remove more car import exceptions (#33193)

* remove another exception (remove mention of events from car stack)

* guess this should've been here all along

* reorganize exceptions

* fix
old-commit-hash: 06216d43bb

.importlinter

@@ -19,21 +19,19 @@ forbidden_modules =
     openpilot.tinygrad
 ignore_imports =
     # remove these
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+
+    # these are okay
+    openpilot.selfdrive.car.card -> openpilot.common.swaglog
     openpilot.selfdrive.car.card -> openpilot.common.realtime
     openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
     openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
     openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
-
-    # these are okay
-    openpilot.selfdrive.car.card -> openpilot.common.swaglog
 unmatched_ignore_imports_alerting = warn

selfdrive/car/car_helpers.py

@@ -12,29 +12,9 @@ from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_pre
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
-EventName = car.CarEvent.EventName
-
-
-def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
-
-  if not car_recognized:
-    if fw_seen:
-      event = EventName.startupNoCar
-    else:
-      event = EventName.startupNoFw
-  elif car_recognized and not controller_available:
-    event = EventName.startupNoControl
-  return event
-
 
 def get_one_can(logcan):
   while True:

selfdrive/car/ford/carcontroller.py

@@ -4,11 +4,10 @@ from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
-from openpilot.selfdrive.car.interfaces import CarControllerBase
+from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):

selfdrive/car/interfaces.py

@@ -15,7 +15,6 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 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.drive_helpers import V_CRUISE_MAX
 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
@@ -24,6 +23,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
 
+V_CRUISE_MAX = 145
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5

selfdrive/controls/controlsd.py

@@ -18,9 +18,9 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
+from openpilot.selfdrive.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
-from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature, get_startup_event
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID

selfdrive/controls/lib/drive_helpers.py

@@ -4,6 +4,9 @@ from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
+from openpilot.system.version import get_build_metadata
+
+EventName = car.CarEvent.EventName
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -157,3 +160,20 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
+
+
+def get_startup_event(car_recognized, controller_available, fw_seen):
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
+    event = EventName.startup
+  else:
+    event = EventName.startupMaster
+
+  if not car_recognized:
+    if fw_seen:
+      event = EventName.startupNoCar
+    else:
+      event = EventName.startupNoFw
+  elif car_recognized and not controller_available:
+    event = EventName.startupNoControl
+  return event