car: CarController and CarState are always present (commaai#31925)

* always set

* add mock

* little more

* fix

* fix

selfdrive/car/car_helpers.py

@@ -4,7 +4,6 @@
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.basedir import BASEDIR
 from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
@@ -48,17 +47,8 @@ def load_interfaces(brand_names):
  for brand_name in brand_names:
  path = f'openpilot.selfdrive.car.{brand_name}'
  CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-
- if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
- CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
- else:
- CarState = None
-
- if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
- CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
- else:
- CarController = None
-
+ CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
+ CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
  for model_name in brand_names[brand_name]:
  ret[model_name] = (CarInterface, CarController, CarState)
  return ret

selfdrive/car/interfaces.py

@@ -81,21 +81,16 @@ def __init__(self, CP, CarController, CarState):
  self.silent_steer_warning = True
  self.v_ego_cluster_seen = False
 
- self.CS = None
- self.can_parsers = []
- if CarState is not None:
- self.CS = CarState(CP)
-
- self.cp = self.CS.get_can_parser(CP)
- self.cp_cam = self.CS.get_cam_can_parser(CP)
- self.cp_adas = self.CS.get_adas_can_parser(CP)
- self.cp_body = self.CS.get_body_can_parser(CP)
- self.cp_loopback = self.CS.get_loopback_can_parser(CP)
- self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
-
- self.CC: CarControllerBase = None
- if CarController is not None:
- self.CC = CarController(self.cp.dbc_name, CP, self.VM)
+ self.CS = CarState(CP)
+ self.cp = self.CS.get_can_parser(CP)
+ self.cp_cam = self.CS.get_cam_can_parser(CP)
+ self.cp_adas = self.CS.get_adas_can_parser(CP)
+ self.cp_body = self.CS.get_body_can_parser(CP)
+ self.cp_loopback = self.CS.get_loopback_can_parser(CP)
+ self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
+
+ dbc_name = "" if self.cp is None else self.cp.dbc_name
+ self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
  return self.CC.update(c, self.CS, now_nanos)
@@ -438,6 +433,10 @@ def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
  }
  return d.get(gear.upper(), GearShifter.unknown)
 
+ @staticmethod
+ def get_can_parser(CP):
+ return None
+
  @staticmethod
  def get_cam_can_parser(CP):
  return None
@@ -459,6 +458,9 @@ def get_loopback_can_parser(CP):
 
 
 class CarControllerBase(ABC):
+ def __init__(self, dbc_name: str, CP, VM):
+ pass
+
  @abstractmethod
  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
  pass

selfdrive/car/mock/carcontroller.py

@@ -0,0 +1,5 @@
+from openpilot.selfdrive.car.interfaces import CarControllerBase
+
+class CarController(CarControllerBase):
+ def update(self, CC, CS, now_nanos):
+ return CC.actuators.copy(), []

selfdrive/car/mock/carstate.py

@@ -0,0 +1,4 @@
+from openpilot.selfdrive.car.interfaces import CarStateBase
+
+class CarState(CarStateBase):
+ pass