Revert "selfdrive/car: ban imports from external modules" (#32993)

Revert "selfdrive/car: ban imports from external modules (#32973)"

This reverts commit 83d4623590.

.importlinter

@@ -1,36 +0,0 @@
-[importlinter]
-root_packages =
-    openpilot
-
-[importlinter:contract:1]
-name = Forbid imports from openpilot.selfdrive.car to openpilot.system
-type = forbidden
-source_modules =
-    openpilot.selfdrive.car
-forbidden_modules =
-    openpilot.system
-    openpilot.body
-    openpilot.docs
-    openpilot.msgq
-    openpilot.panda
-    openpilot.rednose
-    openpilot.release
-    openpilot.teleoprtc
-    openpilot.tinygrad
-ignore_imports =
-    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.isotp_parallel_query -> openpilot.common.swaglog
-    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
-    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
-    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
-    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
-unmatched_ignore_imports_alerting = warn

.pre-commit-config.yaml

@@ -96,10 +96,3 @@ repos:
     rev: 0.29.0
     hooks:
     -   id: check-github-workflows
--   repo: local
-    hooks:
-    -   id: import-linter
-        name: import linter
-        entry: lint-imports
-        language: system
-        pass_filenames: false

pyproject.toml

@@ -73,7 +73,6 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "import-linter",
   "mypy",
   "pre-commit",
   "pytest",

selfdrive/car/__init__.py

@@ -11,7 +11,6 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
-DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.

selfdrive/car/body/carcontroller.py

@@ -1,7 +1,7 @@
 import numpy as np
 
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase

selfdrive/car/body/interface.py

@@ -1,6 +1,7 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 

selfdrive/car/card.py

@@ -9,10 +9,9 @@ from cereal import car
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events

selfdrive/car/chrysler/carcontroller.py

@@ -1,5 +1,6 @@
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase

selfdrive/car/gm/carcontroller.py

@@ -1,8 +1,9 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase

selfdrive/car/honda/carcontroller.py

@@ -2,8 +2,8 @@ from collections import namedtuple
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL
 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

selfdrive/car/hyundai/carcontroller.py

@@ -1,8 +1,9 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR

selfdrive/car/interfaces.py

@@ -13,7 +13,8 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 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, STD_CARGO_KG
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events

selfdrive/car/tests/test_car_interfaces.py

@@ -6,7 +6,8 @@ import importlib
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS

selfdrive/car/tests/test_lateral_limits.py

@@ -5,7 +5,7 @@ from parameterized import parameterized_class
 import pytest
 import sys
 
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params

selfdrive/car/tests/test_models.py

@@ -12,13 +12,14 @@ from parameterized import parameterized_class
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
-from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source

selfdrive/car/toyota/carstate.py

@@ -4,9 +4,9 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR

selfdrive/car/volkswagen/carcontroller.py

@@ -2,7 +2,8 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 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

selfdrive/controls/controlsd.py

@@ -15,10 +15,9 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature

selfdrive/controls/lib/drive_helpers.py

@@ -3,7 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable

selfdrive/controls/lib/events.py

@@ -9,7 +9,7 @@ from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 AlertSize = log.ControlsState.AlertSize

selfdrive/controls/lib/latcontrol.py

@@ -1,7 +1,7 @@
 from abc import abstractmethod, ABC
 
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 

selfdrive/controls/lib/longcontrol.py

@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants

selfdrive/controls/radard.py

@@ -8,11 +8,10 @@ import capnp
 from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.car import DT_CTRL
 
 
 # Default lead acceleration decay set to 50% at 1s

selfdrive/controls/tests/test_state_machine.py

@@ -1,5 +1,5 @@
 from cereal import car, log
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \

selfdrive/debug/cycle_alerts.py

@@ -4,7 +4,7 @@ import random
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager

selfdrive/test/process_replay/process_replay.py

@@ -20,8 +20,8 @@ from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoi
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
+from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
-from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams

tools/replay/can_replay.py

@@ -7,8 +7,7 @@ import threading
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from openpilot.common.realtime import config_realtime_process, Ratekeeper
-from openpilot.selfdrive.car import DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
 from panda import PandaJungle