replace a bunch more cereal.car

selfdrive/car/body/carstate.py

@@ -1,4 +1,3 @@
-from cereal import car
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.body.values import DBC
@@ -7,7 +6,7 @@ STARTUP_TICKS = 100
 
 class CarState(CarStateBase):
   def update(self, cp):
-    ret = car.CarState.new_message()
+    ret = CarState.new_message()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
     ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
@@ -24,7 +23,7 @@ class CarState(CarStateBase):
     ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
 
     # irrelevant for non-car
-    ret.gearShifter = car.CarState.GearShifter.drive
+    ret.gearShifter = CarState.GearShifter.drive
     ret.cruiseState.enabled = True
     ret.cruiseState.available = True
 

selfdrive/car/chrysler/carstate.py

@@ -26,7 +26,7 @@ class CarState(CarStateBase):
 
   def update(self, cp, cp_cam):
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     self.prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]

selfdrive/car/chrysler/interface.py

@@ -1,17 +1,16 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
@@ -21,7 +20,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
 
     # safety config
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.chrysler)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
     if candidate in RAM_HD:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
     elif candidate in RAM_DT:
@@ -83,7 +82,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
+    events = self.create_common_events(ret, extra_gears=[structs.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):

selfdrive/car/chrysler/radar_interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
-from cereal import car
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 from openpilot.selfdrive.car.chrysler.values import DBC
 
@@ -53,7 +53,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     errors = []
     if not self.rcp.can_valid:
       errors.append("canError")
@@ -64,7 +64,7 @@ class RadarInterface(RadarInterfaceBase):
       trackId = _address_to_track(ii)
 
       if trackId not in self.pts:
-        self.pts[trackId] = car.RadarData.RadarPoint.new_message()
+        self.pts[trackId] = structs.RadarData.RadarPoint()
         self.pts[trackId].trackId = trackId
         self.pts[trackId].aRel = float('nan')
         self.pts[trackId].yvRel = float('nan')

selfdrive/car/ford/carstate.py

@@ -1,14 +1,13 @@
-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.structs import CarParams
+from openpilot.selfdrive.car import structs
 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
+GearShifter = structs.CarState.GearShifter
-TransmissionType = CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
 
 
 class CarState(CarStateBase):
@@ -24,7 +23,7 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
   def update(self, cp, cp_cam):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving

selfdrive/car/ford/interface.py

@@ -1,32 +1,31 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
-TransmissionType = CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
+GearShifter = structs.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
-    ret.steerControlType = CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
     CAN = CanBus(fingerprint=fingerprint)
-    cfgs = [get_safety_config(CarParams.SafetyModel.ford)]
+    cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
-      cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
+      cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
     ret.experimentalLongitudinalAvailable = True

selfdrive/car/ford/radar_interface.py

@@ -1,6 +1,6 @@
 from math import cos, sin
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import DBC, RADAR
@@ -58,7 +58,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     errors = []
     if not self.rcp.can_valid:
       errors.append("canError")
@@ -89,7 +89,7 @@ class RadarInterface(RadarInterfaceBase):
       # radar point only valid if there have been enough valid measurements
       if self.valid_cnt[ii] > 0:
         if ii not in self.pts:
-          self.pts[ii] = car.RadarData.RadarPoint.new_message()
+          self.pts[ii] = structs.RadarData.RadarPoint()
           self.pts[ii].trackId = self.track_id
           self.track_id += 1
         self.pts[ii].dRel = cpt['X_Rel']  # from front of car
@@ -112,7 +112,7 @@ class RadarInterface(RadarInterfaceBase):
       i = (ii - 1) * 4 + scanIndex
 
       if i not in self.pts:
-        self.pts[i] = car.RadarData.RadarPoint.new_message()
+        self.pts[i] = structs.RadarData.RadarPoint()
         self.pts[i].trackId = self.track_id
         self.pts[i].aRel = float('nan')
         self.pts[i].yvRel = float('nan')

selfdrive/car/gm/carstate.py

@@ -1,15 +1,14 @@
 import copy
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs 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 = CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
-NetworkLocation = CarParams.NetworkLocation
+NetworkLocation = structs.CarParams.NetworkLocation
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
 
@@ -31,7 +30,7 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button

selfdrive/car/gm/interface.py

@@ -6,18 +6,17 @@ from math import fabs, exp
 from panda import Panda
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
+from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
-GearShifter = car.CarState.GearShifter
+GearShifter = structs.CarState.GearShifter
-TransmissionType = CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
-NetworkLocation = CarParams.NetworkLocation
+NetworkLocation = structs.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
@@ -49,7 +48,7 @@ class CarInterface(CarInterfaceBase):
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
-  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, lateral_accel_error: float,
                                        lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
@@ -71,7 +70,7 @@ class CarInterface(CarInterfaceBase):
     steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
     return float(steer_torque) + friction
 
-  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
+  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, lateral_accel_error: float,
                                        lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
     inputs = list(latcontrol_inputs)
@@ -89,9 +88,9 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.gm)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 

selfdrive/car/gm/radar_interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import math
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.gm.values import DBC, CanBus
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
@@ -52,7 +52,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     header = self.rcp.vl[RADAR_HEADER_MSG]
     fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
       header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
@@ -82,7 +82,7 @@ class RadarInterface(RadarInterfaceBase):
         targetId = cpt['TrkObjectID']
         currentTargets.add(targetId)
         if targetId not in self.pts:
-          self.pts[targetId] = car.RadarData.RadarPoint.new_message()
+          self.pts[targetId] = structs.RadarData.RadarPoint()
           self.pts[targetId].trackId = targetId
         distance = cpt['TrkRange']
         self.pts[targetId].dRel = distance  # from front of car

selfdrive/car/honda/carstate.py

@@ -106,7 +106,7 @@ class CarState(CarStateBase):
     self.dash_speed_seen = False
 
   def update(self, cp, cp_cam, cp_body):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     # car params
     v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping

selfdrive/car/honda/interface.py

@@ -1,20 +1,19 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
+from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
-from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
-TransmissionType = CarParams.TransmissionType
+TransmissionType = structs.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
@@ -33,13 +32,13 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
     CAN = CanBus(ret, fingerprint)
 
     if candidate in HONDA_BOSCH:
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaBosch)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
       ret.radarUnavailable = True
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
@@ -48,7 +47,7 @@ class CarInterface(CarInterfaceBase):
       ret.openpilotLongitudinalControl = experimental_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaNidec)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
       ret.openpilotLongitudinalControl = True
 
       ret.pcmCruise = True

selfdrive/car/honda/radar_interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 from openpilot.selfdrive.car.honda.values import DBC
 
@@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase):
     return rr
 
   def _update(self, updated_messages):
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
 
     for ii in sorted(updated_messages):
       cpt = self.rcp.vl[ii]
@@ -57,7 +57,7 @@ class RadarInterface(RadarInterfaceBase):
         self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
       elif cpt['LONG_DIST'] < 255:
         if ii not in self.pts or cpt['NEW_TRACK']:
-          self.pts[ii] = car.RadarData.RadarPoint.new_message()
+          self.pts[ii] = structs.RadarData.RadarPoint()
           self.pts[ii].trackId = self.track_id
           self.track_id += 1
         self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car

selfdrive/car/hyundai/carstate.py

@@ -56,7 +56,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
     cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
     self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
     speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
@@ -169,7 +169,7 @@ class CarState(CarStateBase):
     return ret
 
   def update_canfd(self, cp, cp_cam):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
     speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS

selfdrive/car/hyundai/interface.py

@@ -1,17 +1,16 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car.structs import CarParams
+from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
-Ecu = CarParams.Ecu
+Ecu = structs.CarParams.Ecu
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
@@ -20,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -101,9 +100,9 @@ class CarInterface(CarInterfaceBase):
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
-      cfgs = [get_safety_config(CarParams.SafetyModel.hyundaiCanfd), ]
+      cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
       if CAN.ECAN >= 4:
-        cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
+        cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
       ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
@@ -117,9 +116,9 @@ class CarInterface(CarInterfaceBase):
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundaiLegacy)]
+        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
       else:
-        ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundai, 0)]
+        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
 
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC

selfdrive/car/hyundai/radar_interface.py

@@ -1,7 +1,7 @@
 import math
 
-from cereal import car
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 from openpilot.selfdrive.car.hyundai.values import DBC
 
@@ -44,7 +44,7 @@ class RadarInterface(RadarInterfaceBase):
     return rr
 
   def _update(self, updated_messages):
-    ret = car.RadarData.new_message()
+    ret = structs.RadarData()
     if self.rcp is None:
       return ret
 
@@ -58,7 +58,7 @@ class RadarInterface(RadarInterfaceBase):
       msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
 
       if addr not in self.pts:
-        self.pts[addr] = car.RadarData.RadarPoint.new_message()
+        self.pts[addr] = structs.RadarData.RadarPoint()
         self.pts[addr].trackId = self.track_id
         self.track_id += 1
 

selfdrive/car/mazda/carstate.py

@@ -23,7 +23,7 @@ class CarState(CarStateBase):
 
   def update(self, cp, cp_cam):
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     self.prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]

selfdrive/car/mazda/interface.py

@@ -1,20 +1,19 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.mazda)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
     ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)

selfdrive/car/mock/interface.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from cereal import car
 import cereal.messaging as messaging
 from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -26,7 +25,7 @@ class CarInterface(CarInterfaceBase):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
     ret.vEgo = self.sm[gps_sock].speed
     ret.vEgoRaw = self.sm[gps_sock].speed
 

selfdrive/car/nissan/carstate.py

@@ -1,8 +1,8 @@
 import copy
 from collections import deque
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
@@ -24,7 +24,7 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
   def update(self, cp, cp_adas, cp_cam):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     self.prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]

selfdrive/car/nissan/interface.py

@@ -1,26 +1,25 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.nissan)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
 
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
 
-    ret.steerControlType = CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
     if candidate == CAR.NISSAN_ALTIMA:
@@ -35,7 +34,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
+    events = self.create_common_events(ret, extra_gears=[CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)

selfdrive/car/subaru/carstate.py

@@ -1,7 +1,7 @@
 import copy
-from cereal import car
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
@@ -17,7 +17,7 @@ class CarState(CarStateBase):
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
   def update(self, cp, cp_cam, cp_body):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
     ret.gas = throttle_msg["Throttle_Pedal"] / 255.

selfdrive/car/tesla/carstate.py

@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     self.das_control_counters = deque(maxlen=32)
 
   def update(self, cp, cp_cam):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
 
     # Vehicle speed
     ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS

selfdrive/car/volkswagen/carstate.py

@@ -36,7 +36,7 @@ class CarState(CarStateBase):
     if self.CP.flags & VolkswagenFlags.PQ:
       return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
 
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
@@ -156,7 +156,7 @@ class CarState(CarStateBase):
     return ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
-    ret = car.CarState.new_message()
+    ret = structs.CarState()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],

selfdrive/car/volkswagen/interface.py

@@ -1,11 +1,10 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import get_safety_config, structs
-from openpilot.selfdrive.car.structs import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 
@@ -21,13 +20,13 @@ class CarInterface(CarInterfaceBase):
       self.cp_ext = self.cp_cam
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
     if ret.flags & VolkswagenFlags.PQ:
       # Set global PQ35/PQ46/NMS parameters
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagenPq)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
       if 0x440 in fingerprint[0] or docs:  # Getriebe_1
@@ -50,7 +49,7 @@ class CarInterface(CarInterfaceBase):
 
     else:
       # Set global MQB parameters
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagen)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
       if 0xAD in fingerprint[0] or docs:  # Getriebe_11