Remove car specific flags

Dockerfile

@@ -37,11 +37,11 @@ RUN pip3 install --break-system-packages --no-cache-dir $PYTHONPATH/panda/[dev]
 
 # TODO: this should be a "pip install" or not even in this repo at all
 RUN git config --global --add safe.directory $PYTHONPATH/panda
-ENV OPENDBC_REF="7af6f3885dc43be8ecf331df1f0914cf3338de50"
+ENV OPENDBC_REF="25b3266b0bf95fced1589fd28f824227da62ffc0"
 RUN cd /tmp/ && \
     git clone --depth 1 https://github.com/commaai/opendbc opendbc_repo && \
     cd opendbc_repo && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && \
-    pip3 install --break-system-packages --no-cache-dir Cython numpy  && \
+    pip3 install --break-system-packages --no-cache-dir Cython numpy pycapnp  && \
     ln -s $PWD/opendbc $PYTHONPATH/opendbc && \
     scons -j8 --minimal opendbc/
 

python/__init__.py

@@ -184,47 +184,6 @@ class Panda:
   HARNESS_STATUS_NORMAL = 1
   HARNESS_STATUS_FLIPPED = 2
 
-  # first byte is for EPS scaling factor
-  FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
-  FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
-  FLAG_TOYOTA_LTA = (4 << 8)
-  FLAG_TOYOTA_SECOC = (8 << 8)
-
-  FLAG_HONDA_ALT_BRAKE = 1
-  FLAG_HONDA_BOSCH_LONG = 2
-  FLAG_HONDA_NIDEC_ALT = 4
-  FLAG_HONDA_RADARLESS = 8
-
-  FLAG_HYUNDAI_EV_GAS = 1
-  FLAG_HYUNDAI_HYBRID_GAS = 2
-  FLAG_HYUNDAI_LONG = 4
-  FLAG_HYUNDAI_CAMERA_SCC = 8
-  FLAG_HYUNDAI_CANFD_HDA2 = 16
-  FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
-  FLAG_HYUNDAI_ALT_LIMITS = 64
-  FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
-
-  FLAG_TESLA_POWERTRAIN = 1
-  FLAG_TESLA_LONG_CONTROL = 2
-  FLAG_TESLA_RAVEN = 4
-
-  FLAG_VOLKSWAGEN_LONG_CONTROL = 1
-
-  FLAG_CHRYSLER_RAM_DT = 1
-  FLAG_CHRYSLER_RAM_HD = 2
-
-  FLAG_SUBARU_GEN2 = 1
-  FLAG_SUBARU_LONG = 2
-  FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
-
-  FLAG_NISSAN_ALT_EPS_BUS = 1
-
-  FLAG_GM_HW_CAM = 1
-  FLAG_GM_HW_CAM_LONG = 2
-
-  FLAG_FORD_LONG_CONTROL = 1
-  FLAG_FORD_CANFD = 2
-
   def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
     self._disable_checks = disable_checks
 

tests/hitl/2_health.py

@@ -1,6 +1,7 @@
 import time
 import pytest
 
+from opendbc.car.hyundai.values import HyundaiPandaFlags
 from panda import Panda
 
 
@@ -36,10 +37,10 @@ def test_hw_type(p):
 def test_heartbeat(p, panda_jungle):
   panda_jungle.set_ignition(True)
   # TODO: add more cases here once the tests aren't super slow
-  p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
+  p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
   p.send_heartbeat()
   assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
-  assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
+  assert p.health()['safety_param'] == HyundaiPandaFlags.FLAG_HYUNDAI_LONG
 
   # shouldn't do anything once we're in a car safety mode
   p.set_heartbeat_disabled()

tests/safety/test_chrysler.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.chrysler.values import ChryslerPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -89,7 +91,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
   def setUp(self):
     self.packer = CANPackerPanda("chrysler_ram_dt_generated")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT)
+    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_DT)
     self.safety.init_tests()
 
   def _speed_msg(self, speed):
@@ -113,7 +115,7 @@ class TestChryslerRamHDSafety(TestChryslerSafety):
   def setUp(self):
     self.packer = CANPackerPanda("chrysler_ram_hd_generated")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_HD)
+    self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, ChryslerPandaFlags.FLAG_CHRYSLER_RAM_HD)
     self.safety.init_tests()
 
   def _speed_msg(self, speed):

tests/safety/test_ford.py

@@ -4,6 +4,7 @@
 import unittest
 
 import panda.tests.safety.common as common
+from opendbc.car.ford.values import FordPandaFlags
 
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
@@ -365,7 +366,7 @@ class TestFordCANFDStockSafety(TestFordSafetyBase):
   def setUp(self):
     self.packer = CANPackerPanda("ford_lincoln_base_pt")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD)
+    self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_CANFD)
     self.safety.init_tests()
 
