remove rest of car.CarParams from the interfaces

selfdrive/car/__init__.py

@@ -185,7 +185,7 @@ def rate_limit(new_value, last_value, dw_step, up_step):
 
 
 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+                 torque_params: CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
   friction_interp = interp(
     apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
     [-friction_threshold, friction_threshold],

selfdrive/car/card.py

@@ -14,6 +14,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_versions import ObdCallback
 from openpilot.selfdrive.car.car_helpers import get_car
@@ -108,8 +109,8 @@ class Car:
 
     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
+      safety_config = CarParams.SafetyConfig()
+      safety_config.safetyModel = CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams

selfdrive/car/docs.py

@@ -6,9 +6,9 @@ import os
 from enum import Enum
 from natsort import natsorted
 
-from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -32,7 +32,7 @@ def get_all_car_docs() -> list[CarDocs]:
     car_docs = platform.config.car_docs
     # If available, uses experimental longitudinal limits for the docs
     CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
-                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
+                                         car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)], experimental_long=True, docs=True)
 
     if CP.dashcamOnly or not len(car_docs):
       continue

selfdrive/car/docs_definitions.py

@@ -4,8 +4,8 @@ import copy
 from dataclasses import dataclass, field
 from enum import Enum
 
-from cereal import car
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
@@ -248,7 +248,7 @@ class CarDocs:
     self.make, self.model, self.years = split_name(self.name)
     self.year_list = get_year_list(self.years)
 
-  def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]):
+  def init(self, CP: CarParams, all_footnotes: dict[Enum, int]):
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
 
@@ -316,7 +316,7 @@ class CarDocs:
 
     return self
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
 
   def get_detail_sentence(self, CP):

selfdrive/car/ford/carstate.py

@@ -2,12 +2,13 @@ from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 GearShifter = car.CarState.GearShifter
-TransmissionType = car.CarParams.TransmissionType
+TransmissionType = CarParams.TransmissionType
 
 
 class CarState(CarStateBase):

selfdrive/car/ford/values.py

@@ -4,7 +4,6 @@ from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
 import panda.python.uds as uds
-from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
@@ -66,7 +65,7 @@ class FordCarDocs(CarDocs):
   hybrid: bool = False
   plug_in_hybrid: bool = False
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
     if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, harness])

selfdrive/car/gm/carcontroller.py

@@ -1,14 +1,15 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
-from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm import gmcan
+from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-NetworkLocation = car.CarParams.NetworkLocation
+NetworkLocation = CarParams.NetworkLocation
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s

selfdrive/car/gm/carstate.py

@@ -3,12 +3,13 @@ from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
-TransmissionType = car.CarParams.TransmissionType
-NetworkLocation = car.CarParams.NetworkLocation
+TransmissionType = CarParams.TransmissionType
+NetworkLocation = CarParams.NetworkLocation
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
 

selfdrive/car/gm/values.py

@@ -1,6 +1,5 @@
 from dataclasses import dataclass, field
 
-from cereal import car
 from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
 from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
@@ -64,8 +63,8 @@ class CarControllerParams:
 class GMCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
 
-  def init_make(self, CP: car.CarParams):
-    if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
+  def init_make(self, CP: CarParams):
+    if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
       self.car_parts = CarParts.common([CarHarness.gm])
     else:
       self.car_parts = CarParts.common([CarHarness.obd_ii])

selfdrive/car/honda/carstate.py

@@ -4,6 +4,7 @@ from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
@@ -11,7 +12,7 @@ from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HOND
                                                  HondaFlags
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
-TransmissionType = car.CarParams.TransmissionType
+TransmissionType = CarParams.TransmissionType
 
 
 def get_can_messages(CP, gearbox_msg):

selfdrive/car/honda/values.py

@@ -91,7 +91,7 @@ VISUAL_HUD = {
 class HondaCarDocs(CarDocs):
   package: str = "Honda Sensing"
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     if CP.flags & HondaFlags.BOSCH:
       self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
     else:

selfdrive/car/hyundai/values.py

@@ -2,7 +2,6 @@ import re
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.conversions import Conversions as CV
@@ -108,7 +107,7 @@ class Footnote(Enum):
 class HyundaiCarDocs(CarDocs):
   package: str = "Smart Cruise Control (SCC)"
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     if CP.flags & HyundaiFlags.CANFD:
       self.footnotes.insert(0, Footnote.CANFD)
 

selfdrive/car/subaru/values.py

@@ -1,7 +1,6 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.data_structures import CarParams
@@ -94,7 +93,7 @@ class SubaruCarDocs(CarDocs):
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
   footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
 
     if CP.experimentalLongitudinalAvailable:

selfdrive/car/toyota/carstate.py

@@ -5,13 +5,14 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.car.helpers import mean
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
-SteerControlType = car.CarParams.SteerControlType
+SteerControlType = CarParams.SteerControlType
 
 # These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
 # - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds

selfdrive/car/toyota/interface.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
-SteerControlType = car.CarParams.SteerControlType
+SteerControlType = CarParams.SteerControlType
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/volkswagen/carcontroller.py

@@ -2,6 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
@@ -17,7 +18,7 @@ class CarController(CarControllerBase):
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
-    self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
+    self.ext_bus = CANBUS.pt if CP.networkLocation == CarParams.NetworkLocation.fwdCamera else CANBUS.cam
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None

selfdrive/car/volkswagen/values.py

@@ -13,8 +13,8 @@ from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, Ca
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
 
 Ecu = CarParams.Ecu
-NetworkLocation = car.CarParams.NetworkLocation
-TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = CarParams.NetworkLocation
+TransmissionType = CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
@@ -191,7 +191,7 @@ class VWCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
 
-  def init_make(self, CP: car.CarParams):
+  def init_make(self, CP: CarParams):
     self.footnotes.append(Footnote.VW_EXP_LONG)
     if "SKODA" in CP.carFingerprint:
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)