use helper

selfdrive/car/__init__.py

@@ -7,6 +7,7 @@
 import capnp
 
 from cereal import car
+from panda.python.uds import SERVICE_TYPE
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
@@ -191,6 +192,16 @@ def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
 
+def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+  dat.append(0x80 if suppress_response else 0x0)  # sub-function
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)
+
+
 def get_safety_config(safety_model, safety_param = None):
   ret = car.CarParams.SafetyConfig.new_message()
   ret.safetyModel = safety_model

selfdrive/car/ecu_addrs.py

@@ -4,21 +4,12 @@
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car import make_tester_present_msg
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 
-def _make_tester_present_msg(addr, bus, subaddr=None):
-  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
-  if subaddr is not None:
-    dat.insert(0, subaddr)
-
-  dat.extend([0x0] * (8 - len(dat)))
-  return make_can_msg(addr, bytes(dat), bus)
-
-
 def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
@@ -44,7 +35,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
                   responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
   ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
-    msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
     messaging.drain_sock_raw(logcan)
     sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))

selfdrive/car/honda/carcontroller.py

@@ -3,7 +3,7 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, rate_limit
+from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -164,7 +164,7 @@ def update(self, CC, CS, now_nanos):
     # tester present - w/ no response (keeps radar disabled)
     if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
       if self.frame % 10 == 0:
-        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
+        can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
 
     # Send steering command.
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,

selfdrive/car/hyundai/carcontroller.py

@@ -2,7 +2,7 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
@@ -96,11 +96,11 @@ def update(self, CC, CS, now_nanos):
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, self.CAN.ECAN
-      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
+      can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
 
       # for blinkers
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
+        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
 
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:

selfdrive/car/subaru/carcontroller.py

@@ -1,6 +1,6 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
 from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
@@ -124,7 +124,7 @@ def update(self, CC, CS, now_nanos):
       if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
         # Tester present (keeps eyesight disabled)
         if self.frame % 100 == 0:
-          can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
+          can_sends.append(make_tester_present_msg(GLOBAL_ES_ADDR, CanBus.camera, suppress_response=True))
 
         # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
         if self.frame % 5 == 0:

selfdrive/car/toyota/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
@@ -166,7 +166,7 @@ def update(self, CC, CS, now_nanos):
 
     # keep radar disabled
     if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
+      can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
 
     new_actuators = actuators.as_builder()
     new_actuators.steer = apply_steer / self.params.STEER_MAX