card: more final structure

old-commit-hash: d28624fe5b4145b48add862f1f29a3bcf7568b8c

selfdrive/car/card.py

@@ -20,7 +20,6 @@ REPLAY = "REPLAY" in os.environ
 
 class CarD:
   CI: CarInterfaceBase
-  CS: car.CarState
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -83,7 +82,7 @@ class CarD:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    self.CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_strs)
 
     self.sm.update(0)
 
@@ -101,21 +100,21 @@ class CarD:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
-    self.state_publish()
+    self.state_publish(CS)
 
-    return self.CS
+    return CS
 
-  def state_publish(self):
+  def state_publish(self, CS: car.CarState):
     """carState and carParams publish loop"""
 
     # carState
     cs_send = messaging.new_message('carState')
-    cs_send.valid = self.CS.canValid
-    cs_send.carState = self.CS
+    cs_send.valid = CS.canValid
+    cs_send.carState = CS
     self.pm.send('carState', cs_send)
 
     # carParams - logged every 50 seconds (> 1 per segment)
-    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+    if self.sm.frame % int(50. / DT_CTRL) == 0:
       cp_send = messaging.new_message('carParams')
       cp_send.valid = True
       cp_send.carParams = self.CP
@@ -128,12 +127,12 @@ class CarD:
       co_send.carOutput.actuatorsOutput = self.last_actuators
     self.pm.send('carOutput', co_send)
 
-  def controls_update(self, CC: car.CarControl):
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
     # send car controls over can
     now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
     self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
-    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
+    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
     self.CC_prev = CC

selfdrive/controls/controlsd.py

@@ -723,7 +723,7 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      self.card.controls_update(CC)
+      self.card.controls_update(CS, CC)
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \