switch more CarParams stuff over

remove unused

selfdrive/car/body/values.py

@@ -1,9 +1,9 @@
-from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 SPEED_FROM_RPM = 0.008587
 

selfdrive/car/chrysler/values.py

@@ -1,13 +1,13 @@
 from enum import IntFlag
 from dataclasses import dataclass, field
 
-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
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class ChryslerFlags(IntFlag):

selfdrive/car/data_structures.py

@@ -74,6 +74,8 @@ class CarParams:
 
   carFw: list['CarParams.CarFw'] = auto_field()
 
+  carVin: str = auto_field()
+
   class SteerControlType(StrEnum):
     torque = auto()
     angle = auto()
@@ -122,3 +124,14 @@ class CarParams:
     programmedFuelInjection = auto()
 
     debug = auto()
+
+  @auto_dataclass
+  class LateralTorqueTuning:
+    useSteeringAngle: bool = auto_field()
+    kp: float = auto_field()
+    ki: float = auto_field()
+    friction: float = auto_field()
+    kf: float = auto_field()
+    steeringAngleDeadzoneDeg: float = auto_field()
+    latAccelFactor: float = auto_field()
+    latAccelOffset: float = auto_field()

selfdrive/car/ecu_addrs.py

@@ -1,14 +1,13 @@
 #!/usr/bin/env python3
-import capnp
 import time
 
 from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car import make_tester_present_msg, carlog
-from openpilot.selfdrive.car.can_definitions import CanRecvCallable, CanSendCallable
+from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
 
 
-def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
+def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0

selfdrive/car/ford/tests/test_ford.py

@@ -1,16 +1,15 @@
 import random
 from collections.abc import Iterable
 
-import capnp
 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
 
-from cereal import car
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
 from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 ECU_ADDRESSES = {
@@ -49,7 +48,7 @@ class TestFordFW:
       assert subaddr is None, "Unexpected ECU subaddress"
 
   @parameterized.expand(FW_VERSIONS.items())
-  def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
+  def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[CarParams.Ecu, int, int | None], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
       assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
       assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
@@ -96,7 +95,7 @@ class TestFordFW:
           car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
                          "subAddress": 0 if sub_addr is None else sub_addr})
 
-        CP = car.CarParams.new_message(carFw=car_fw)
+        CP = CarParams(carFw=car_fw)
         matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
         assert matches == {platform}
 

selfdrive/car/ford/values.py

@@ -6,11 +6,12 @@ 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, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:

selfdrive/car/fw_query_definitions.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import capnp
 import copy
 from dataclasses import dataclass, field
 import struct
@@ -7,9 +6,11 @@ from collections.abc import Callable
 
 import panda.python.uds as uds
 
+from openpilot.selfdrive.car.data_structures import CarParams
+
 AddrType = tuple[int, int | None]
 EcuAddrBusType = tuple[int, int | None, int]
-EcuAddrSubAddr = tuple[int, int, int | None]
+EcuAddrSubAddr = tuple[CarParams.Ecu, int, int | None]
 
 LiveFwVersions = dict[AddrType, set[bytes]]
 OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
@@ -78,7 +79,7 @@ class StdQueries:
 class Request:
   request: list[bytes]
   response: list[bytes]
-  whitelist_ecus: list[int] = field(default_factory=list)
+  whitelist_ecus: list[CarParams.Ecu] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
   # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
@@ -94,9 +95,9 @@ class FwQueryConfig:
   requests: list[Request]
   # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
-  non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict)
+  non_essential_ecus: dict[CarParams.Ecu, list[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
-  extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list)
+  extra_ecus: list[tuple[CarParams.Ecu, int, int | None]] = field(default_factory=list)
   # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
   # returns set of candidates. Only will match if one candidate is returned
   match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None

selfdrive/car/fw_versions.py

@@ -4,7 +4,6 @@ from collections.abc import Callable, Iterator
 from typing import Any, Protocol, TypeVar
 
 from tqdm import tqdm
-import capnp
 
 import panda.python.uds as uds
 from openpilot.selfdrive.car import carlog
@@ -40,7 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
   return filter_brand is None or brand == filter_brand
 
 
-def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
+def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
   fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
   for fw in fw_versions:
     if is_brand(fw.brand, filter_brand) and not fw.logging:
@@ -145,8 +144,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
   return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], vin: str,
-                    allow_exact: bool = True, allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
+def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: bool = True,
+                    allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
   # Try exact matching first
   exact_matches: list[tuple[bool, MatchFwToCar]] = []
   if allow_exact:
@@ -230,7 +229,7 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[Ad
 
 def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
                             ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
-                            progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+                            progress: bool = False) -> list[CarParams.CarFw]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -255,7 +254,7 @@ def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable
 
 def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
                     extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, debug: bool = False,
-                    progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+                    progress: bool = False) -> list[CarParams.CarFw]:
   versions = VERSIONS.copy()
 
   if query_brand is not None:
@@ -307,7 +306,7 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
           if query_addrs:
             query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
-              f = CarParams.CarFw.new_message()
+              f = CarParams.CarFw()
 
               f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
               f.fwVersion = version
@@ -386,7 +385,7 @@ if __name__ == "__main__":
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
     print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
-          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion!r}]")
   print("}")
 
   print()

selfdrive/car/gm/values.py

@@ -2,10 +2,11 @@ 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
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:

selfdrive/car/honda/values.py

@@ -5,10 +5,11 @@ from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 

selfdrive/car/hyundai/values.py

@@ -6,10 +6,11 @@ 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
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:

selfdrive/car/interfaces.py

@@ -12,6 +12,7 @@ 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
+from openpilot.selfdrive.car.data_structures import CarParams, RadarData
 from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
@@ -52,7 +53,7 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
+TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
 @cache
@@ -123,7 +124,7 @@ class CarInterfaceBase(ABC):
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -150,12 +151,12 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
-                  car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def _get_params(ret: CarParams, candidate, fingerprint: dict[int, dict[int, int]],
+                  car_fw: list[CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod
-  def init(CP: car.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
+  def init(CP: CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
     pass
 
   @staticmethod
@@ -166,7 +167,7 @@ class CarInterfaceBase(ABC):
   def get_steer_feedforward_function(self):
     return self.get_steer_feedforward_default
 
-  def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning,
+  def torque_from_lateral_accel_linear(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning,
                                        lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
@@ -187,7 +188,7 @@ class CarInterfaceBase(ABC):
 
     # standard ALC params
     ret.tireStiffnessFactor = 1.0
-    ret.steerControlType = car.CarParams.SteerControlType.torque
+    ret.steerControlType = CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
 
@@ -350,10 +351,10 @@ class RadarInterfaceBase(ABC):
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
 
-  def update(self, can_strings):
+  def update(self, can_strings) -> RadarData | None:
     self.frame += 1
     if (self.frame % int(100 * self.radar_ts)) == 0:
-      return car.RadarData.new_message()
+      return RadarData()
     return None
 
 

selfdrive/car/mazda/values.py

@@ -1,13 +1,13 @@
 from dataclasses import dataclass, field
 from enum import IntFlag
 
-from cereal import car
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 # Steer torque limits

selfdrive/car/nissan/values.py

@@ -1,12 +1,12 @@
 from dataclasses import dataclass, field
 
-from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs, CarHarness, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:

selfdrive/car/subaru/values.py

@@ -4,10 +4,11 @@ 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
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 
 class CarControllerParams:

selfdrive/car/tesla/values.py

@@ -2,10 +2,11 @@ from collections import namedtuple
 
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 

selfdrive/car/toyota/toyotacan.py

@@ -1,4 +1,4 @@
-from selfdrive.car.data_structures import CarParams
+from openpilot.selfdrive.car.data_structures import CarParams
 
 SteerControlType = CarParams.SteerControlType
 

selfdrive/car/toyota/values.py

@@ -4,8 +4,8 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
-from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 

selfdrive/car/volkswagen/values.py

@@ -7,11 +7,12 @@ from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import EcuAddrSubAddr, FwQueryConfig, Request, p16
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter