replace CarControl

i hope there's no circular imports in hyundai's CC

selfdrive/car/chrysler/chryslercan.py

@@ -1,8 +1,8 @@
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS
 
-GearShifter = car.CarState.GearShifter
+GearShifter = structs.CarState.GearShifter
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
   # LKAS_HUD - Controls what lane-keeping icon is displayed

selfdrive/car/chrysler/interface.py

@@ -95,6 +95,6 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/ford/carcontroller.py

@@ -1,13 +1,12 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
-LongCtrlState = car.CarControl.Actuators.LongControlState
+LongCtrlState = structs.CarControl.Actuators.LongControlState
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):

selfdrive/car/ford/fordcan.py

@@ -1,7 +1,6 @@
-from cereal import car
+from openpilot.selfdrive.car import CanBusBase, structs
-from openpilot.selfdrive.car import CanBusBase
 
-HUDControl = car.CarControl.HUDControl
+HUDControl = structs.CarControl.HUDControl
 
 
 class CanBus(CanBusBase):

selfdrive/car/ford/interface.py

@@ -79,6 +79,6 @@ class CarInterface(CarInterfaceBase):
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/gm/carcontroller.py

@@ -1,16 +1,14 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
-NetworkLocation = CarParams.NetworkLocation
+NetworkLocation = structs.CarParams.NetworkLocation
-LongCtrlState = car.CarControl.Actuators.LongControlState
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10

selfdrive/car/gm/interface.py

@@ -236,6 +236,6 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(EventName.belowSteerSpeed)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/carcontroller.py

@@ -1,15 +1,14 @@
 from collections import namedtuple
 
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg
+from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg, structs
 from openpilot.selfdrive.car.helpers import clip, interp
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
-LongCtrlState = car.CarControl.Actuators.LongControlState
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 
 def compute_gb_honda_bosch(accel, speed):

selfdrive/car/honda/interface.py

@@ -253,6 +253,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/values.py

@@ -1,16 +1,14 @@
 from dataclasses import dataclass
 from enum import Enum, IntFlag
 
-from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
-Ecu = CarParams.Ecu
+Ecu = structs.CarParams.Ecu
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 class CarControllerParams:
@@ -91,7 +89,7 @@ VISUAL_HUD = {
 class HondaCarDocs(CarDocs):
   package: str = "Honda Sensing"
 
-  def init_make(self, CP: CarParams):
+  def init_make(self, CP: structs.CarParams):
     if CP.flags & HondaFlags.BOSCH:
       self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
     else:

selfdrive/car/hyundai/carcontroller.py

@@ -1,15 +1,15 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from openpilot.selfdrive.car.hyundai.carstate import CarState
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
-LongCtrlState = car.CarControl.Actuators.LongControlState
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 # EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
 # All slightly below EPS thresholds to avoid fault
@@ -169,7 +169,7 @@ class CarController(CarControllerBase):
     self.frame += 1
     return new_actuators, can_sends
 
-  def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
+  def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:

selfdrive/car/hyundai/interface.py

@@ -173,6 +173,6 @@ class CarInterface(CarInterfaceBase):
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/interfaces.py

@@ -112,7 +112,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
+  def apply(self, c: structs.CarControl, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -230,10 +230,10 @@ class CarInterfaceBase(ABC):
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
   @abstractmethod
-  def _update(self, c: car.CarControl) -> structs.CarState:
+  def _update(self, c: structs.CarControl) -> structs.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarState:
+  def update(self, c: structs.CarControl, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -476,7 +476,7 @@ class CarControllerBase(ABC):
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: CarStateBase, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanData]]:
+  def update(self, CC: structs.CarControl.Actuators, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     pass
 
 

selfdrive/car/mazda/carcontroller.py

@@ -1,11 +1,10 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.mazda import mazdacan
 from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):

selfdrive/car/mazda/interface.py

@@ -47,6 +47,6 @@ class CarInterface(CarInterfaceBase):
     elif self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/nissan/carcontroller.py

@@ -1,11 +1,10 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car import apply_std_steer_angle_limits, structs
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.nissan import nissancan
 from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 class CarController(CarControllerBase):

selfdrive/car/nissan/interface.py

@@ -41,6 +41,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/subaru/interface.py

@@ -102,7 +102,7 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
-    ret.events = self.create_common_events(ret).to_msg()
+    # ret.events = self.create_common_events(ret).to_msg()
 
     return ret
 

selfdrive/car/subaru/subarucan.py

@@ -1,7 +1,7 @@
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.subaru.values import CanBus
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 
 def create_steering_control(packer, apply_steer, steer_req):

selfdrive/car/tesla/interface.py

@@ -44,6 +44,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.events = self.create_common_events(ret).to_msg()
+    # ret.events = self.create_common_events(ret).to_msg()
 
     return ret

selfdrive/car/toyota/carcontroller.py

@@ -1,7 +1,5 @@
-from cereal import car
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg, structs
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_tester_present_msg
 from openpilot.selfdrive.car.can_definitions import CanData
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
@@ -10,8 +8,8 @@ from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
-SteerControlType = CarParams.SteerControlType
+SteerControlType = structs.CarParams.SteerControlType
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long

selfdrive/car/toyota/interface.py

@@ -175,6 +175,6 @@ class CarInterface(CarInterfaceBase):
           # while in standstill, send a user alert
           events.add(EventName.manualRestart)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret

selfdrive/car/volkswagen/carcontroller.py

@@ -1,15 +1,13 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
-LongCtrlState = car.CarControl.Actuators.LongControlState
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 
 class CarController(CarControllerBase):
@@ -18,7 +16,7 @@ class CarController(CarControllerBase):
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
-    self.ext_bus = CANBUS.pt if CP.networkLocation == CarParams.NetworkLocation.fwdCamera else CANBUS.cam
+    self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None

selfdrive/car/volkswagen/interface.py

@@ -130,7 +130,7 @@ class CarInterface(CarInterfaceBase):
     if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
-    ret.events = events.to_msg()
+    # ret.events = events.to_msg()
 
     return ret