_FORD_LONG_CONTROL = 1
+  FLAG_FORD_CANFD = 2
+
+
 class FordFlags(IntFlag):
   # Static flags
   CANFD = 1

opendbc/car/gm/interface.py

@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 import os
 from math import fabs, exp
-from panda import Panda
 
 from opendbc.car import get_safety_config, get_friction, structs
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.radar_interface import RADAR_HEADER_MSG
-from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus
+from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMPandaFlags
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -98,7 +97,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.safetyConfigs[0].safetyParam |= GMPandaFlags.FLAG_GM_HW_CAM.value
       ret.minEnableSpeed = -1 if candidate in SDGM_CAR else 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
@@ -111,7 +110,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        ret.safetyConfigs[0].safetyParam |= GMPandaFlags.FLAG_GM_HW_CAM_LONG.value
 
       if candidate in ALT_ACCS:
         ret.experimentalLongitudinalAvailable = False

opendbc/car/gm/values.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+from enum import IntFlag
 
 from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
 from opendbc.car.structs import CarParams
@@ -59,6 +60,11 @@ def __init__(self, CP):
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
 
+class GMPandaFlags(IntFlag):
+  FLAG_GM_HW_CAM = 1
+  FLAG_GM_HW_CAM_LONG = 2
+
+
 @dataclass
 class GMCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"

opendbc/car/honda/interface.py

@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
-from panda import Panda
 from opendbc.car import get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import interp
 from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaPandaFlags
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.disable_ecu import disable_ecu
 
@@ -186,17 +185,17 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
 
     if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
+      ret.safetyConfigs[0].safetyParam |= HondaPandaFlags.FLAG_HONDA_ALT_BRAKE.value
 
     # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
     if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
+      ret.safetyConfigs[0].safetyParam |= HondaPandaFlags.FLAG_HONDA_NIDEC_ALT.value
 
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
+      ret.safetyConfigs[0].safetyParam |= HondaPandaFlags.FLAG_HONDA_BOSCH_LONG.value
 
     if candidate in HONDA_BOSCH_RADARLESS:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
+      ret.safetyConfigs[0].safetyParam |= HondaPandaFlags.FLAG_HONDA_RADARLESS.value
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not

opendbc/car/honda/values.py

@@ -48,6 +48,13 @@ def __init__(self, CP):
     self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
 
+class HondaPandaFlags(IntFlag):
+  FLAG_HONDA_ALT_BRAKE = 1
+  FLAG_HONDA_BOSCH_LONG = 2
+  FLAG_HONDA_NIDEC_ALT = 4
+  FLAG_HONDA_RADARLESS = 8
+
+
 class HondaFlags(IntFlag):
   # Detected flags
   # Bosch models with alternate set of LKAS_HUD messages

opendbc/car/hyundai/interface.py

@@ -1,9 +1,8 @@
-from panda import Panda
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
-                                                   UNSUPPORTED_LONGITUDINAL_CAR
+                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiPandaFlags
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.disable_ecu import disable_ecu
@@ -58,13 +57,13 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2.value
         if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+          ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING.value
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+        ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS.value
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+        ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC.value
 
     else:
       # Shared configuration for non CAN-FD cars
@@ -86,7 +85,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
 
       if ret.flags & HyundaiFlags.CAMERA_SCC:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+        ret.safetyConfigs[0].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC.value
 
     # Common lateral control setup
 
@@ -96,7 +95,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if ret.flags & HyundaiFlags.ALT_LIMITS:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
+      ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS.value
 
     # Common longitudinal control setup
 
@@ -109,11 +108,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.longitudinalActuatorDelay = 0.5
 
     if ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
+      ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_LONG.value
     if ret.flags & HyundaiFlags.HYBRID:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
+      ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS.value
     elif ret.flags & HyundaiFlags.EV:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
+      ret.safetyConfigs[-1].safetyParam |= HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS.value
 
