Clean up CarControllers (#25008)

* do VW

* Do the rest

* unused

* ford cc formatting

* final clean ups

* also just return update output
old-commit-hash: d2c2154a32

selfdrive/car/body/carcontroller.py

@@ -1,8 +1,8 @@
 import numpy as np
 
 from common.realtime import DT_CTRL
-from selfdrive.car.body import bodycan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.body import bodycan
 from selfdrive.car.body.values import SPEED_FROM_RPM
 from selfdrive.controls.lib.pid import PIDController
 
@@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)

selfdrive/car/ford/carcontroller.py

@@ -1,8 +1,8 @@
 from cereal import car
 from common.numpy_fast import clip, interp
+from opendbc.can.packer import CANPacker
 from selfdrive.car.ford import fordcan
 from selfdrive.car.ford.values import CarControllerParams
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -17,11 +17,12 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo):
   return apply_steer
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.frame = 0
 
     self.apply_steer_last = 0
     self.steer_rate_limited = False
@@ -29,7 +30,7 @@ class CarController():
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     actuators = CC.actuators
@@ -48,7 +49,7 @@ class CarController():
     self.steer_rate_limited = new_steer != apply_steer
 
     # send steering commands at 20Hz
-    if (frame % CarControllerParams.LKAS_STEER_STEP) == 0:
+    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
       lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
@@ -69,15 +70,14 @@ class CarController():
       can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
                                                   path_offset, path_angle, curvature_rate, curvature))
 
-
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
-    if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
-    if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
@@ -87,4 +87,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_steer
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/ford/interface.py

@@ -78,6 +78,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
+    return self.CC.update(c, self.CS)
-    self.frame += 1
-    return ret

selfdrive/car/gm/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
-from common.realtime import DT_CTRL
 from common.numpy_fast import interp
+from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan

selfdrive/car/gm/interface.py

@@ -184,5 +184,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
+    return self.CC.update(c, self.CS)
-    return ret

selfdrive/car/hyundai/carcontroller.py

@@ -1,11 +1,11 @@
 from cereal import car
-from common.realtime import DT_CTRL
-from common.numpy_fast import clip, interp
 from common.conversions import Conversions as CV
+from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hda2can, hyundaican
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState

selfdrive/car/hyundai/interface.py

@@ -349,5 +349,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
+    return self.CC.update(c, self.CS)
-    return ret

selfdrive/car/mazda/carcontroller.py

@@ -1,46 +1,48 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
-from selfdrive.car import apply_std_steer_torque_limits
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
     self.brake_counter = 0
+    self.frame = 0
 
-  def update(self, c, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     apply_steer = 0
     self.steer_rate_limited = False
 
-    if c.latActive:
+    if CC.latActive:
       # calculate steer and also set limits due to driver torque
-      new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
+      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-    if c.enabled:
+    if CC.enabled:
-      if CS.out.standstill and frame % 5 == 0:
+      if CS.out.standstill and self.frame % 5 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
         # TODO: improve the resume trigger logic by looking at actual radar data
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
-    if c.cruiseControl.cancel:
+    if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
       # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
       # read 3 messages and most likely sync state before we attempt cancel.
       self.brake_counter = self.brake_counter + 1
-      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
@@ -50,18 +52,19 @@ class CarController():
     self.apply_steer_last = apply_steer
 
     # send HUD alerts
-    if frame % 50 == 0:
+    if self.frame % 50 == 0:
-      ldw = c.hudControl.visualAlert == VisualAlert.ldw
+      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
       # TODO: find a way to silence audible warnings so we can add more hud alerts
       steer_required = steer_required and CS.lkas_allowed_speed
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
-                                                      frame, apply_steer, CS.cam_lkas))
+                                                      self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = c.actuators.copy()
+    new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/mazda/interface.py

@@ -90,6 +90,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
+    return self.CC.update(c, self.CS)
-    self.frame += 1
-    return ret

selfdrive/car/nissan/carcontroller.py

@@ -1,25 +1,27 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car.nissan import nissancan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.nissan import nissancan
 from selfdrive.car.nissan.values import CAR, CarControllerParams
 
