Leaf: get VIN (#31398)

* Add Leaf VIN query

* add lots of requests

* add exception for nissan

* no more logging

* update refs

* lower worst case

* Update selfdrive/car/car_helpers.py

* update refs

* it's the vcm!
old-commit-hash: c65dfaac68

selfdrive/car/fw_query_definitions.py

@@ -65,6 +65,9 @@ class StdQueries:
   GM_VIN_REQUEST = b'\x1a\x90'
   GM_VIN_RESPONSE = b'\x5a\x90'
 
+  KWP_VIN_REQUEST = b'\x21\x81'
+  KWP_VIN_RESPONSE = b'\x61\x81'
+
 
 @dataclass
 class Request:

selfdrive/car/tests/test_fw_fingerprint.py

@@ -225,7 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_times = {'worst': 1.0, 'best': 0.5}  # best assumes we go through all queries to get a match
+    vin_ref_times = {'worst': 1.2, 'best': 0.6}  # best assumes we go through all queries to get a match
     present_ecu_ref_time = 0.75
 
     def fake_get_ecu_addrs(*_, timeout):

selfdrive/car/vin.py

@@ -22,6 +22,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
         (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+        (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
       ):
         if bus not in valid_buses:
           continue
@@ -40,8 +41,8 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
           for addr in vin_addrs:
             vin = results.get((addr, None))
             if vin is not None:
-              # Ford pads with null bytes
+              # Ford and Nissan pads with null bytes
-              if len(vin) == 24:
+              if len(vin) in (19, 24):
                 vin = re.sub(b'\x00*$', b'', vin)
 
               # Honda Bosch response starts with a length, trim to correct length