     # Car specific configuration overrides
 

opendbc/car/hyundai/tests/test_hyundai.py

@@ -2,7 +2,6 @@
 
 import pytest
 
-from panda import Panda
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
@@ -12,7 +11,7 @@
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         HyundaiFlags, get_platform_codes
+                                         HyundaiFlags, get_platform_codes, HyundaiPandaFlags
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -67,7 +66,7 @@ def test_alternate_limits(self):
     fingerprint = gen_empty_fingerprint()
     for car_model in CAR:
       CP = CarInterface.get_params(car_model, fingerprint, [], False, False)
-      assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_ALT_LIMITS)
+      assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS)
 
   def test_can_features(self):
     # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)

opendbc/car/hyundai/values.py

@@ -51,6 +51,17 @@ def __init__(self, CP):
       self.STEER_MAX = 384
 
 
+class HyundaiPandaFlags(IntFlag):
+  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
+
+
 class HyundaiFlags(IntFlag):
   # Dynamic Flags
   CANFD_HDA2 = 1

opendbc/car/nissan/interface.py

@@ -1,7 +1,6 @@
-from panda import Panda
 from opendbc.car import get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.car.nissan.values import CAR
+from opendbc.car.nissan.values import CAR, NissanPandaFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -21,6 +20,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     if candidate == CAR.NISSAN_ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
+      ret.safetyConfigs[0].safetyParam |= NissanPandaFlags.FLAG_NISSAN_ALT_EPS_BUS.value
 
     return ret

opendbc/car/nissan/values.py

@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+from enum import IntFlag
 
 from panda import uds
 from opendbc.car import AngleRateLimit, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
@@ -23,6 +24,10 @@ def __init__(self, CP):
     pass
 
 
+class NissanPandaFlags(IntFlag):
+  FLAG_NISSAN_ALT_EPS_BUS = 1
+
+
 @dataclass
 class NissanCarDocs(CarDocs):
   package: str = "ProPILOT Assist"

opendbc/car/subaru/interface.py

@@ -1,8 +1,7 @@
-from panda import Panda
 from opendbc.car import get_safety_config, structs
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
+from opendbc.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags, SubaruPandaFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -29,7 +28,7 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
       ret.enableBsm = 0x228 in fingerprint[0]
       ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
       if ret.flags & SubaruFlags.GLOBAL_GEN2:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
+        ret.safetyConfigs[0].safetyParam |= SubaruPandaFlags.FLAG_SUBARU_GEN2.value
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
@@ -72,7 +71,8 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
-      ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
+      # Outback 2018-2019 and Forester have reversed driver torque signal
+      ret.safetyConfigs[0].safetyParam = SubaruPandaFlags.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE.value
 
     elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
       ret.steerActuatorDelay = 0.15
@@ -90,7 +90,7 @@ def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, exp
       ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
+      ret.safetyConfigs[0].safetyParam |= SubaruPandaFlags.FLAG_SUBARU_LONG.value
 
     return ret
 

opendbc/car/subaru/values.py

@@ -54,6 +54,12 @@ def __init__(self, CP):
   BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
 
 
+class SubaruPandaFlags(IntFlag):
+  FLAG_SUBARU_GEN2 = 1
+  FLAG_SUBARU_LONG = 2
+  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
+
+
 class SubaruFlags(IntFlag):
   # Detected flags
   SEND_INFOTAINMENT = 1

opendbc/car/tesla/interface.py

@@ -14,7 +14,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     # Not merged yet
     #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
-    #ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TESLA_LONG_CONTROL
+    #ret.safetyConfigs[0].safetyParam |= TeslaPandaFlags.FLAG_TESLA_LONG_CONTROL.value
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25

opendbc/car/tesla/values.py

@@ -57,6 +57,12 @@ class CarControllerParams:
   JERK_LIMIT_MIN = -5
 
 
+class TeslaPandaFlags(IntFlag):
+  FLAG_TESLA_POWERTRAIN = 1
+  FLAG_TESLA_LONG_CONTROL = 2
+  FLAG_TESLA_RAVEN = 4
+
+
 class TeslaFlags(IntFlag):
   FLAG_TESLA_LONG_CONTROL = 1