CarParams: set no traversal limit (#32929)

* Increase traversal_limit_in_words to Fix Traversal Limit Errors

* just use log_from_bytes

* come on pycharm

* no free lunch

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

cereal/messaging/__init__.py

@@ -17,8 +17,8 @@ from cereal.services import SERVICE_LIST
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
 
 

selfdrive/controls/controlsd.py

@@ -64,8 +64,7 @@ class Controls:
 
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
-      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
-        self.CP = msg
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation

selfdrive/controls/plannerd.py

@@ -12,8 +12,7 @@ def plannerd_thread():
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-    CP = msg
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)

selfdrive/controls/radard.py

@@ -288,8 +288,7 @@ def main():
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
-  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
+  CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
-    CP = msg
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint

selfdrive/locationd/paramsd.py

@@ -5,8 +5,7 @@ import json
 import numpy as np
 
 import cereal.messaging as messaging
-from cereal import car
+from cereal import car, log
-from cereal import log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
@@ -129,8 +128,7 @@ def main():
   params_reader = Params()
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
-  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
-    CP = msg
   cloudlog.info("paramsd got CarParams")
 
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio

selfdrive/locationd/torqued.py

@@ -223,8 +223,7 @@ def main(demo=False):
   sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
 
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
+  estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
-    estimator = TorqueEstimator(CP)
 
   while True:
     sm.update()

selfdrive/modeld/modeld.py

@@ -172,8 +172,8 @@ def main(demo=False):
   if demo:
     CP = get_demo_car_params()
   else:
-    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-      CP = msg
+
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays