openpilot v0.9.2 release

date: 2023-05-18T22:02:42
master commit: c7d3b28b93faa6c955fb24bc64031512ee985ee9

panda/python/base.py

@@ -1,25 +1,67 @@
 from abc import ABC, abstractmethod
 from typing import List
 
+from .constants import McuType
+
+TIMEOUT = int(15 * 1e3)  # default timeout, in milliseconds
 
-# This mimics the handle given by libusb1 for easy interoperability
 class BaseHandle(ABC):
+  """
+    A handle to talk to a panda.
+    Borrows heavily from the libusb1 handle API.
+  """
+
   @abstractmethod
   def close(self) -> None:
     ...
 
   @abstractmethod
-  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0) -> int:
+  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
     ...
 
   @abstractmethod
-  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0) -> bytes:
+  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT) -> bytes:
     ...
 
   @abstractmethod
-  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
+  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
     ...
 
   @abstractmethod
-  def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
+  def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
     ...
+
+
+class BaseSTBootloaderHandle(ABC):
+  """
+    A handle to talk to a panda while it's in the STM32 bootloader.
+  """
+
+  @abstractmethod
+  def get_mcu_type(self) -> McuType:
+    ...
+
+  @abstractmethod
+  def close(self) -> None:
+    ...
+
+  @abstractmethod
+  def clear_status(self) -> None:
+    ...
+
+  @abstractmethod
+  def program(self, address: int, dat: bytes) -> None:
+    ...
+
+  @abstractmethod
+  def erase_app(self) -> None:
+    ...
+
+  @abstractmethod
+  def erase_bootstub(self) -> None:
+    ...
+
+  @abstractmethod
+  def jump(self, address: int) -> None:
+    ...
+