don't read params in car interfaces (commaai#23978)

Author: adeebshihadeh

selfdrive/car/car_helpers.py

@@ -173,11 +173,13 @@ def get_car(logcan, sendcan):
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
+  disable_radar = Params().get_bool("DisableRadar")
+
   CarInterface, CarController, CarState = interfaces[candidate]
-  car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
-  car_params.carVin = vin
-  car_params.carFw = car_fw
-  car_params.fingerprintSource = source
-  car_params.fuzzyFingerprint = not exact_match
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_radar)
+  CP.carVin = vin
+  CP.carFw = car_fw
+  CP.fingerprintSource = source
+  CP.fuzzyFingerprint = not exact_match
 
-  return CarInterface(car_params, CarController, CarState), car_params
+  return CarInterface(CP, CarController, CarState), CP

selfdrive/car/chrysler/interface.py

@@ -7,7 +7,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]

selfdrive/car/ford/interface.py

@@ -8,7 +8,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "ford"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]

selfdrive/car/gm/interface.py

@@ -39,7 +39,7 @@ def get_steer_feedforward_function(self):
       return CarInterfaceBase.get_steer_feedforward_default
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]

selfdrive/car/honda/interface.py

@@ -3,7 +3,6 @@
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from common.params import Params
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -28,7 +27,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "honda"
 
@@ -38,7 +37,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
 
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
-      ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
+      ret.openpilotLongitudinalControl = disable_radar
 
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:

selfdrive/car/hyundai/interface.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from common.params import Params
 from common.conversions import Conversions as CV
 from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -18,15 +17,15 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "hyundai"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and (candidate not in LEGACY_SAFETY_MODE_CAR)
+    ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 

selfdrive/car/interfaces.py

@@ -50,7 +50,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
 
   @staticmethod
   @abstractmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     pass
 
   @staticmethod

selfdrive/car/mazda/interface.py

@@ -15,7 +15,7 @@ def compute_gb(accel, speed):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "mazda"

selfdrive/car/mock/interface.py

@@ -33,7 +33,7 @@ def compute_gb(accel, speed):
     return accel
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "mock"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]

selfdrive/car/nissan/interface.py

@@ -10,7 +10,7 @@ def __init__(self, CP, CarController, CarState):
     self.cp_adas = self.CS.get_adas_can_parser(CP)
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
 
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "nissan"

selfdrive/car/subaru/interface.py

@@ -7,7 +7,7 @@
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "subaru"

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "tesla"
 

selfdrive/car/tests/test_models.py

@@ -8,7 +8,6 @@
 from parameterized import parameterized_class
 
 from cereal import log, car
-from common.params import Params
 from common.realtime import DT_CTRL
 from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
 from selfdrive.car.fingerprints import all_known_cars
@@ -56,9 +55,7 @@ def setUpClass(cls):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.car_model}")
 
-    params = Params()
-    params.clear_all()
-
+    disable_radar = False
     for seg in (2, 1, 0):
       try:
         lr = LogReader(get_url(cls.route, seg))
@@ -75,7 +72,7 @@ def setUpClass(cls):
           can_msgs.append(msg)
         elif msg.which() == "carParams":
           if msg.carParams.openpilotLongitudinalControl:
-            params.put_bool("DisableRadar", True)
+            disable_radar = True
 
       if len(can_msgs) > int(50 / DT_CTRL):
         break
@@ -85,7 +82,7 @@ def setUpClass(cls):
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [])
+    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [], disable_radar)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 

selfdrive/car/toyota/interface.py

@@ -15,7 +15,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "toyota"

selfdrive/car/volkswagen/interface.py

@@ -21,7 +21,7 @@ def __init__(self, CP, CarController, CarState):
       self.cp_ext = self.cp_cam
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "volkswagen"
     ret.radarOffCan = True