car: CarController and CarState are always present (#31925)

* always set

* add mock

* little more

* fix

* fix
old-commit-hash: afc96972c8

selfdrive/car/car_helpers.py

@@ -4,7 +4,6 @@ from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.basedir import BASEDIR
 from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
@@ -48,17 +47,8 @@ def load_interfaces(brand_names):
   for brand_name in brand_names:
     path = f'openpilot.selfdrive.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-
+    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
+    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-      CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    else:
-      CarState = None
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
-      CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    else:
-      CarController = None
-
     for model_name in brand_names[brand_name]:
       ret[model_name] = (CarInterface, CarController, CarState)
   return ret

selfdrive/car/interfaces.py

@@ -81,21 +81,16 @@ class CarInterfaceBase(ABC):
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
-    self.CS = None
+    self.CS = CarState(CP)
-    self.can_parsers = []
+    self.cp = self.CS.get_can_parser(CP)
-    if CarState is not None:
+    self.cp_cam = self.CS.get_cam_can_parser(CP)
-      self.CS = CarState(CP)
+    self.cp_adas = self.CS.get_adas_can_parser(CP)
-
+    self.cp_body = self.CS.get_body_can_parser(CP)
-      self.cp = self.CS.get_can_parser(CP)
+    self.cp_loopback = self.CS.get_loopback_can_parser(CP)
-      self.cp_cam = self.CS.get_cam_can_parser(CP)
+    self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
-      self.cp_adas = self.CS.get_adas_can_parser(CP)
+
-      self.cp_body = self.CS.get_body_can_parser(CP)
+    dbc_name = "" if self.cp is None else self.cp.dbc_name
-      self.cp_loopback = self.CS.get_loopback_can_parser(CP)
+    self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
-      self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
-
-    self.CC: CarControllerBase = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
   def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
     return self.CC.update(c, self.CS, now_nanos)
@@ -438,6 +433,10 @@ class CarStateBase(ABC):
     }
     return d.get(gear.upper(), GearShifter.unknown)
 
+  @staticmethod
+  def get_can_parser(CP):
+    return None
+
   @staticmethod
   def get_cam_can_parser(CP):
     return None
@@ -459,6 +458,9 @@ SendCan = tuple[int, int, bytes, int]
 
 
 class CarControllerBase(ABC):
+  def __init__(self, dbc_name: str, CP, VM):
+    pass
+
   @abstractmethod
   def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     pass

selfdrive/car/mock/carcontroller.py

@@ -0,0 +1,5 @@
+from openpilot.selfdrive.car.interfaces import CarControllerBase
+
+class CarController(CarControllerBase):
+  def update(self, CC, CS, now_nanos):
+    return CC.actuators.copy(), []

selfdrive/car/mock/carstate.py

@@ -0,0 +1,4 @@
+from openpilot.selfdrive.car.interfaces import CarStateBase
+
+class CarState(CarStateBase):
+  pass