selfdrive/car: ban params (#33198)

* ban params too with a callback

* all sorts of messed up

* use cloudlog

* consistent order

* order

* better type hint

* format

* this is a bit nicer

* hmm

* fix PLR1704

* no carvin

* fix process replay
old-commit-hash: 5a1596a322

.importlinter

@@ -8,6 +8,7 @@ type = forbidden
 source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
+    openpilot.common.params
     openpilot.system
     openpilot.body
     openpilot.docs
@@ -34,4 +35,9 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+    openpilot.selfdrive.car.card -> openpilot.common.params
+    openpilot.selfdrive.car.tests.test_models -> openpilot.common.params
+    # these two will still live in openpilot, but require some modification
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.params
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
 unmatched_ignore_imports_alerting = warn

selfdrive/car/car_helpers.py

@@ -3,7 +3,6 @@ import time
 from collections.abc import Callable
 
 from cereal import car
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
@@ -90,18 +89,17 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
+def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params_raw):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
   ecu_rx_addrs = set()
-  params = Params()
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    cached_params = params.get("CarParamsCache")
-    if cached_params is not None:
-      with car.CarParams.from_bytes(cached_params) as cached_params:
+    cached_params = None
+    if cached_params_raw is not None:
+      with car.CarParams.from_bytes(cached_params_raw) as cached_params:
         if cached_params.carName == "mock":
           cached_params = None
 
@@ -135,7 +133,6 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas):
 
   # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
   set_obd_multiplexing(False)
-  params.put_bool("FirmwareQueryDone", True)
 
   fw_query_time = time.monotonic() - start_time
 
@@ -169,8 +166,8 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas)
+def get_car(logcan, sendcan, set_obd_multiplexing, experimental_long_allowed, num_pandas=1, cached_params=None):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params)
 
   if candidate is None:
     carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})

selfdrive/car/card.py

@@ -62,7 +62,11 @@ class Car:
 
       experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas)
+      cached_params = self.params.get("CarParamsCache")
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+
+      # continue onto next fingerprinting step in pandad
+      self.params.put_bool("FirmwareQueryDone", True)
     else:
       self.CI, self.CP = CI, CI.CP
 

selfdrive/car/fw_versions.py

@@ -8,7 +8,6 @@ import capnp
 
 import panda.python.uds as uds
 from cereal import car
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import carlog
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS

selfdrive/test/process_replay/process_replay.py

@@ -348,14 +348,15 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     sendcan = DummySocket()
 
     canmsgs = [msg for msg in msgs if msg.which() == "can"]
-    has_cached_cp = params.get("CarParamsCache") is not None
+    cached_params = params.get("CarParamsCache")
+    has_cached_cp = cached_params is not None
     assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
     assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
             "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"))
+    _, CP = get_car(can, sendcan, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS