Make safetyParam unsigned (#24160)

* bump panda & cereal

* make unsigned in boardd

* update health packet version

bump panda

* fix definition

* bump

* regen TOYOTA2 route

* upload route

* oh, ndog param wasn't being set

* regenerate routes with non-zero safety params

* update refs

* regen routes and update refs

* bump panda

* update refs

* update refs

* bump submodules to master

cereal

@@ -1 +1 @@
-Subproject commit 6eb3994daa0f64f57a36606a7bdd982ed2ac9d2d
+Subproject commit 29f4fe89ef710ff86a5aeb998a357187d0619fb8

panda

@@ -1 +1 @@
-Subproject commit a1d97f9a0b33c4574b0e94a3c78c5a886cc95faa
+Subproject commit 7dd9493eb102ba8b96362c7265b06851ec1d4bac

selfdrive/boardd/boardd.cc

@@ -156,7 +156,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model;
-  int safety_param;
+  uint32_t safety_param;
 
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
@@ -169,7 +169,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     } else {
       // If no safety mode is specified, default to silent
       safety_model = cereal::CarParams::SafetyModel::SILENT;
-      safety_param = 0;
+      safety_param = 0U;
     }
 
     LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);

selfdrive/boardd/panda.cc

@@ -247,7 +247,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
   return transferred;
 }
 
-void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param) {
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
   usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 

selfdrive/boardd/panda.h

@@ -73,7 +73,7 @@ class Panda {
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
-  void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
   void set_rtc(struct tm sys_time);
   struct tm get_rtc();

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-84bf66d9917e102f581279892d32a04c35fb4d87
+37aac3b4090fcc2f5a0e52c0eb4913706688d3fd

selfdrive/test/process_replay/regen.py

@@ -36,6 +36,8 @@ def replay_panda_states(s, msgs):
   cp = [m for m in msgs if m.which() == 'carParams'][0].carParams
   if len(cp.safetyConfigs):
     safety_param = cp.safetyConfigs[0].safetyParam
+    if cp.safetyConfigs[0].safetyParamDEPRECATED != 0:
+      safety_param = cp.safetyConfigs[0].safetyParamDEPRECATED
   else:
     safety_param = cp.safetyParamDEPRECATED
 

selfdrive/test/process_replay/test_processes.py

@@ -33,11 +33,11 @@ original_segments = [
 segments = [
   ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
   ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
-  ("TOYOTA", "fakedata|2022-01-20--17-50-51--0"),
+  ("TOYOTA", "fakedata|2022-04-13--18-53-16--0"),
-  ("TOYOTA2", "fakedata|2022-01-20--17-52-36--0"),
+  ("TOYOTA2", "fakedata|2022-04-13--18-59-09--0"),
-  ("TOYOTA3", "fakedata|2022-01-20--17-54-50--0"),
+  ("TOYOTA3", "fakedata|2022-04-13--19-09-53--0"),
   ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
-  ("HONDA2", "fakedata|2022-01-20--17-58-25--0"),
+  ("HONDA2", "fakedata|2022-04-13--19-23-30--0"),
   ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
   ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
   ("GM", "fakedata|2022-01-20--18-03-41--0"),