VW: simplify cruiseState (#32003)

* simplify

* simplify

* jyoung suggestion

* acc ready
old-commit-hash: b88be79814

selfdrive/car/volkswagen/carstate.py

@@ -114,21 +114,15 @@ class CarState(CarStateBase):
 
     # Update ACC radar status.
     self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
-    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
-      # ACC okay and enabled, but not currently engaged
-      ret.cruiseState.available = True
-      ret.cruiseState.enabled = False
-    elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
-      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
-      ret.cruiseState.available = True
-      ret.cruiseState.enabled = True
-    else:
-      # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
-      ret.cruiseState.available = False
-      ret.cruiseState.enabled = False
+
+    # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
+    # currently regulating speed (3), driver accel override (4), brake only (5)
+    ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
+    ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
+    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
+
     self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
     ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
-    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # 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.