radard: cleanup init

selfdrive/controls/radard.py

@@ -282,7 +282,7 @@ class RadarD:
 
 
 # fuses camera and radar data for best lead detection
-def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None):
+def main():
   config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
@@ -296,12 +296,9 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
   RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
 
   # *** setup messaging
-  if can_sock is None:
-    can_sock = messaging.sub_sock('can')
-  if sm is None:
-    sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState'])  # Can't check average frequency, since radar determines timing
-  if pm is None:
-    pm = messaging.PubMaster(['radarState', 'liveTracks'])
+  can_sock = messaging.sub_sock('can')
+  sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState'])  # Can't check average frequency, since radar determines timing
+  pm = messaging.PubMaster(['radarState', 'liveTracks'])
 
   RI = RadarInterface(CP)
 
@@ -323,9 +320,5 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
     rk.monitor_time()
 
 
-def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
-  radard_thread(sm, pm, can_sock)
-
-
 if __name__ == "__main__":
   main()

selfdrive/test/profiling/profiler.py

@@ -80,12 +80,10 @@ def profile(proc, func, car='toyota'):
 
 if __name__ == '__main__':
   from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
-  from openpilot.selfdrive.controls.radard import radard_thread
   from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
   from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
 
   procs = {
-    'radard': radard_thread,
     'controlsd': controlsd_thread,
     'paramsd': paramsd_thread,
     'plannerd': plannerd_thread,