test_models: remove selfdrived dependency (#34539)

* remove selfdrived

* fully

* todo

* yay

* moremoremore

* clean up

* more

* don't care

* update refs

* bump to master

* no more selfdrived

* yup

* too complex

* Update selfdrive/car/tests/test_models.py

* Update selfdrive/car/tests/test_models.py

selfdrive/car/tests/test_models.py

@@ -17,8 +17,6 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.values import Platform
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from openpilot.selfdrive.selfdrived.events import ET
-from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -28,6 +26,7 @@ from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
+ButtonType = car.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 PandaType = log.PandaState.PandaType
 SafetyModel = car.CarParams.SafetyModel
@@ -384,8 +383,6 @@ class TestCarModelBase(unittest.TestCase):
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(int)
-    selfdrived = SelfdriveD(CP=self.CP)
-    selfdrived.initialized = True
     for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
@@ -429,11 +426,8 @@ class TestCarModelBase(unittest.TestCase):
         if not self.CP.notCar:
           checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
-        # Check for enable events on rising edge of controls allowed
-        selfdrived.update_events(CS)
-        selfdrived.CS_prev = CS
-        button_enable = (selfdrived.events.contains(ET.ENABLE) and
-                         EventName.pedalPressed not in selfdrived.events.names)
+        # Check for user button enable on rising edge of controls allowed
+        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
         mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
         checks['controlsAllowed'] += mismatch
         controls_allowed_prev = self.safety.get_controls_allowed()