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Sync: commaai/panda:master → sunnypilot/panda:master

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This commit is contained in:
Jason Wen
2026-04-05 13:32:43 -04:00
committed by GitHub
parent 01a2c250f9 04c812b9a1
commit 80846cff66
1 changed files with 11 additions and 1 deletions
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12
python/__init__.py
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@@ -1,5 +1,6 @@
# python library to interface with panda
import os
import re
import sys
import time
import usb1
@@ -42,6 +43,15 @@ def calculate_checksum(data):
res ^= b
return res
def _parse_c_struct(path, name):
type_to_format = {"uint8_t": "B", "uint16_t": "H", "uint32_t": "I", "float": "f"}
with open(path) as f:
lines = [l.strip() for l in f.read().split(f"struct __attribute__((packed)) {name} {{", 1)[1].split("};", 1)[0].splitlines() if l.strip()]
fields = [re.fullmatch(rf"({'|'.join(type_to_format)})\s+\w+;", l) for l in lines]
if not all(fields):
raise ValueError(f"unsupported {name} layout in {path}")
return struct.Struct("<" + "".join(type_to_format[m[1]] for m in fields))
def pack_can_buffer(arr, chunk=False, fd=False):
snds = [bytearray(), ]
for address, dat, bus in arr:
@@ -128,7 +138,7 @@ class Panda:
CAN_PACKET_VERSION = compute_version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h"))
HEALTH_PACKET_VERSION = compute_version_hash(os.path.join(BASEDIR, "board/health.h"))
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBHBBBHfBBHHHBH")
HEALTH_STRUCT = _parse_c_struct(os.path.join(BASEDIR, "board/health.h"), "health_t")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_TRES, HW_TYPE_CUATRO, HW_TYPE_BODY]