VW MQB: Cleanup stock LKAS signal forwarding (#22180)

* VW MQB: Cleanup stock LKAS signal forwarding

* apply review suggestion

selfdrive/car/volkswagen/carcontroller.py

@@ -79,9 +79,7 @@ class CarController():
 
       can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, enabled,
                                                             CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                            right_lane_visible, CS.ldw_lane_warning_left,
+                                                            right_lane_visible, CS.ldw_stock_values,
-                                                            CS.ldw_lane_warning_right, CS.ldw_side_dlc_tlc,
-                                                            CS.ldw_dlc, CS.ldw_tlc, CS.out.standstill,
                                                             left_lane_depart, right_lane_depart))
 
     # **** ACC Button Controls ********************************************** #

selfdrive/car/volkswagen/carstate.py

@@ -83,11 +83,7 @@ class CarState(CarStateBase):
 
     # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
     # and capture it for forwarding to the blind spot radar controller
-    self.ldw_lane_warning_left = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_links"])
+    self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
-    self.ldw_lane_warning_right = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_rechts"])
-    self.ldw_side_dlc_tlc = bool(cam_cp.vl["LDW_02"]["LDW_Seite_DLCTLC"])
-    self.ldw_dlc = cam_cp.vl["LDW_02"]["LDW_DLC"]
-    self.ldw_tlc = cam_cp.vl["LDW_02"]["LDW_TLC"]
 
     # Stock FCW is considered active if the release bit for brake-jerk warning
     # is set. Stock AEB considered active if the partial braking or target
@@ -235,21 +231,23 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
 
-    signals = [
+    signals = []
-      # sig_name, sig_address, default
+    checks = []
-      ("LDW_SW_Warnung_links", "LDW_02", 0),          # Blind spot in warning mode on left side due to lane departure
-      ("LDW_SW_Warnung_rechts", "LDW_02", 0),         # Blind spot in warning mode on right side due to lane departure
-      ("LDW_Seite_DLCTLC", "LDW_02", 0),              # Direction of most likely lane departure (left or right)
-      ("LDW_DLC", "LDW_02", 0),                       # Lane departure, distance to line crossing
-      ("LDW_TLC", "LDW_02", 0),                       # Lane departure, time to line crossing
-    ]
 
-    checks = [
+    if CP.networkLocation == NetworkLocation.fwdCamera:
-      # sig_address, frequency
+      signals += [
-      ("LDW_02", 10)        # From R242 Driver assistance camera
+        # sig_name, sig_address, default
-    ]
+        ("LDW_SW_Warnung_links", "LDW_02", 0),      # Blind spot in warning mode on left side due to lane departure
-
+        ("LDW_SW_Warnung_rechts", "LDW_02", 0),     # Blind spot in warning mode on right side due to lane departure
-    if CP.networkLocation == NetworkLocation.gateway:
+        ("LDW_Seite_DLCTLC", "LDW_02", 0),          # Direction of most likely lane departure (left or right)
+        ("LDW_DLC", "LDW_02", 0),                   # Lane departure, distance to line crossing
+        ("LDW_TLC", "LDW_02", 0),                   # Lane departure, time to line crossing
+      ]
+      checks += [
+        # sig_address, frequency
+        ("LDW_02", 10)      # From R242 Driver assistance camera
+      ]
+    else:
       # Radars are here on CANBUS.cam
       signals += MqbExtraSignals.fwd_radar_signals
       checks += MqbExtraSignals.fwd_radar_checks

selfdrive/car/volkswagen/volkswagencan.py

@@ -16,26 +16,20 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
   return packer.make_can_msg("HCA_01", bus, values, idx)
 
 def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
-                           ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc,
+                           ldw_stock_values, left_lane_depart, right_lane_depart):
-                           standstill, left_lane_depart, right_lane_depart):
   # Lane color reference:
   # 0 (LKAS disabled) - off
   # 1 (LKAS enabled, no lane detected) - dark gray
   # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit.  On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
   # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
-
+  values = ldw_stock_values.copy()
-  values = {
+  values.update({
     "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
     "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
     "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
     "LDW_Texte": hud_alert,
-    "LDW_SW_Warnung_links": ldw_lane_warning_left,
+  })
-    "LDW_SW_Warnung_rechts": ldw_lane_warning_right,
-    "LDW_Seite_DLCTLC": ldw_side_dlc_tlc,
-    "LDW_DLC": ldw_dlc,
-    "LDW_TLC": ldw_tlc
-  }
   return packer.make_can_msg("LDW_02", bus, values)
 
 def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):