controlsd: no mutable carParams (#32381)

* no as builder

* fix car int test

* more
old-commit-hash: c95b58401afe475b07634041e71ede63b9f3875f

selfdrive/car/tests/test_car_interfaces.py

@@ -62,6 +62,7 @@ class TestCarInterfaces:
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface

selfdrive/controls/controlsd.py

@@ -65,8 +65,7 @@ class Controls:
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
       with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        # TODO: this shouldn't need to be a builder
-        self.CP = msg.as_builder()
+        self.CP = msg
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation

selfdrive/controls/lib/latcontrol_torque.py

@@ -25,7 +25,7 @@ LOW_SPEED_Y = [15, 13, 10, 5]
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.torque_params = CP.lateralTuning.torque
+    self.torque_params = CP.lateralTuning.torque.as_builder()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -21,7 +21,7 @@ class TestLatControl:
     CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 
-    controller = controller(CP, CI)
+    controller = controller(CP.as_reader(), CI)
 
     CS = car.CarState.new_message()
     CS.vEgo = 30