remove pandad's capnp from selfdrive/car

.importlinter

@@ -37,9 +37,6 @@ ignore_imports =
     openpilot.selfdrive.car.fw_versions -> openpilot.common.params
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
     # requires generic CAN send/receive functions
-    openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
 
     # these are okay

selfdrive/car/card.py

@@ -14,7 +14,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp, can_capnp_to_list
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.can_definitions import CanSendCallable
 from openpilot.selfdrive.car.fw_versions import ObdCallback
@@ -143,7 +143,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 

selfdrive/car/interfaces.py

@@ -18,7 +18,6 @@ from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-# from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -231,12 +230,11 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_packets)
 
     # get CarState
     ret = self._update(c)