VW MQB: Misc bugfixes and cleanup (#20540)

* Add LDW->SWA signal pass-through

* GC currently unused ACC_06 and LDW_02 signal data

* Split out Jetta GLI

* Pass in camera CAN parser now that we use it

* GC unused CarController param, camelCase->PEP8

* CAN valid should pass for VW now

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: e181fd7f0a

README.md

@@ -183,7 +183,8 @@ Community Maintained Cars and Features
 | Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
-| Volkswagen| Jetta 2018-21                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 

selfdrive/car/volkswagen/carcontroller.py

@@ -20,7 +20,7 @@ class CarController():
 
     self.steer_rate_limited = False
 
-  def update(self, enabled, CS, frame, actuators, visual_alert, audible_alert, leftLaneVisible, rightLaneVisible):
+  def update(self, enabled, CS, frame, actuators, visual_alert, left_lane_visible, right_lane_visible):
     """ Controls thread """
 
     P = CarControllerParams
@@ -118,8 +118,10 @@ class CarController():
         hud_alert = MQB_LDW_MESSAGES["none"]
 
       can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, hcaEnabled,
-                                                            CS.out.steeringPressed, hud_alert, leftLaneVisible,
+                                                            CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                            rightLaneVisible))
+                                                            right_lane_visible, CS.ldw_lane_warning_left,
+                                                            CS.ldw_lane_warning_right, CS.ldw_side_dlc_tlc,
+                                                            CS.ldw_dlc, CS.ldw_tlc))
 
     #--------------------------------------------------------------------------
     #                                                                         #

selfdrive/car/volkswagen/carstate.py

@@ -16,7 +16,7 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["EV_Gearshift"]['GearPosition']
     self.buttonStates = BUTTON_STATES.copy()
 
-  def update(self, pt_cp, trans_type):
+  def update(self, pt_cp, cam_cp, trans_type):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
@@ -83,6 +83,14 @@ class CarState(CarStateBase):
     ret.leftBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
     ret.rightBlindspot = bool(pt_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(pt_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
 
+    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
+    # and capture it for forwarding to the blind spot radar controller
+    self.ldw_lane_warning_left = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_links"])
+    self.ldw_lane_warning_right = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_rechts"])
+    self.ldw_side_dlc_tlc = bool(cam_cp.vl["LDW_02"]["LDW_Seite_DLCTLC"])
+    self.ldw_dlc = cam_cp.vl["LDW_02"]["LDW_DLC"]
+    self.ldw_tlc = cam_cp.vl["LDW_02"]["LDW_TLC"]
+
     # Stock FCW is considered active if the release bit for brake-jerk warning
     # is set. Stock AEB considered active if the partial braking or target
     # braking release bits are set.
@@ -180,8 +188,6 @@ class CarState(CarStateBase):
       ("KBI_Handbremse", "Kombi_01", 0),            # Manual handbrake applied
       ("TSK_Status", "TSK_06", 0),                  # ACC engagement status from drivetrain coordinator
       ("TSK_Fahrzeugmasse_02", "Motor_16", 0),      # Estimated vehicle mass from drivetrain coordinator
-      ("ACC_Status_ACC", "ACC_06", 0),              # ACC engagement status
-      ("ACC_Typ", "ACC_06", 0),                     # ACC type (follow to stop, stop&go)
       ("ACC_Wunschgeschw", "ACC_02", 0),            # ACC set speed
       ("AWV2_Freigabe", "ACC_10", 0),               # FCW brake jerk release
       ("ANB_Teilbremsung_Freigabe", "ACC_10", 0),   # AEB partial braking release
@@ -210,7 +216,6 @@ class CarState(CarStateBase):
       ("ESP_19", 100),      # From J104 ABS/ESP controller
       ("ESP_05", 50),       # From J104 ABS/ESP controller
       ("ESP_21", 50),       # From J104 ABS/ESP controller
-      ("ACC_06", 50),       # From J428 ACC radar control module
       ("ACC_10", 50),       # From J428 ACC radar control module
       ("Motor_20", 50),     # From J623 Engine control module
       ("TSK_06", 50),       # From J623 Engine control module
@@ -245,7 +250,11 @@ class CarState(CarStateBase):
 
