selfdrive/car: ban imports from external modules (#32973)

* lint import

* Update selfdrive/car/__init__.py

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 83d4623590f87dcb7df2b458a8814d5ad6ea711b

selfdrive/controls/controlsd.py

@@ -15,9 +15,10 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature

selfdrive/controls/lib/drive_helpers.py

@@ -3,7 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable

selfdrive/controls/lib/events.py

@@ -9,7 +9,7 @@ from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 AlertSize = log.ControlsState.AlertSize

selfdrive/controls/lib/latcontrol.py

@@ -1,7 +1,7 @@
 from abc import abstractmethod, ABC
 
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 

selfdrive/controls/lib/longcontrol.py

@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants

selfdrive/controls/radard.py

@@ -8,10 +8,11 @@ import capnp
 from cereal import messaging, log, car
 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.realtime import Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
+from openpilot.selfdrive.car import DT_CTRL
 
 
 # Default lead acceleration decay set to 50% at 1s

selfdrive/controls/tests/test_state_machine.py

@@ -1,5 +1,5 @@
 from cereal import car, log
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car 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, \