selfdrive/car: ban selfdrive/controls (#33211)

ban controls (VM isn't used anymore)

.importlinter

@@ -9,6 +9,7 @@ source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
     openpilot.common.params
+    openpilot.selfdrive.controls
     openpilot.system
     openpilot.body
     openpilot.docs

selfdrive/car/body/carcontroller.py

@@ -16,8 +16,8 @@ MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
 
     # PIDs

selfdrive/car/chrysler/carcontroller.py

@@ -6,8 +6,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
 
     self.hud_count = 0

selfdrive/car/ford/carcontroller.py

@@ -23,9 +23,8 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
-    self.VM = VM
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
     self.CAN = fordcan.CanBus(CP)
 

selfdrive/car/gm/carcontroller.py

@@ -18,8 +18,8 @@ MIN_STEER_MSG_INTERVAL_MS = 15
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0

selfdrive/car/honda/carcontroller.py

@@ -104,8 +104,8 @@ def rate_limit_steer(new_steer, last_steer):
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
     self.CAN = hondacan.CanBus(CP)

selfdrive/car/hyundai/carcontroller.py

@@ -43,8 +43,8 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)

selfdrive/car/interfaces.py

@@ -16,7 +16,6 @@ from openpilot.common.numpy_fast import clip
 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.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -91,7 +90,6 @@ def get_torque_params():
 class CarInterfaceBase(ABC):
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
-    self.VM = VehicleModel(CP)
 
     self.frame = 0
     self.steering_unpressed = 0
@@ -109,7 +107,7 @@ class CarInterfaceBase(ABC):
     self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
 
     dbc_name = "" if self.cp is None else self.cp.dbc_name
-    self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
+    self.CC: CarControllerBase = CarController(dbc_name, CP)
 
   def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     return self.CC.update(c, self.CS, now_nanos)
@@ -466,7 +464,7 @@ class CarStateBase(ABC):
 
 
 class CarControllerBase(ABC):
-  def __init__(self, dbc_name: str, CP, VM):
+  def __init__(self, dbc_name: str, CP):
     self.CP = CP
     self.frame = 0
 

selfdrive/car/mazda/carcontroller.py

@@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.brake_counter = 0

selfdrive/car/nissan/carcontroller.py

@@ -9,8 +9,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.car_fingerprint = CP.carFingerprint
 
     self.lkas_max_torque = 0

selfdrive/car/subaru/carcontroller.py

@@ -12,8 +12,8 @@ MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_steer_last = 0
 
     self.cruise_button_prev = 0

selfdrive/car/tesla/carcontroller.py

@@ -7,8 +7,8 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])

selfdrive/car/toyota/carcontroller.py

@@ -26,8 +26,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.params = CarControllerParams(self.CP)
     self.last_steer = 0
     self.last_angle = 0

selfdrive/car/volkswagen/carcontroller.py

@@ -12,8 +12,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
 class CarController(CarControllerBase):
-  def __init__(self, dbc_name, CP, VM):
-    super().__init__(dbc_name, CP, VM)
+  def __init__(self, dbc_name, CP):
+    super().__init__(dbc_name, CP)
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)