From 37304e13251b7187b5be62d003e5bad4f25cc6c5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 9 Aug 2024 16:15:29 -0700
Subject: [PATCH] remove cereal from car_helpers (TODO: caching)

---
 selfdrive/car/car_helpers.py     |  8 ++++----
 selfdrive/car/data_structures.py | 14 ++++++++++++--
 selfdrive/car/interfaces.py      |  6 +++---
 3 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index d2345f1a05..7af2cac996 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,9 +1,9 @@
 import os
 import time
 
-from cereal import car
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -135,17 +135,17 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
   car_fingerprint, finger = can_fingerprint(can_recv)
 
   exact_match = True
-  source = car.CarParams.FingerprintSource.can
+  source = CarParams.FingerprintSource.can
 
   # If FW query returns exactly 1 candidate, use it
   if len(fw_candidates) == 1:
     car_fingerprint = list(fw_candidates)[0]
-    source = car.CarParams.FingerprintSource.fw
+    source = CarParams.FingerprintSource.fw
     exact_match = exact_fw_match
 
   if fixed_fingerprint:
     car_fingerprint = fixed_fingerprint
-    source = car.CarParams.FingerprintSource.fixed
+    source = CarParams.FingerprintSource.fixed
 
   carlog.error({"event": "fingerprinted", "car_fingerprint": str(car_fingerprint), "source": source, "fuzzy": not exact_match,
                 "cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
diff --git a/selfdrive/car/data_structures.py b/selfdrive/car/data_structures.py
index ef93d6b2b1..58ac750c7d 100644
--- a/selfdrive/car/data_structures.py
+++ b/selfdrive/car/data_structures.py
@@ -170,8 +170,9 @@ class CarParams:
   carFw: list['CarParams.CarFw'] = auto_field()
 
   radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
-  # fingerprintSource: FingerprintSource = auto_field()
-  # networkLocation: NetworkLocation = auto_field()  # Where Panda/C2 is integrated into the car's CAN network
+  fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can)
+  # Where Panda/C2 is integrated into the car's CAN network
+  networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera)
 
   wheelSpeedFactor: float = auto_field()  # Multiplier on wheels speeds to computer actual speeds
 
@@ -274,3 +275,12 @@ class CarParams:
     programmedFuelInjection = auto()
 
     debug = auto()
+
+  class FingerprintSource(StrEnum):
+    can = auto()
+    fw = auto()
+    fixed = auto()
+
+  class NetworkLocation(StrEnum):
+    fwdCamera = auto()  # Standard/default integration at LKAS camera
+    gateway = auto()    # Integration at vehicle's CAN gateway
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5db51d2d87..83a388d2a6 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -117,14 +117,14 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_non_essential_params(cls, candidate: str):
+  def get_non_essential_params(cls, candidate: str) -> CarParams:
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[CarParams.CarFw], experimental_long: bool, docs: bool) -> CarParams:
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -152,7 +152,7 @@ class CarInterfaceBase(ABC):
   @staticmethod
   @abstractmethod
   def _get_params(ret: CarParams, candidate, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[CarParams.CarFw], experimental_long: bool, docs: bool):
+                  car_fw: list[CarParams.CarFw], experimental_long: bool, docs: bool) -> CarParams:
     raise NotImplementedError
 
   @staticmethod