remove helpers.py

selfdrive/car/car_specific.py

@@ -1,16 +1,16 @@
 from cereal import car
 import cereal.messaging as messaging
-from opendbc.car import DT_CTRL, structs
+from opendbc.car import DT_CTRL, car
 from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
 from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
 from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
 
 from openpilot.selfdrive.selfdrived.events import Events
 
-ButtonType = structs.CarState.ButtonEvent.Type
-GearShifter = structs.CarState.GearShifter
+ButtonType = car.CarState.ButtonEvent.Type
+GearShifter = car.CarState.GearShifter
 EventName = car.OnroadEvent.EventName
-NetworkLocation = structs.CarParams.NetworkLocation
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 # TODO: the goal is to abstract this file into the CarState struct and make events generic
@@ -29,7 +29,7 @@ def update(self, CS: car.CarState):
 
 
 class CarSpecificEvents:
-  def __init__(self, CP: structs.CarParams):
+  def __init__(self, CP: car.CarParams):
     self.CP = CP
 
     self.steering_unpressed = 0
@@ -172,7 +172,7 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase,
 
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+  def create_common_events(self, CS: car.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
                            allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 

selfdrive/car/card.py

@@ -13,15 +13,14 @@
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from opendbc.car import DT_CTRL, carlog, structs
+from opendbc.car import DT_CTRL, carlog, car
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, get_radar_interface
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
-from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.selfdrived.events import Events, ET
 
 REPLAY = "REPLAY" in os.environ
@@ -64,7 +63,7 @@ def can_send(msgs: list[CanData]) -> None:
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
-  CP: structs.CarParams
+  CP: car.CarParams
   CP_capnp: car.CarParams
 
   def __init__(self, CI=None, RI=None) -> None:
@@ -78,7 +77,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.CS_prev = car.CarState.new_message()
     self.initialized_prev = False
 
-    self.last_actuators_output = structs.CarControl.Actuators()
+    self.last_actuators_output = car.CarControl.Actuators.new_message()
 
     self.params = Params()
 
@@ -99,7 +98,7 @@ def __init__(self, CI=None, RI=None) -> None:
       cached_params_raw = self.params.get("CarParamsCache")
       if cached_params_raw is not None:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
-          cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
+          cached_params = car.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
       self.RI = get_radar_interface(self.CI.CP)
@@ -123,8 +122,8 @@ def __init__(self, CI=None, RI=None) -> None:
 
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
-      safety_config = structs.CarParams.SafetyConfig()
-      safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
     # Write previous route's CarParams
@@ -134,7 +133,7 @@ def __init__(self, CI=None, RI=None) -> None:
 
     # Write CarParams for controls and radard
     # convert to pycapnp representation for caching and logging
-    self.CP_capnp = convert_to_capnp(self.CP)
+    self.CP_capnp = self.CP
     cp_bytes = self.CP_capnp.to_bytes()
     self.params.put("CarParams", cp_bytes)
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
@@ -152,19 +151,19 @@ def __init__(self, CI=None, RI=None) -> None:
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
+  def state_update(self) -> tuple[car.CarState, car.RadarData]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = convert_to_capnp(self.CI.update(can_list))
+    CS = self.CI.update(can_list)
     if self.CP.carName == 'mock':
       CS = self.mock_carstate.update(CS)
 
     # Update radar tracks from CAN
-    RD: structs.RadarData | None = self.RI.update(can_list)
+    RD: car.RadarData = self.RI.update(can_list)
 
     self.sm.update(0)
 
@@ -184,7 +183,7 @@ def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
 
     return CS, RD
 
-  def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
+  def update_events(self, CS: car.CarState, RD: car.RadarData):
     self.events.clear()
 
     CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
@@ -208,7 +207,7 @@ def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
 
     CS.events = self.events.to_msg()
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
+  def state_publish(self, CS: car.CarState, RD: car.RadarData):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -221,7 +220,7 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     # publish new carOutput
     co_send = messaging.new_message('carOutput')
     co_send.valid = self.sm.all_checks(['carControl'])
-    co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
     self.pm.send('carOutput', co_send)
 
     # kick off controlsd step while we actuate the latest carControl packet
@@ -235,7 +234,7 @@ def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
       tracks_msg.valid = len(RD.errors) == 0
-      tracks_msg.liveTracks = convert_to_capnp(RD)
+      tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -251,7 +250,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
     if self.sm.all_alive(['carControl']):
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC

selfdrive/car/tests/test_car_interfaces.py

@@ -5,14 +5,12 @@
 from parameterized import parameterized
 
 from cereal import car
-from opendbc.car import DT_CTRL
+from opendbc.car import DT_CTRL, CarParams
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.structs import CarParams
 from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
 from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
-from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -72,15 +70,13 @@ def test_car_interfaces(self, car_name, data):
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
-    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
-    CC = convert_carControl(CC.as_reader())
     for _ in range(10):
       car_interface.update([])
       car_interface.apply(CC, now_nanos)
@@ -89,7 +85,7 @@ def test_car_interfaces(self, car_name, data):
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    car_params_capnp = convert_to_capnp(car_params).as_reader()
+    car_params_capnp = car_params.as_reader()
     LongControl(car_params_capnp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
       LatControlAngle(car_params_capnp, car_interface)

selfdrive/car/tests/test_models.py

@@ -14,13 +14,13 @@
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from opendbc.car import DT_CTRL, gen_empty_fingerprint, car
 from opendbc.car.fingerprints import all_known_cars, MIGRATION
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.car.card import Car, convert_to_capnp
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -205,7 +205,7 @@ def test_car_params(self):
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)
 
-    if self.CP.steerControlType != structs.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
       tuning = self.CP.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
@@ -218,7 +218,7 @@ def test_car_interface(self):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
     can_valid = False
-    CC = structs.CarControl()
+    CC = car.CarControl.new_message()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -241,9 +241,9 @@ def test_radar_interface(self):
     # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr: structs.RadarData | None = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
+      rr: car.RadarData | None = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
       if rr is not None and i > 50:
-        error_cnt += structs.RadarData.Error.canError in rr.errors
+        error_cnt += car.RadarData.Error.canError in rr.errors
     self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_checks(self):
@@ -309,17 +309,17 @@ def test_car_controller(car_control):
       self.assertGreater(msgs_sent, 50)
 
     # Make sure we can send all messages while inactive
-    CC = structs.CarControl()
+    CC = car.CarControl.new_message()
     test_car_controller(CC)
 
     # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
     self.safety.set_cruise_engaged_prev(True)
-    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
+    CC = car.CarControl(cruiseControl=car.CarControl.CruiseControl(cancel=True))
     test_car_controller(CC)
 
     # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
     self.safety.set_controls_allowed(True)
-    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
+    CC = car.CarControl(cruiseControl=car.CarControl.CruiseControl(resume=True))
     test_car_controller(CC)
 
   # Skip stdout/stderr capture with pytest, causes elevated memory usage
@@ -406,7 +406,7 @@ def test_panda_safety_carstate(self):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
+      CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -5,7 +5,6 @@
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,7 +20,6 @@ def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
-    CP = convert_to_capnp(CP)
     VM = VehicleModel(CP)
 
     controller = controller(CP.as_reader(), CI)

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -5,14 +5,13 @@
 
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
-from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel:
   def setup_method(self):
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(convert_to_capnp(CP))
+    self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):
     # TODO: fix VM to work at zero speed