VW MQB: Auto network location detection (#21671)

* auto network location detection

* re-run CI after process_replay timeout fix

* different ext can bus ID handling

selfdrive/car/volkswagen/carcontroller.py

@@ -21,7 +21,7 @@ class CarController():
 
     self.steer_rate_limited = False
 
-  def update(self, enabled, CS, frame, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
+  def update(self, enabled, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
     """ Controls thread """
 
     can_sends = []
@@ -106,7 +106,7 @@ class CarController():
         if self.graMsgSentCount == 0:
           self.graMsgStartFramePrev = frame
         idx = (CS.graMsgBusCounter + 1) % 16
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, CANBUS.pt, self.graButtonStatesToSend, CS, idx))
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
         self.graMsgSentCount += 1
         if self.graMsgSentCount >= P.GRA_VBP_COUNT:
           self.graButtonStatesToSend = None

selfdrive/car/volkswagen/carstate.py

@@ -4,7 +4,7 @@ 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_FILES, CANBUS, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -17,7 +17,7 @@ class CarState(CarStateBase):
     self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
     self.buttonStates = BUTTON_STATES.copy()
 
-  def update(self, pt_cp, cam_cp, trans_type):
+  def update(self, pt_cp, cam_cp, ext_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
@@ -79,8 +79,8 @@ class CarState(CarStateBase):
     # Consume blind-spot monitoring info/warning LED states, if available.
     # Infostufe: BSM LED on, Warnung: BSM LED flashing
     if self.CP.enableBsm:
-      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"])
+      ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_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
@@ -95,8 +95,8 @@ class CarState(CarStateBase):
     # braking release bits are set.
     # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
     # Systems, chapter on Front Assist with Braking: Golf Family for all MQB
-    ret.stockFcw = bool(pt_cp.vl["ACC_10"]["AWV2_Freigabe"])
-    ret.stockAeb = bool(pt_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(pt_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
+    ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
+    ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
 
     # Update ACC radar status.
     accStatus = pt_cp.vl["TSK_06"]["TSK_Status"]
@@ -115,7 +115,7 @@ class CarState(CarStateBase):
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.
-    ret.cruiseState.speed = pt_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
     if ret.cruiseState.speed > 90:
       ret.cruiseState.speed = 0
 
@@ -222,10 +222,10 @@ class CarState(CarStateBase):
                   ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)]  # Reverse light from BCM
       checks += [("Motor_14", 10)]  # From J623 Engine control module
 
-    # TODO: Detect ACC radar bus location
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Radars are here on CANBUS.pt
       signals += MqbExtraSignals.fwd_radar_signals
       checks += MqbExtraSignals.fwd_radar_checks
-    # TODO: Detect BSM radar bus location
       if CP.enableBsm:
         signals += MqbExtraSignals.bsm_radar_signals
         checks += MqbExtraSignals.bsm_radar_checks
@@ -249,6 +249,14 @@ class CarState(CarStateBase):
       ("LDW_02", 10)        # From R242 Driver assistance camera
     ]
 
+    if CP.networkLocation == NetworkLocation.gateway:
+      # Radars are here on CANBUS.cam
+      signals += MqbExtraSignals.fwd_radar_signals
+      checks += MqbExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += MqbExtraSignals.bsm_radar_signals
+        checks += MqbExtraSignals.bsm_radar_checks
+
     return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
 
 class MqbExtraSignals:

selfdrive/car/volkswagen/interface.py

@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, TransmissionType, GearShifter
+from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -13,6 +13,13 @@ class CarInterface(CarInterfaceBase):
     self.displayMetricUnitsPrev = None
     self.buttonStatesPrev = BUTTON_STATES.copy()
 
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      self.ext_bus = CANBUS.pt
+      self.cp_ext = self.cp
+    else:
+      self.ext_bus = CANBUS.cam
+      self.cp_ext = self.cp_cam
+
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 4.0
@@ -36,6 +43,11 @@ class CarInterface(CarInterfaceBase):
       else:  # No trans message at all, must be a true stick-shift manual
         ret.transmissionType = TransmissionType.manual
 
+      if 0x86 in fingerprint[1]:  # LWI_01 seen on bus 1, we're wired to the CAN gateway
+        ret.networkLocation = NetworkLocation.gateway
+      else:  # We're wired to the LKAS camera
+        ret.networkLocation = NetworkLocation.fwdCamera
+
     # Global tuning defaults, can be overridden per-vehicle
 
     ret.steerActuatorDelay = 0.05
@@ -129,7 +141,7 @@ class CarInterface(CarInterfaceBase):
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
-    ret = self.CS.update(self.cp, self.cp_cam, self.CP.transmissionType)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, 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
 
@@ -165,7 +177,7 @@ class CarInterface(CarInterfaceBase):
     return self.CS.out
 
   def apply(self, c):
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators,
                    c.hudControl.visualAlert,
                    c.hudControl.leftLaneVisible,
                    c.hudControl.rightLaneVisible,

selfdrive/car/volkswagen/values.py

@@ -7,6 +7,7 @@ from cereal import car
 from selfdrive.car import dbc_dict
 
 Ecu = car.CarParams.Ecu
+NetworkLocation = car.CarParams.NetworkLocation
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter