card: preparation (#32382)

* card prep

* also format
old-commit-hash: 2e6b2ef3c9

selfdrive/car/card.py

@@ -15,7 +15,6 @@ from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-
 REPLAY = "REPLAY" in os.environ
 
 
@@ -28,7 +27,7 @@ class CarD:
     self.sm = messaging.SubMaster(['pandaStates'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
 
-    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_timeout_counter = 0  # consecutive timeout count
     self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.CC_prev = car.CarControl.new_message()
@@ -54,12 +53,11 @@ class CarD:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    car_recognized = self.CP.carName != 'mock'
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
 
-    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
+    self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
@@ -139,4 +137,3 @@ class CarD:
     self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
 
     self.CC_prev = CC
-

selfdrive/car/mock/interface.py

@@ -18,6 +18,7 @@ class CarInterface(CarInterfaceBase):
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
     ret.steerRatio = 13.
+    ret.dashcamOnly = True
     return ret
 
   def _update(self, c):

selfdrive/controls/controlsd.py

@@ -111,7 +111,6 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
-    self.CC = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
@@ -805,9 +804,6 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # copy CarControl to pass to CarInterface on the next iteration
-    self.CC = CC
-
   def step(self):
     start_time = time.monotonic()