     signals = [
       # sig_name, sig_address, default
-      ("LDW_Status_LED_gruen", "LDW_02", 0),            # Lane Assist status LED
+      ("LDW_SW_Warnung_links", "LDW_02", 0),          # Blind spot in warning mode on left side due to lane departure
+      ("LDW_SW_Warnung_rechts", "LDW_02", 0),         # Blind spot in warning mode on right side due to lane departure
+      ("LDW_Seite_DLCTLC", "LDW_02", 0),              # Direction of most likely lane departure (left or right)
+      ("LDW_DLC", "LDW_02", 0),                       # Lane departure, distance to line crossing
+      ("LDW_TLC", "LDW_02", 0),                       # Lane departure, time to line crossing
     ]
 
     checks = [

selfdrive/car/volkswagen/interface.py

@@ -127,7 +127,7 @@ class CarInterface(CarInterfaceBase):
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
-    ret = self.CS.update(self.cp, self.CP.transmissionType)
+    ret = self.CS.update(self.cp, self.cp_cam, self.CP.transmissionType)
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
@@ -167,7 +167,6 @@ class CarInterface(CarInterfaceBase):
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                    c.hudControl.visualAlert,
-                   c.hudControl.audibleAlert,
                    c.hudControl.leftLaneVisible,
                    c.hudControl.rightLaneVisible)
     self.frame += 1

selfdrive/car/volkswagen/volkswagencan.py

@@ -15,23 +15,26 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
   }
   return packer.make_can_msg("HCA_01", bus, values, idx)
 
-def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
+def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
-
+                           ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc):
   if hca_enabled:
-    leftlanehud = 3 if leftLaneVisible else 1
+    left_lane_hud = 3 if left_lane_visible else 1
-    rightlanehud = 3 if rightLaneVisible else 1
+    right_lane_hud = 3 if right_lane_visible else 1
   else:
-    leftlanehud = 2 if leftLaneVisible else 1
+    left_lane_hud = 2 if left_lane_visible else 1
-    rightlanehud = 2 if rightLaneVisible else 1
+    right_lane_hud = 2 if right_lane_visible else 1
 
   values = {
-    "LDW_SW_Warnung_links": 0,  # FIXME: to be store-and-forwarded from the stock camera
-    "LDW_SW_Warnung_rechts": 1,  # FIXME: to be store-and-forwarded from the stock camera
     "LDW_Status_LED_gelb": 1 if hca_enabled and steering_pressed else 0,
     "LDW_Status_LED_gruen": 1 if hca_enabled and not steering_pressed else 0,
-    "LDW_Lernmodus_links": leftlanehud,
+    "LDW_Lernmodus_links": left_lane_hud,
-    "LDW_Lernmodus_rechts": rightlanehud,
+    "LDW_Lernmodus_rechts": right_lane_hud,
     "LDW_Texte": hud_alert,
+    "LDW_SW_Warnung_links": ldw_lane_warning_left,
+    "LDW_SW_Warnung_rechts": ldw_lane_warning_right,
+    "LDW_Seite_DLCTLC": ldw_side_dlc_tlc,
+    "LDW_DLC": ldw_dlc,
+    "LDW_TLC": ldw_tlc
   }
   return packer.make_can_msg("LDW_02", bus, values)
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-796df70c9c83a693f81e4a35d97f90dc5378ef06
+28d5abf03e0e0cae5af0f3dfb78f597253046a8b

selfdrive/test/test_models.py

@@ -22,7 +22,6 @@ ROUTES = {v['carFingerprint']: k for k, v in routes.items() if v['enableCamera']
 
 # TODO: get updated routes for these cars
 ignore_can_valid = [
-  "VOLKSWAGEN GOLF",
   "ACURA ILX 2016 ACURAWATCH PLUS",
   "TOYOTA PRIUS 2017",
   "TOYOTA COROLLA 2017",