remove CAN capnp conversion from car interfaces (commaai#33218)

remove pandad from interfaces

.importlinter

@@ -38,7 +38,6 @@ ignore_imports =
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
     # requires generic CAN send/receive functions
     openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
 

selfdrive/car/card.py

@@ -12,7 +12,7 @@
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -108,7 +108,7 @@ def state_update(self) -> car.CarState:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 

selfdrive/car/interfaces.py

@@ -16,7 +16,6 @@
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -229,12 +228,11 @@ def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_packets)
 
     # get CarState
     ret = self._update(c)

selfdrive/car/tests/test_models.py

@@ -217,7 +217,7 @@ def test_car_interface(self):
     CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((msg.as_builder().to_bytes(),)))
       self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
@@ -358,7 +358,7 @@ def test_panda_safety_carstate_fuzzy(self, data):
       can = messaging.new_message('can', 1)
       can.can = [log.CanData(address=address, dat=dat, src=bus)]
 
-      CS = self.CI.update(CC, (can.to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -397,7 +397,7 @@ def test_panda_safety_carstate(self):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      self.CI.update(CC, 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)
         self.safety.safety_rx_hook(to_send)
@@ -407,7 +407,7 @@ def test_panda_safety_carstate(self):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      CS = self.CI.update(CC, 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)