Sync: commaai/panda:master into sunnypilot/panda:master-new

[sunnyhaibin]

Summary by Sourcery

Enhancements:

• Remove unnecessary type annotations from the CanClient and IsoTpMessage classes.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request synchronizes the commaai/panda repository with the sunnypilot/panda repository. It includes updates to the CAN client, UDS client, and ISO-TP message classes, as well as changes to the Cuatro board configuration and Subaru Pre-Global safety parameters.

Class diagram for updated CAN and UDS communication classes

classDiagram
    class CanClient {
        +tx_addr: int
        +rx_addr: int
        +rx_buff: deque[bytes]
        +sub_addr: int
        +bus: int
        +debug: bool
        +__init__(can_send, can_recv, tx_addr, rx_addr, bus, sub_addr, debug)
        +send(msgs: list[bytes], delay: float)
    }
    class IsoTpMessage {
        -_can_client: CanClient
        -_timeout: float
        -_debug: bool
        -_max_len: int
        +__init__(can_client, timeout, single_frame_mode, separation_time, debug, max_len)
    }
    class UdsClient {
        +bus: int
        +__init__(panda, tx_addr, rx_addr, bus, sub_addr, timeout, debug, tx_timeout, response_pending_timeout)
    }
    IsoTpMessage --> CanClient
    UdsClient --> CanClient
    note for CanClient "Updated rx_buff type annotation"
    note for IsoTpMessage "Removed parentheses from class definition"
    note for UdsClient "Removed parentheses from class definition"

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State diagram for Cuatro board boot states

stateDiagram-v2
    [*] --> BOOT_BOOTKICK: GPIO A0 Active Low
    [*] --> BOOT_RESET: GPIO C12 Active Low
    note right of BOOT_RESET: Now enabled in bootkick function

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File-Level Changes

Change	Details	Files
Updated class definitions to use the new Python class definition style.	Changed CanClient(), IsoTpMessage(), and UdsClient() to CanClient, IsoTpMessage, and UdsClient, respectively, to adhere to the new style guide.	python/uds.py
Modified the Cuatro board configuration.	Uncommented the line set_gpio_output(GPIOC, 12, state != BOOT_RESET); and added a TODO comment to confirm its necessity.	board/boards/cuatro.h
Updated the Subaru Pre-Global safety parameters.	Changed the value of FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE from 1 to 4 in both python/__init__.py and board/safety/safety_subaru_preglobal.h files.	python/__init__.py board/safety/safety_subaru_preglobal.h

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[sourcery-ai]

Hey @sunnyhaibin - I've reviewed your changes - here's some feedback:

Overall Comments:

• The bootkick reset code in cuatro.h was previously commented out with 'only use if we have to'. Please validate and confirm this functionality is needed before enabling it.

Here's what I looked at during the review

• 🟢 General issues: all looks good
• 🟢 Security: all looks good
• 🟢 Testing: all looks good
• 🟢 Complexity: all looks good
• 🟢 Documentation: all looks good

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