 
@@ -457,7 +458,7 @@ class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase):
   def setUp(self):
     self.packer = CANPackerPanda("ford_lincoln_base_pt")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD)
+    self.safety.set_safety_hooks(Panda.SAFETY_FORD, FordPandaFlags.FLAG_FORD_LONG_CONTROL | FordPandaFlags.FLAG_FORD_CANFD)
     self.safety.init_tests()
 
 

tests/safety/test_gm.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.gm.values import GMPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -187,7 +189,7 @@ def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
     self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM)
     self.safety.init_tests()
 
   def test_buttons(self):
@@ -219,7 +221,7 @@ def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
     self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, GMPandaFlags.FLAG_GM_HW_CAM | GMPandaFlags.FLAG_GM_HW_CAM_LONG)
     self.safety.init_tests()
 
 

tests/safety/test_honda.py

@@ -2,6 +2,7 @@
 import unittest
 import numpy as np
 
+from opendbc.car.honda.values import HondaPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -357,7 +358,7 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety):
   def setUp(self):
     self.packer = CANPackerPanda("acura_ilx_2016_can_generated")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, HondaPandaFlags.FLAG_HONDA_NIDEC_ALT)
     self.safety.init_tests()
 
   def _acc_state_msg(self, main_on):
@@ -422,7 +423,7 @@ class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase):
   """
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_ALT_BRAKE)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
     self.safety.init_tests()
 
   def _user_brake_msg(self, brake):
@@ -471,7 +472,7 @@ class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase):
 
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
     self.safety.init_tests()
 
   def _send_gas_brake_msg(self, gas, accel):
@@ -531,7 +532,7 @@ class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessS
 
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS)
     self.safety.init_tests()
 
 
@@ -542,7 +543,7 @@ class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRa
 
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_ALT_BRAKE)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_ALT_BRAKE)
     self.safety.init_tests()
 
 
@@ -556,7 +557,7 @@ class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, Hond
 
   def setUp(self):
     super().setUp()
-    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, HondaPandaFlags.FLAG_HONDA_RADARLESS | HondaPandaFlags.FLAG_HONDA_BOSCH_LONG)
     self.safety.init_tests()
 
   def _accel_msg(self, accel):

tests/safety/test_hyundai.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import random
 import unittest
+
+from opendbc.car.hyundai.values import HyundaiPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -121,7 +123,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_ALT_LIMITS)
     self.safety.init_tests()
 
 
@@ -132,7 +134,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC)
     self.safety.init_tests()
 
 
@@ -178,7 +180,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_kia_generic")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, HyundaiPandaFlags.FLAG_HYUNDAI_LONG)
     self.safety.init_tests()
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

tests/safety/test_hyundai_canfd.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 from parameterized import parameterized_class
 import unittest
+
+from opendbc.car.hyundai.values import HyundaiPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -107,27 +109,34 @@ def setUp(self):
 
 @parameterized_class([
   # Radar SCC, test with long flag to ensure flag is not respected until it is supported
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                                                                  HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
   # Camera SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                                                                  HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
 ])
 class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base):
   pass
 
 
 @parameterized_class([
   # Radar SCC, test with long flag to ensure flag is not respected until it is supported
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS | HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
   # Camera SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                                                                  HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS |
+                                                                                      HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC},
 ])
 class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
 
@@ -136,7 +145,7 @@ class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_canfd")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM)
     self.safety.init_tests()
 
   def _button_msg(self, buttons, main_button=0, bus=1):
@@ -171,7 +180,7 @@ class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_canfd")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
     self.safety.init_tests()
 
 
@@ -191,8 +200,8 @@ class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_canfd")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS |
-                                 Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS |
+                                 HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING)
     self.safety.init_tests()
 
 
@@ -213,7 +222,8 @@ class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_canfd")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CANFD_HDA2 |
+                                 HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS)
     self.safety.init_tests()
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
@@ -227,9 +237,9 @@ def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
 # Tests HDA1 longitudinal for ICE, hybrid, EV
 @parameterized_class([
   # Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC
-  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG},
-  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS},
-  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS},
+  {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG},
+  {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_EV_GAS},
+  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": HyundaiPandaFlags.FLAG_HYUNDAI_LONG | HyundaiPandaFlags.FLAG_HYUNDAI_HYBRID_GAS},
 ])
 class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base):
 
@@ -253,7 +263,7 @@ def setUpClass(cls):
   def setUp(self):
     self.packer = CANPackerPanda("hyundai_canfd")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
+    self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, HyundaiPandaFlags.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM)
     self.safety.init_tests()
 
   def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):

tests/safety/test_nissan.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import unittest
+
+from opendbc.car.nissan.values import NissanPandaFlags
 from panda import Panda
 from panda.tests.libpanda import libpanda_py
 import panda.tests.safety.common as common
@@ -88,7 +90,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
   def setUp(self):
     self.packer = CANPackerPanda("nissan_x_trail_2017_generated")
     self.safety = libpanda_py.libpanda
-    self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS)
+    self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, NissanPandaFlags.FLAG_NISSAN_ALT_EPS_BUS)
     self.safety.init_tests()