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
 
     self.lkas_max_torque = 0
     self.last_angle = 0
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert,
+  def update(self, CC, CS):
-             left_line, right_line, left_lane_depart, right_lane_depart):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
@@ -28,9 +30,9 @@ class CarController():
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
-    if c.latActive:
+    if CC.latActive:
       # # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
@@ -57,25 +59,25 @@ class CarController():
 
     self.last_angle = apply_angle
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
-      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque))
+      self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
 
     if lkas_hud_msg and lkas_hud_info_msg:
-      if frame % 2 == 0:
+      if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
-      if frame % 50 == 0:
+      if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
           self.packer, lkas_hud_info_msg, steer_hud_alert
         ))
@@ -83,4 +85,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_angle
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/nissan/interface.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.nissan.values import CAR
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -67,10 +68,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
+    return self.CC.update(c, self.CS)
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret

selfdrive/car/subaru/carcontroller.py

@@ -1,10 +1,10 @@
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
-from opendbc.can.packer import CANPacker
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
@@ -12,16 +12,20 @@ class CarController():
     self.es_lkas_cnt = -1
     self.cruise_button_prev = 0
     self.steer_rate_limited = False
+    self.frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
     # *** steering ***
-    if (frame % self.p.STEER_STEP) == 0:
+    if (self.frame % self.p.STEER_STEP) == 0:
 
       apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
 
@@ -31,13 +35,13 @@ class CarController():
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if not c.latActive:
+      if not CC.latActive:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
 
       self.apply_steer_last = apply_steer
 
@@ -70,10 +74,11 @@ class CarController():
         self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
         self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/subaru/interface.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -117,9 +118,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
+    return self.CC.update(c, self.CS)
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret

selfdrive/car/tesla/interface.py

@@ -64,5 +64,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
+    return self.CC.update(c, self.CS)
-    return ret

selfdrive/car/toyota/interface.py

@@ -274,5 +274,4 @@ class CarInterface(CarInterfaceBase):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
+    return self.CC.update(c, self.CS)
-    return ret

selfdrive/car/volkswagen/carcontroller.py

@@ -1,15 +1,17 @@
 from cereal import car
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
 from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
-    self.apply_steer_last = 0
     self.CP = CP
+    self.apply_steer_last = 0
+    self.frame = 0
 
     self.packer_pt = CANPacker(DBC_FILES.mqb)
 
@@ -22,14 +24,15 @@ class CarController():
 
     self.steer_rate_limited = False
 
-  def update(self, c, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS, ext_bus):
-    """ Controls thread """
+    actuators = CC.actuators
+    hud_control = CC.hudControl
 
     can_sends = []
 
     # **** Steering Controls ************************************************ #
 
-    if frame % P.HCA_STEP == 0:
+    if self.frame % P.HCA_STEP == 0:
       # Logic to avoid HCA state 4 "refused":
       #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
       #   * Don't steer at standstill
@@ -40,7 +43,7 @@ class CarController():
       # torque value. Do that anytime we happen to have 0 torque, or failing that,
       # when exceeding ~1/3 the 360 second timer.
 
-      if c.latActive:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer
@@ -66,34 +69,34 @@ class CarController():
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (frame / P.HCA_STEP) % 16
+      idx = (self.frame / P.HCA_STEP) % 16
       can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
                                                                  idx, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
-    if frame % P.LDW_STEP == 0:
+    if self.frame % P.LDW_STEP == 0:
-      if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
+      if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
+      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
-                                                            CS.out.steeringPressed, hud_alert, left_lane_visible,
+                                                            CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
-                                                            right_lane_visible, CS.ldw_stock_values,
+                                                            hud_control.rightLaneVisible, CS.ldw_stock_values,
-                                                            left_lane_depart, right_lane_depart))
+                                                            hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
     # **** ACC Button Controls ********************************************** #
 
     # FIXME: this entire section is in desperate need of refactoring
 
     if self.CP.pcmCruise:
-      if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
+      if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-        if c.cruiseControl.cancel:
+        if CC.cruiseControl.cancel:
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif c.enabled and CS.out.cruiseState.standstill:
+        elif CC.enabled and CS.out.cruiseState.standstill:
           # Blip the Resume button if we're engaged at standstill.
           # FIXME: This is a naive implementation, improve with visiond or radar input.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
@@ -103,7 +106,7 @@ class CarController():
         self.graMsgBusCounterPrev = CS.graMsgBusCounter
         if self.graButtonStatesToSend is not None:
           if self.graMsgSentCount == 0:
-            self.graMsgStartFramePrev = frame
+            self.graMsgStartFramePrev = self.frame
           idx = (CS.graMsgBusCounter + 1) % 16
           can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
           self.graMsgSentCount += 1
@@ -114,4 +117,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / P.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/volkswagen/interface.py

@@ -193,12 +193,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
+    return self.CC.update(c, self.CS, self.ext_bus)
-    ret = self.CC.update(c, self.CS, self.frame, self.ext_bus, c.actuators,
-                         hud_control.visualAlert,
-                         hud_control.leftLaneVisible,
-                         hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart,
-                         hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret