LET'S GOOO

.importlinter

@@ -77,4 +77,5 @@ ignore_imports =
     openpilot.selfdrive.car.car_specific -> openpilot.selfdrive.controls.lib.events
     openpilot.selfdrive.car.car_specific -> cereal
     openpilot.selfdrive.car.car_specific -> cereal.messaging
+    openpilot.selfdrive.car.card -> capnp
 unmatched_ignore_imports_alerting = warn

selfdrive/car/__init__.py

@@ -5,8 +5,6 @@ from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
-import capnp
-
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.can_definitions import CanData
@@ -35,9 +33,9 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
   return val_steady
 
 
-def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule],
+def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
                          unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
-  events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+  events: list[structs.CarState.ButtonEvent] = []
 
   if cur_btn == prev_btn:
     return events

selfdrive/car/interfaces.py

@@ -9,7 +9,6 @@ from typing import Any, NamedTuple
 from collections.abc import Callable
 from functools import cache
 
-from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
@@ -223,7 +222,7 @@ class CarInterfaceBase(ABC):
   def _update(self) -> structs.CarState:
     return self.CS.update(*self.can_parsers)
 
-  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> car.CarState:
+  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None: