Merge commit '084a40a46fb5658d36344de66c2effcd88d3f2c6'

Author: programanichiro

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="6f83fdf9b9a26e2f20e58aed5623137ca2f61d3c"
+ENV OPENDBC_REF="da0a5e3d2b3984b56ebf5e25d9769f5c77807e4d"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \

README.md

@@ -75,8 +75,8 @@ For example, to receive CAN messages:
 ```
 And to send one on bus 0:
 ``` python
->>> from opendbc.safety import Safety
->>> panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
+>>> from opendbc.car.structs import CarParams
+>>> panda.set_safety_mode(CarParams.SafetyModel.allOutput)
 >>> panda.can_send(0x1aa, b'message', 0)
 ```
 Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as

board/drivers/can_common.h

@@ -173,6 +173,13 @@ void ignition_can_hook(CANPacket_t *to_push) {
       ignition_can_cnt = 0U;
     }
 
+    // Rivian R1S/T GEN1 exception
+    if ((addr == 0x152) && (len == 8)) {
+      // VDM_OutputSignals
+      ignition_can = GET_BIT(to_push, 60U);
+      ignition_can_cnt = 0U;
+    }
+
     // Tesla Model 3/Y exception
     if ((addr == 0x221) && (len == 8)) {
       // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState

board/jungle/scripts/loopback_test.py

@@ -5,7 +5,7 @@
 import random
 from termcolor import cprint
 
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda, PandaJungle
 
 NUM_PANDAS_PER_TEST = 1
@@ -89,7 +89,7 @@ def can_loopback(sender):
 def test_loopback():
   # disable safety modes
   for panda in pandas:
-    panda.set_safety_mode(Safety.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Safety.SAFETY_ALLOUTPUT)
+    panda.set_safety_mode(CarParams.SafetyModel.elm327 if FOR_RELEASE_BUILDS else CarParams.SafetyModel.allOutput)
 
   # perform loopback with jungle as a sender
   can_loopback(jungle)
@@ -100,7 +100,7 @@ def test_loopback():
 
   # enable safety modes
   for panda in pandas:
-    panda.set_safety_mode(Safety.SAFETY_SILENT)
+    panda.set_safety_mode(CarParams.SafetyModel.silent)
 
 #################################################################
 ############################# MAIN ##############################

board/jungle/scripts/spam_can.py

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

examples/query_fw_versions.py

@@ -4,7 +4,7 @@
 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 opendbc.car.structs import CarParams
 from panda import Panda
 
 if __name__ == "__main__":
@@ -64,7 +64,7 @@
     exit()
 
   panda = Panda(serial=args.serial)
-  panda.set_safety_mode(Safety.SAFETY_ELM327, 1 if args.no_obd else 0)
+  panda.set_safety_mode(CarParams.SafetyModel.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

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import time
 import struct
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda
 from hexdump import hexdump
 from panda.python.isotp import isotp_send, isotp_recv
@@ -31,7 +31,7 @@ def get_supported_pids():
 
 if __name__ == "__main__":
   panda = Panda()
-  panda.set_safety_mode(Safety.SAFETY_ELM327)
+  panda.set_safety_mode(CarParams.SafetyModel.elm327)
   panda.can_clear(0)
 
   # 09 02 = Get VIN

examples/tesla_tester.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import binascii
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda
 
 def tesla_tester():
@@ -14,7 +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(Safety.SAFETY_ALLOUTPUT)
+  p.set_safety_mode(CarParams.SafetyModel.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:
@@ -27,7 +27,7 @@ def tesla_tester():
 
   #Back to safety...
   print("Disabling output on Panda...")
-  p.set_safety_mode(Safety.SAFETY_SILENT)
+  p.set_safety_mode(CarParams.SafetyModel.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

@@ -9,7 +9,7 @@
 from functools import wraps, partial
 from itertools import accumulate
 
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 
 from .base import BaseHandle
 from .constants import FW_PATH, McuType
@@ -714,7 +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.SAFETY_SILENT, param=0):
+  def set_safety_mode(self, mode=CarParams.SafetyModel.silent, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
 
   def set_obd(self, obd):

tests/black_white_loopback_test.py

@@ -9,7 +9,7 @@
 import time
 import random
 import argparse
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda
 
 def get_test_string():
@@ -48,8 +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(Safety.SAFETY_ALLOUTPUT)
-  other_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
+  black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
+  other_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
 
   # test health packet
   print("black panda health", black_panda.health())
@@ -63,9 +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(Safety.SAFETY_SILENT)
+    black_panda.set_safety_mode(CarParams.SafetyModel.silent)
     time.sleep(1)
-    black_panda.set_safety_mode(Safety.SAFETY_ALLOUTPUT)
+    black_panda.set_safety_mode(CarParams.SafetyModel.allOutput)
     time.sleep(1)