selfdrive/car: ban cereal and capnp

.importlinter

@@ -1,13 +1,17 @@
 [importlinter]
 root_packages =
     openpilot
+    cereal
+    capnp
 
 [importlinter:contract:1]
 name = Forbid imports from openpilot.selfdrive.car to openpilot.system
 type = forbidden
 source_modules =
     openpilot.selfdrive.car
 forbidden_modules =
+    cereal
+    capnp
     openpilot.common
     openpilot.selfdrive.controls
     openpilot.selfdrive.debug
@@ -62,4 +66,13 @@ ignore_imports =
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
+    openpilot.selfdrive.car.tests.test_models -> capnp
+    openpilot.selfdrive.car.tests.test_car_interfaces -> cereal
+    openpilot.selfdrive.car.tests.test_car_interfaces -> cereal.messaging
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.test.fuzzy_generation
+    openpilot.selfdrive.car.tests.test_models -> cereal
+    openpilot.selfdrive.car.tests.test_models -> cereal.messaging
+    openpilot.selfdrive.car.card -> cereal
+    openpilot.selfdrive.car.card -> cereal.messaging
+    openpilot.selfdrive.car.vin -> cereal.messaging
 unmatched_ignore_imports_alerting = warn

selfdrive/car/data_structures.py

@@ -0,0 +1,34 @@
+from enum import StrEnum, auto
+
+
+class Ecu(StrEnum):
+  eps = auto()
+  abs = auto()
+  fwdRadar = auto()
+  fwdCamera = auto()
+  engine = auto()
+  unknown = auto()
+  transmission = auto()  # Transmission Control Module
+  hybrid = auto()  # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
+  srs = auto()  # airbag
+  gateway = auto()  # can gateway
+  hud = auto()  # heads up display
+  combinationMeter = auto()  # instrument cluster
+  electricBrakeBooster = auto()
+  shiftByWire = auto()
+  adas = auto()
+  cornerRadar = auto()
+  hvac = auto()
+  parkingAdas = auto()  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
+  epb = auto()  # electronic parking brake
+  telematics = auto()
+  body = auto()  # body control module
+
+  # Toyota only
+  dsu = auto()
+
+  # Honda only
+  vsa = auto()  # Vehicle Stability Assist
+  programmedFuelInjection = auto()
+
+  debug = auto()

selfdrive/car/toyota/values.py

@@ -3,13 +3,12 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
-from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.data_structures import Ecu
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
-Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
 PEDAL_TRANSITION = 10. * CV.MPH_TO_MS