cleanup old sm pm args (#30241)

* cleanup sm pm

* fix controlsd

* fix

selfdrive/controls/controlsd.py

@@ -56,39 +56,33 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 
 class Controls:
-  def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
+  def __init__(self, CI=None):
     config_realtime_process(4, Priority.CTRL_HIGH)
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
     self.branch = get_short_branch("")
 
     # Setup sockets
-    self.pm = pm
+    self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-    if self.pm is None:
+                                   'carControl', 'carEvents', 'carParams'])
-      self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-                                     'carControl', 'carEvents', 'carParams'])
 
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
-    self.can_sock = can_sock
+    can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
-    if can_sock is None:
+    self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
-      can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
-      self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
 
     self.log_sock = messaging.sub_sock('androidLog')
 
     self.params = Params()
-    self.sm = sm
+    ignore = self.sensor_packets + ['testJoystick']
-    if self.sm is None:
+    if SIMULATION:
-      ignore = self.sensor_packets + ['testJoystick']
+      ignore += ['driverCameraState', 'managerState']
-      if SIMULATION:
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-        ignore += ['driverCameraState', 'managerState']
+                                   'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
-                                     'testJoystick'] + self.camera_packets + self.sensor_packets,
-                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -879,8 +873,8 @@ class Controls:
       self.prof.display()
 
 
-def main(sm=None, pm=None, logcan=None):
+def main():
-  controls = Controls(sm, pm, logcan)
+  controls = Controls()
   controls.controlsd_thread()
 
 

selfdrive/controls/plannerd.py

@@ -27,7 +27,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
   uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
   pm.send('uiPlan', ui_send)
 
-def plannerd_thread(sm=None, pm=None):
+def plannerd_thread():
   config_realtime_process(5, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
@@ -41,12 +41,9 @@ def plannerd_thread(sm=None, pm=None):
   longitudinal_planner = LongitudinalPlanner(CP)
   lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
-  if sm is None:
+  pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
-    sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
-                             poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
+                           poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
 
   while True:
     sm.update()
@@ -58,8 +55,8 @@ def plannerd_thread(sm=None, pm=None):
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
 
-def main(sm=None, pm=None):
+def main():
-  plannerd_thread(sm, pm)
+  plannerd_thread()
 
 
 if __name__ == "__main__":

selfdrive/locationd/laikad.py

@@ -440,7 +440,7 @@ def clear_tmp_cache():
   os.mkdir(Paths.download_cache_root())
 
 
-def main(sm=None, pm=None):
+def main():
   #clear_tmp_cache()
 
   use_qcom = not Params().get_bool("UbloxAvailable")
@@ -449,8 +449,7 @@ def main(sm=None, pm=None):
   else:
     raw_name = "ubloxGnss"
   raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
-  if pm is None:
+  pm = messaging.PubMaster(['gnssMeasurements'])
-    pm = messaging.PubMaster(['gnssMeasurements'])
 
   # disable until set as main gps source, to better analyze startup time
   # TODO ensure low CPU usage before enabling

selfdrive/locationd/paramsd.py

@@ -117,16 +117,14 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
   return current_valid
 
 
-def main(sm=None, pm=None):
+def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
-  if sm is None:
+  pm = messaging.PubMaster(['liveParameters'])
-    sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
-  if pm is None:
-    pm = messaging.PubMaster(['liveParameters'])
 
   params_reader = Params()
   # wait for stats about the car to come in from controls

selfdrive/locationd/torqued.py

@@ -218,14 +218,11 @@ class TorqueEstimator:
     return msg
 
 
-def main(sm=None, pm=None):
+def main():
   config_realtime_process([0, 1, 2, 3], 5)
 
-  if sm is None:
+  pm = messaging.PubMaster(['liveTorqueParameters'])
-    sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['liveTorqueParameters'])
 
   params = Params()
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:

selfdrive/monitoring/dmonitoringd.py

@@ -10,15 +10,12 @@ from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
 
 
-def dmonitoringd_thread(sm=None, pm=None):
+def dmonitoringd_thread():
   gc.disable()
   set_realtime_priority(2)
 
-  if pm is None:
+  pm = messaging.PubMaster(['driverMonitoringState'])
-    pm = messaging.PubMaster(['driverMonitoringState'])
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
-
-  if sm is None:
-    sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
   driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
@@ -89,8 +86,8 @@ def dmonitoringd_thread(sm=None, pm=None):
      driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
       put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
 
-def main(sm=None, pm=None):
+def main():
-  dmonitoringd_thread(sm, pm)
+  dmonitoringd_thread()
 
 
 if __name__ == '__main__':

selfdrive/navd/navd.py

@@ -344,11 +344,9 @@ class RouteEngine:
     # TODO: Check for going wrong way in segment
 
 
-def main(sm=None, pm=None):
+def main():
-  if sm is None:
+  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
-    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
-  if pm is None:
-    pm = messaging.PubMaster(['navInstruction', 'navRoute'])
 
   rk = Ratekeeper(1.0)
   route_engine = RouteEngine(sm, pm)

system/micd.py

@@ -40,9 +40,9 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
 
 
 class Mic:
-  def __init__(self, pm):
+  def __init__(self):
-    self.pm = pm
     self.rk = Ratekeeper(RATE)
+    self.pm = messaging.PubMaster(['microphone'])
 
     self.measurements = np.empty(0)
 
@@ -93,11 +93,8 @@ class Mic:
         self.update()
 
 
-def main(pm=None):
+def main():
-  if pm is None:
+  mic = Mic()
-    pm = messaging.PubMaster(['microphone'])
-
-  mic = Mic(pm)
   mic.micd_thread()