From 9ad1f096bfca3712320f19b1b49aa9e6ac9b68e4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 Sep 2024 15:51:59 -0700
Subject: [PATCH] interfaces returns radarinterface

---
 selfdrive/car/tests/test_car_interfaces.py      | 2 +-
 selfdrive/car/tests/test_models.py              | 6 ++----
 selfdrive/controls/lib/tests/test_latcontrol.py | 2 +-
 selfdrive/controls/tests/test_state_machine.py  | 2 +-
 selfdrive/test/process_replay/process_replay.py | 2 +-
 5 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index f2a60c4d10cca9..66cf0dc6968531 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -35,7 +35,7 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface, CarController, CarState = interfaces[car_name]
+    CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 25db426d234e0b..b0bd24c33f2e57 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -2,7 +2,6 @@
 import copy
 import dataclasses
 import os
-import importlib
 import pytest
 import random
 import unittest # noqa: TID251
@@ -171,7 +170,7 @@ def setUpClass(cls):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
@@ -232,8 +231,7 @@ def test_car_interface(self):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    RadarInterface = importlib.import_module(f'opendbc.car.{self.CP.carName}.radar_interface').RadarInterface
-    RI = RadarInterface(self.CP)
+    RI = self.RadarInterface(self.CP)
     assert RI
 
     # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index c3847ed1a5c9c7..c8c8d027515bb1 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -18,7 +18,7 @@ class TestLatControl:
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
-    CarInterface, CarController, CarState = interfaces[car_name]
+    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)
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index 3926b88eb27382..a42cd6056bdeb2 100644
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -28,7 +28,7 @@ def make_event(event_types):
 class TestStateMachine:
 
   def setup_method(self):
-    CarInterface, CarController, CarState = interfaces[MOCK.MOCK]
+    CarInterface, CarController, CarState, RadarInterface = interfaces[MOCK.MOCK]
     CP = CarInterface.get_non_essential_params(MOCK.MOCK)
     CI = CarInterface(CP, CarController, CarState)
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5dc585ffe78d70..9491cb9370971e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -343,7 +343,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint):
 def get_car_params_callback(rc, pm, msgs, fingerprint):
   params = Params()
   if fingerprint:
-    CarInterface, _, _ = interfaces[fingerprint]
+    CarInterface, _, _, _ = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
   else:
     can = DummySocket()