Car interface clean up (#33290)

* remove some defs

* now carstate

* remove carControl from CI update function

* almost merged that

* and that

selfdrive/car/body/carstate.py

@@ -3,8 +3,6 @@ from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.body.values import DBC
 
-STARTUP_TICKS = 100
-
 class CarState(CarStateBase):
   def update(self, cp):
     ret = car.CarState.new_message()

selfdrive/car/body/interface.py

@@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp)
 
     return ret

selfdrive/car/card.py

@@ -142,7 +142,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
+    CS = self.CI.update(can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 

selfdrive/car/chrysler/interface.py

@@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

selfdrive/car/ford/interface.py

@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
@@ -67,7 +66,7 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

selfdrive/car/gm/interface.py

@@ -12,7 +12,6 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 ButtonType = car.CarState.ButtonEvent.Type
-GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
@@ -200,7 +199,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
     # Don't add event if transitioning from INIT, unless it's to an actual button

selfdrive/car/honda/interface.py

@@ -221,7 +221,7 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.buttonEvents = [

selfdrive/car/hyundai/interface.py

@@ -149,7 +149,7 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     if self.CS.CP.openpilotLongitudinalControl:

selfdrive/car/interfaces.py

@@ -218,17 +218,17 @@ class CarInterfaceBase(ABC):
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
   @abstractmethod
-  def _update(self, c: car.CarControl) -> car.CarState:
+  def _update(self) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
+  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
         cp.update_strings(can_packets)
 
     # get CarState
-    ret = self._update(c)
+    ret = self._update()
 
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)

selfdrive/car/mazda/interface.py

@@ -30,7 +30,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
      # TODO: add button types for inc and dec

selfdrive/car/mock/interface.py

@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = True
     return ret
 
-  def _update(self, c):
+  def _update(self):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 

selfdrive/car/nissan/interface.py

@@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

selfdrive/car/subaru/interface.py

@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 

selfdrive/car/tesla/interface.py

@@ -39,7 +39,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.25
     return ret
 
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     return ret

selfdrive/car/tests/test_car_interfaces.py

@@ -96,14 +96,14 @@ class TestCarInterfaces:
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
-      car_interface.update(CC, [])
+      car_interface.update([])
       car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
-      car_interface.update(CC, [])
+      car_interface.update([])
       car_interface.apply(CC.as_reader(), now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 

selfdrive/car/tests/test_models.py

@@ -217,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
       self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
@@ -293,7 +293,7 @@ class TestCarModelBase(unittest.TestCase):
       msgs_sent = 0
       CI = self.CarInterface(self.CP, self.CarController, self.CarState)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
-        CI.update(car_control, [])
+        CI.update([])
         _, sendcan = CI.apply(car_control, now_nanos)
 
         now_nanos += DT_CTRL * 1e9
@@ -358,7 +358,7 @@ class TestCarModelBase(unittest.TestCase):
       can = messaging.new_message('can', 1)
       can.can = [log.CanData(address=address, dat=dat, src=bus)]
 
-      CS = self.CI.update(CC, can_capnp_to_list((can.to_bytes(),)))
+      CS = self.CI.update(can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -397,7 +397,7 @@ 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_capnp_to_list((can.as_builder().to_bytes(), )))
+      self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
       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)
         self.safety.safety_rx_hook(to_send)
@@ -407,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
+      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
       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)

selfdrive/car/toyota/interface.py

@@ -144,7 +144,7 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):

selfdrive/car/volkswagen/interface.py

@@ -4,8 +4,6 @@ from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, VolkswagenFlags
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
@@ -100,7 +98,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
     return ret