make_can_msg: returns tuple (#33222)

* bump

* make_man_msg returns tuple

* fix CI.update typing

* bump

* better name

* Revert "better name"

This reverts commit 4deb38d4ed.

* common
old-commit-hash: 51bd368214

opendbc_repo

@@ -1 +1 @@
-Subproject commit 1e9f8536151818f08af2ddd478f577f8461af31d
+Subproject commit f4d077b832d46ac149c2b07dc37d777dc21237ea

selfdrive/car/__init__.py

@@ -12,6 +12,8 @@ from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.helpers import clip, interp
 
+CanMsgType = tuple[int, bytes, int]
+
 # set up logging
 carlog = logging.getLogger('carlog')
 carlog.setLevel(logging.INFO)
@@ -193,8 +195,8 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   return friction
 
 
-def make_can_msg(addr, dat, bus):
-  return [addr, dat, bus]
+def make_can_msg(addr: int, dat: bytes, bus: int) -> CanMsgType:
+  return addr, dat, bus
 
 
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):

selfdrive/car/interfaces.py

@@ -11,7 +11,8 @@ from functools import cache
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car import CanMsgType, DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, \
+                                    STD_CARGO_KG
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -51,7 +52,6 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -108,7 +108,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -228,7 +228,7 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanMsgType]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -467,7 +467,7 @@ class CarControllerBase(ABC):
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     pass
 
 

selfdrive/car/isotp_parallel_query.py

@@ -3,7 +3,7 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car import carlog, CanMsgType
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
@@ -27,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[CanMsgType]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""

selfdrive/pandad/pandad_api_impl.pyx

@@ -50,7 +50,7 @@ def can_capnp_to_list(strings, msgtype='can'):
   cdef vector[CanData].iterator it = data.begin()
   while it != data.end():
     d = &deref(it)
-    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
-    result.append([d.nanos, frames])
+    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
+    result.append((d.nanos, frames))
     preinc(it)
   return result