From 01dac5d06bcd518e6c2daab8c41979b0553b73a6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 30 Nov 2022 20:27:55 -0800
Subject: [PATCH] Build panda/SConscript (#26646)

* panda/SConscript

* think this is right?

* bump panda

* fix test_models

* use a filter

* bump panda to mater

* more aesthetic ordering

* alphabetical :(

* alphabetical :(
---
 SConstruct                         |  9 +++------
 panda                              |  2 +-
 selfdrive/car/tests/test_models.py | 18 +++++++-----------
 3 files changed, 11 insertions(+), 18 deletions(-)

diff --git a/SConstruct b/SConstruct
index 033e10a1f0..54b008004e 100644
--- a/SConstruct
+++ b/SConstruct
@@ -300,7 +300,7 @@ if arch == "Darwin":
 else:
   qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
   qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-  
+
   qt_env['QTDIR'] = qt_install_prefix
   qt_dirs = [
     f"{qt_install_headers}",
@@ -409,10 +409,10 @@ if arch != "Darwin":
 
 # build submodules
 SConscript([
-  'cereal/SConscript',
   'body/board/SConscript',
-  'panda/board/SConscript',
+  'cereal/SConscript',
   'opendbc/can/SConscript',
+  'panda/SConscript',
 ])
 
 SConscript(['third_party/SConscript'])
@@ -442,9 +442,6 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
   Export('opendbc')
   SConscript(['tools/cabana/SConscript'])
 
-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
-
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
   SConscript([external_sconscript])
diff --git a/panda b/panda
index e8bd1df511..2ae7b9a4d5 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e8bd1df5119e457ed2162ea36777bf47a99527f2
+Subproject commit 2ae7b9a4d59101c0a1a9015feb3e835763db5686
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 56530dd738..641c109316 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -9,7 +9,6 @@ from parameterized import parameterized_class
 
 from cereal import log, car
 from common.realtime import DT_CTRL
-from selfdrive.boardd.boardd import can_capnp_to_can_list
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
@@ -20,8 +19,7 @@ from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
 
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import package_can_msg
+from panda.tests.libpanda import libpanda_py
 
 PandaType = log.PandaState.PandaType
 
@@ -118,7 +116,7 @@ class TestCarModelBase(unittest.TestCase):
     assert self.CI
 
     # TODO: check safetyModel is in release panda build
-    self.safety = libpandasafety_py.libpandasafety
+    self.safety = libpanda_py.libpanda
 
     cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
@@ -192,7 +190,7 @@ class TestCarModelBase(unittest.TestCase):
         if msg.src >= 64:
           continue
 
-        to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         if self.safety.safety_rx_hook(to_send) != 1:
           failed_addrs[hex(msg.address)] += 1
 
@@ -215,8 +213,8 @@ class TestCarModelBase(unittest.TestCase):
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
       self.CI.update(CC, (can.as_builder().to_bytes(), ))
-      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
-        to_send = package_can_msg(msg)
+      for msg in filter(lambda m: m.src in range(64), can.can):
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat)
         self.safety.safety_rx_hook(to_send)
 
     controls_allowed_prev = False
@@ -224,10 +222,8 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(lambda: 0)
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
-      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
-        msg = list(msg)
-        msg[3] %= 4
-        to_send = package_can_msg(msg)
+      for msg in filter(lambda m: m.src in range(64), can.can):
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")