more sendcan -> can_send references

selfdrive/car/card.py

@@ -88,6 +88,8 @@ class Car:
 
     self.params = Params()
 
+    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
@@ -96,8 +98,7 @@ class Car:
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       cached_params = self.params.get("CarParamsCache")
-      self.CI = get_car(*can_comm_callbacks(self.can_sock, self.pm.sock['sendcan']), obd_callback(self.params),
-                        experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad
@@ -200,7 +201,7 @@ class Car:
     if not self.initialized_prev:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
-      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      self.CI.init(self.CP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 

selfdrive/car/disable_ecu.py

@@ -8,7 +8,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_RESPONSE = b''
 
 
-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+def disable_ecu(logcan, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
 
@@ -18,12 +18,12 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=
 
   for i in range(retry):
     try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      query = IsoTpParallelQuery(can_send, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
 
       for _, _ in query.get_data(timeout).items():
         carlog.warning("communication control disable tx/rx ...")
 
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query = IsoTpParallelQuery(can_send, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
         query.get_data(0)
 
         carlog.warning("ecu disabled")

selfdrive/car/honda/interface.py

@@ -217,9 +217,9 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, logcan, can_send):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
-      disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
+      disable_ecu(logcan, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
   def _update(self, c):

selfdrive/car/hyundai/interface.py

@@ -139,16 +139,16 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, logcan, can_send):
     if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
-      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(logcan, can_send, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(logcan, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)

selfdrive/car/interfaces.py

@@ -4,6 +4,7 @@ import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
+from types import SimpleNamespace
 from typing import Any, NamedTuple
 from collections.abc import Callable
 from functools import cache
@@ -12,6 +13,7 @@ from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 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.can_definitions import CanSendCallable
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -156,7 +158,7 @@ class CarInterfaceBase(ABC):
     raise NotImplementedError
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP: car.CarParams, logcan: SimpleNamespace, can_send: CanSendCallable):
     pass
 
   @staticmethod

selfdrive/car/subaru/interface.py

@@ -106,6 +106,6 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, logcan, can_send):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
-      disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
+      disable_ecu(logcan, can_send, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')

selfdrive/car/toyota/interface.py

@@ -138,11 +138,11 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   @staticmethod
-  def init(CP, logcan, sendcan):
+  def init(CP, logcan, can_send):
     # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
+      disable_ecu(logcan, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
 
   # returns a car.CarState
   def _update(self, c):