VW: put back DBC dict (#21369)

old-commit-hash: 95e2bcb909

selfdrive/car/volkswagen/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
+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
@@ -10,7 +10,7 @@ class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
 
-    self.packer_pt = CANPacker(DBC.mqb)
+    self.packer_pt = CANPacker(DBC_FILES.mqb)
 
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0

selfdrive/car/volkswagen/carstate.py

@@ -4,12 +4,12 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC, CANBUS, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    can_define = CANDefine(DBC.mqb)
+    can_define = CANDefine(DBC_FILES.mqb)
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
     elif CP.transmissionType == TransmissionType.direct:
@@ -239,7 +239,7 @@ class CarState(CarStateBase):
       signals += MqbExtraSignals.bsm_radar_signals
       checks += MqbExtraSignals.bsm_radar_checks
 
-    return CANParser(DBC.mqb, signals, checks, CANBUS.pt)
+    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -258,7 +258,7 @@ class CarState(CarStateBase):
       ("LDW_02", 10)        # From R242 Driver assistance camera
     ]
 
-    return CANParser(DBC.mqb, signals, checks, CANBUS.cam)
+    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
 
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers

selfdrive/car/volkswagen/values.py

@@ -1,6 +1,10 @@
 # flake8: noqa
 
+from collections import defaultdict
+from typing import Dict
+
 from cereal import car
+from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
@@ -25,9 +29,11 @@ class CANBUS:
   pt = 0
   cam = 2
 
-class DBC:
+class DBC_FILES:
   mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
 
+DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))  # type: Dict[str, Dict[str, str]]
+
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter