car interfaces: each specify their own dependencies (#34874)

* remove these

* fix

* oops

* clean up

* nl

* bump

opendbc_repo

@@ -1 +1 @@
-Subproject commit 96896d35098464661de5c96f075bf5053eeefede
+Subproject commit b46e6340c15428ef72435b163ce03ffe66ffe563

selfdrive/car/card.py

@@ -15,7 +15,7 @@ from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
-from opendbc.car.car_helpers import get_car, get_radar_interface
+from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
@@ -99,7 +99,7 @@ class Car:
           cached_params = _cached_params
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
-      self.RI = get_radar_interface(self.CI.CP)
+      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 
       # continue onto next fingerprinting step in pandad

selfdrive/car/tests/test_car_interfaces.py

@@ -34,14 +34,14 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CarInterface = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
     car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, CarController, CarState)
+    car_interface = CarInterface(car_params)
     assert car_params
     assert car_interface
 

selfdrive/car/tests/test_models.py

@@ -151,8 +151,8 @@ class TestCarModelBase(unittest.TestCase):
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
-    cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
 
@@ -163,7 +163,7 @@ class TestCarModelBase(unittest.TestCase):
     del cls.can_msgs
 
   def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
+    self.CI = self.CarInterface(self.CP.copy())
     assert self.CI
 
     # TODO: check safetyModel is in release panda build
@@ -210,7 +210,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RI = self.RadarInterface(self.CP)
+    RI = self.CarInterface.RadarInterface(self.CP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
@@ -273,7 +273,7 @@ class TestCarModelBase(unittest.TestCase):
     def test_car_controller(car_control):
       now_nanos = 0
       msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+      CI = self.CarInterface(self.CP)
       for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
         CI.update([])
         _, sendcan = CI.apply(car_control, now_nanos)

selfdrive/controls/controlsd.py

@@ -9,7 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
-from opendbc.car.car_helpers import get_car_interface
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
@@ -33,7 +33,7 @@ class Controls:
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    self.CI = get_car_interface(self.CP)
+    self.CI = interfaces[self.CP.carFingerprint](self.CP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -17,9 +17,9 @@ class TestLatControl:
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
-    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
+    CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
-    CI = CarInterface(CP, CarController, CarState)
+    CI = CarInterface(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)

selfdrive/test/process_replay/process_replay.py

@@ -342,7 +342,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint):
 def get_car_params_callback(rc, pm, msgs, fingerprint):
   params = Params()
   if fingerprint:
-    CarInterface, _, _, _ = interfaces[fingerprint]
+    CarInterface = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
   else:
     can = DummySocket()