fix selfdrive/controls tests

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -3,12 +3,12 @@
 import time
 import numpy as np
 from cereal import log
+from opendbc.car.interfaces import ACCEL_MIN
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from openpilot.selfdrive.modeld.constants import index_function
-from openpilot.selfdrive.car.interfaces import ACCEL_MIN
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code

selfdrive/controls/lib/longitudinal_planner.py

@@ -4,11 +4,11 @@
 from openpilot.common.numpy_fast import clip, interp
 
 import cereal.messaging as messaging
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -1,11 +1,11 @@
 from parameterized import parameterized
 
 from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.honda.values import CAR as HONDA
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -3,9 +3,9 @@
 
 import numpy as np
 
+from opendbc.car.honda.interface import CarInterface
+from opendbc.car.honda.values import CAR
 from openpilot.selfdrive.car.card import convert_to_capnp
-from openpilot.selfdrive.car.honda.interface import CarInterface
-from openpilot.selfdrive.car.honda.values import CAR
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 

selfdrive/controls/radard.py

@@ -6,12 +6,12 @@
 
 import capnp
 from cereal import messaging, log, car
+from opendbc.car import structs
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
-from openpilot.selfdrive.car import structs
 from openpilot.selfdrive.pandad import can_capnp_to_list
 
 

selfdrive/controls/tests/test_leads.py

@@ -1,7 +1,7 @@
 import cereal.messaging as messaging
 
+from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 
 
 class TestLeads:

selfdrive/controls/tests/test_startup.py

@@ -3,11 +3,11 @@
 
 from cereal import log, car
 import cereal.messaging as messaging
+from opendbc.car.fingerprints import _FINGERPRINTS
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.mazda.values import CAR as MAZDA
 from openpilot.common.params import Params
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
-from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
 from openpilot.system.manager.process_config import managed_processes
 

selfdrive/controls/tests/test_state_machine.py

@@ -1,10 +1,10 @@
 from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.mock.values import CAR as MOCK
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
 from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
                                           AudibleAlert, EVENTS
-from openpilot.selfdrive.car.mock.values import CAR as MOCK
 
 State = log.ControlsState.OpenpilotState
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -47,8 +47,8 @@ def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
     time.sleep(0.1)
     self.sm = messaging.SubMaster(['longitudinalPlan'])
 
-    from openpilot.selfdrive.car.honda.values import CAR
-    from openpilot.selfdrive.car.honda.interface import CarInterface
+    from opendbc.car.honda.values import CAR
+    from opendbc.car.honda.interface import CarInterface
 
     self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
 

selfdrive/test/process_replay/migration.py

@@ -1,9 +1,9 @@
 from collections import defaultdict
 
 from cereal import messaging
-from openpilot.selfdrive.car.fingerprints import MIGRATION
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.car.toyota.values import EPS_SCALE
 from openpilot.system.manager.process_config import managed_processes
 from panda import Panda
 

selfdrive/test/process_replay/process_replay.py

@@ -17,14 +17,14 @@
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from opendbc.car import structs
+from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
-from openpilot.selfdrive.car.car_helpers import get_car, interfaces
-from openpilot.selfdrive.car import structs
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all