selfdrive/car: ban imports from external modules

.importlinter

@@ -0,0 +1,20 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+    openpilot.tools

.pre-commit-config.yaml

@@ -101,3 +101,10 @@ repos:
     rev: 0.28.4
     hooks:
     -   id: check-github-workflows
+-   repo: local
+    hooks:
+    -   id: import-linter
+        name: import linter
+        entry: lint-imports
+        language: system
+        pass_filenames: false

pyproject.toml

@@ -149,6 +149,7 @@ coverage = "*"
 dictdiffer = "*"
 flaky = "*"
 hypothesis = "~6.47"
+import-linter = "*"
 inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"

selfdrive/car/__init__.py

@@ -11,6 +11,7 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -20,6 +21,10 @@
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
 
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
 def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
   if val > val_steady + hyst_gap:
     val_steady = val - hyst_gap

selfdrive/car/body/carcontroller.py

@@ -1,7 +1,7 @@
 import numpy as np
 
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase

selfdrive/car/body/interface.py

@@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 

selfdrive/car/car_helpers.py

@@ -12,29 +12,9 @@
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
-EventName = car.CarEvent.EventName
-
-
-def get_startup_event(car_recognized, controller_available, fw_seen):
-  build_metadata = get_build_metadata()
-  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
-    event = EventName.startup
-  else:
-    event = EventName.startupMaster
-
-  if not car_recognized:
-    if fw_seen:
-      event = EventName.startupNoCar
-    else:
-      event = EventName.startupNoFw
-  elif car_recognized and not controller_available:
-    event = EventName.startupNoControl
-  return event
-
 
 def get_one_can(logcan):
   while True:

selfdrive/car/chrysler/carcontroller.py

@@ -1,6 +1,5 @@
 from opendbc.can.packer import CANPacker
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase

selfdrive/car/gm/carcontroller.py

@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase

selfdrive/car/honda/carcontroller.py

@@ -2,12 +2,11 @@
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL, rate_limit
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState

selfdrive/car/hyundai/carcontroller.py

@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR

selfdrive/car/interfaces.py

@@ -13,8 +13,7 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events

selfdrive/car/tests/test_car_interfaces.py

@@ -6,8 +6,7 @@
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS

selfdrive/car/tests/test_lateral_limits.py

@@ -5,7 +5,7 @@
 import pytest
 import sys
 
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params

selfdrive/car/tests/test_models.py

@@ -12,8 +12,7 @@
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces

selfdrive/car/toyota/carstate.py

@@ -4,9 +4,9 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 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

selfdrive/car/volkswagen/carcontroller.py

@@ -2,8 +2,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags

selfdrive/controls/controlsd.py

@@ -18,8 +18,9 @@
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
+from openpilot.selfdrive.car.car_helpers import get_car_interface
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
+from openpilot.selfdrive.controls.lib import get_startup_event
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
 from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED

selfdrive/controls/lib/__init__.py

@@ -0,0 +1,21 @@
+from cereal import car
+from openpilot.system.version import get_build_metadata
+
+EventName = car.CarEvent.EventName
+
+
+def get_startup_event(car_recognized, controller_available, fw_seen):
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
+    event = EventName.startup
+  else:
+    event = EventName.startupMaster
+
+  if not car_recognized:
+    if fw_seen:
+      event = EventName.startupNoCar
+    else:
+      event = EventName.startupNoFw
+  elif car_recognized and not controller_available:
+    event = EventName.startupNoControl
+  return event

selfdrive/controls/lib/drive_helpers.py

@@ -157,10 +157,6 @@ def apply_center_deadzone(error, deadzone):
   return error
 
 
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755