dragonpilot beta3

date: 2024-08-20T11:22:58
commit: dc76c1d6216e3766209a450c29dc9dafb696ef19

panda/python/__init__.py

@@ -37,7 +37,7 @@ def calculate_checksum(data):
 
 def pack_can_buffer(arr):
   snds = [b'']
-  for address, _, dat, bus in arr:
+  for address, dat, bus in arr:
     assert len(dat) in LEN_TO_DLC
     #logging.debug("  W 0x%x: 0x%s", address, dat.hex())
 
@@ -85,7 +85,7 @@ def unpack_can_buffer(dat):
     data = dat[CANPACKET_HEAD_SIZE:(CANPACKET_HEAD_SIZE+data_len)]
     dat = dat[(CANPACKET_HEAD_SIZE+data_len):]
 
-    ret.append((address, 0, data, bus))
+    ret.append((address, data, bus))
 
   return (ret, dat)
 
@@ -813,7 +813,7 @@ class Panda:
         logging.error("CAN: BAD SEND MANY, RETRYING")
 
   def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
-    self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
+    self.can_send_many([[addr, dat, bus]], timeout=timeout)
 
   @ensure_can_packet_version
   def can_recv(self):

panda/python/ccp.py

@@ -99,7 +99,7 @@ class CcpClient():
       msgs = self._panda.can_recv() or []
       if len(msgs) >= 256:
         print("CAN RX buffer overflow!!!", file=sys.stderr)
-      for rx_addr, _, rx_data_bytearray, rx_bus in msgs:
+      for rx_addr, rx_data_bytearray, rx_bus in msgs:
         if rx_bus == self.can_bus and rx_addr == self.rx_addr:
           rx_data = bytes(rx_data_bytearray)
           if self.debug:

panda/python/isotp.py

@@ -18,12 +18,12 @@ def recv(panda, cnt, addr, nbus):
   while len(ret) < cnt:
     kmsgs += panda.can_recv()
     nmsgs = []
-    for ids, ts, dat, bus in kmsgs:
+    for ids, dat, bus in kmsgs:
       if ids == addr and bus == nbus and len(ret) < cnt:
         ret.append(dat)
       else:
         # leave around
-        nmsgs.append((ids, ts, dat, bus))
+        nmsgs.append((ids, dat, bus))
     kmsgs = nmsgs[-256:]
   return ret
 
@@ -96,7 +96,7 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
       panda.can_send(addr, sends[-1], 0)
     else:
       if rate is None:
-        panda.can_send_many([(addr, None, s, bus) for s in sends])
+        panda.can_send_many([(addr, s, bus) for s in sends])
       else:
         for dat in sends:
           panda.can_send(addr, dat, bus)

panda/python/uds.py

@@ -301,7 +301,7 @@ def get_dtc_status_names(status):
   return result
 
 class CanClient():
-  def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, int, bytes, int]]],
+  def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, bytes, int]]],
                tx_addr: int, rx_addr: int, bus: int, sub_addr: int | None = None, debug: bool = False):
     self.tx = can_send
     self.rx = can_recv
@@ -339,7 +339,7 @@ class CanClient():
           print(f"CAN-RX: drain - {len(msgs)}")
         self.rx_buff.clear()
       else:
-        for rx_addr, _, rx_data, rx_bus in msgs or []:
+        for rx_addr, rx_data, rx_bus in msgs or []:
           if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
             rx_data = bytes(rx_data)  # convert bytearray to bytes
 

panda/python/xcp.py

@@ -145,7 +145,7 @@ class XcpClient():
       msgs = self._panda.can_recv() or []
       if len(msgs) >= 256:
         print("CAN RX buffer overflow!!!", file=sys.stderr)
-      for rx_addr, _, rx_data, rx_bus in msgs:
+      for rx_addr, rx_data, rx_bus in msgs:
         if rx_bus == self.can_bus and rx_addr == self.rx_addr:
           rx_data = bytes(rx_data)  # convert bytearray to bytes
           if self.debug: