Car cleanup (#1924)

* cleanup car code

* more pruning

* little more

* less pylint disables

* radar stuff

* fix

* udpate refs

* fix honda bosch

* fix test

selfdrive/car/chrysler/carcontroller.py

@@ -11,7 +11,6 @@ class CarController():
     self.prev_frame = -1
     self.hud_count = 0
     self.car_fingerprint = CP.carFingerprint
-    self.alert_active = False
     self.gone_fast_yet = False
     self.steer_rate_limited = False
 

selfdrive/car/chrysler/interface.py

@@ -70,8 +70,6 @@ class CarInterface(CarInterfaceBase):
     # speeds
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    ret.buttonEvents = []
-
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
                                        gas_resume_speed=2.)

selfdrive/car/chrysler/radar_interface.py

@@ -1,16 +1,15 @@
 #!/usr/bin/env python3
-import os
 from opendbc.can.parser import CANParser
 from cereal import car
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.chrysler.values import DBC
 
 RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
 LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
-def _create_radar_can_parser():
+def _create_radar_can_parser(car_fingerprint):
-  dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
   msg_n = len(RADAR_MSGS_C)
   # list of [(signal name, message name or number, initial values), (...)]
   # [('RADAR_STATE', 1024, 0),
@@ -37,7 +36,7 @@ def _create_radar_can_parser():
                [20]*msg_n +  # 20Hz (0.05s)
                [20]*msg_n))  # 20Hz (0.05s)
 
-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
@@ -49,7 +48,7 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.rcp = _create_radar_can_parser()
+    self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG
 

selfdrive/car/chrysler/test_chryslercan.py

@@ -1,56 +0,0 @@
-import unittest
-
-from cereal import car
-from opendbc.can.packer import CANPacker
-from selfdrive.car.chrysler import chryslercan
-
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-GearShifter = car.CarState.GearShifter
-
-
-class TestChryslerCan(unittest.TestCase):
-
-  def test_hud(self):
-    packer = CANPacker('chrysler_pacifica_2017_hybrid')
-    self.assertEqual(
-        [0x2a6, 0, b'\x01\x00\x01\x01\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.park, False, False, 1, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.park, False, False, 5*4, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.park, False, False, 99999, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x02\x00\x06\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.drive, True, False, 99999, 0))
-    self.assertEqual(
-        [0x2a6, 0, b'\x02\x64\x06\x00\x00\x00\x00\x00', 0],
-        chryslercan.create_lkas_hud(
-            packer,
-            GearShifter.drive, True, False, 99999, 0x64))
-
-  def test_command(self):
-    packer = CANPacker('chrysler_pacifica_2017_hybrid')
-    self.assertEqual(
-        [0x292, 0, b'\x14\x00\x00\x00\x10\x86', 0],
-        chryslercan.create_lkas_command(
-            packer,
-            0, True, 1))
-    self.assertEqual(
-        [0x292, 0, b'\x04\x00\x00\x00\x80\x83', 0],
-        chryslercan.create_lkas_command(
-            packer,
-            0, False, 8))
-
-
-if __name__ == '__main__':
-  unittest.main()

selfdrive/car/chrysler/values.py

@@ -4,7 +4,6 @@ from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu
 
-
 class SteerLimitParams:
   STEER_MAX = 261         # 262 faults
   STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
@@ -82,32 +81,18 @@ FINGERPRINTS = {
 
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict(
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict(  # Same DBC file works.
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict(  # Same DBC file works.
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2018_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.PACIFICA_2019_HYBRID: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.JEEP_CHEROKEE: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
-  CAR.JEEP_CHEROKEE_2019: dbc_dict(  # Same DBC file works.
-    'chrysler_pacifica_2017_hybrid',  # 'pt'
-    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
 }
 
 STEER_THRESHOLD = 120
 
 
 ECU_FINGERPRINT = {
-  Ecu.fwdCamera: [0x292],   # lkas cmd
+  Ecu.fwdCamera: [0x292],  # lkas cmd
 }

selfdrive/car/ford/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "ford"
     ret.safetyModel = car.CarParams.SafetyModel.ford

selfdrive/car/ford/radar_interface.py

@@ -8,14 +8,13 @@ from selfdrive.car.interfaces import RadarInterfaceBase
 RADAR_MSGS = list(range(0x500, 0x540))
 
 def _create_radar_can_parser(car_fingerprint):
-  dbc_f = DBC[car_fingerprint]['radar']
   msg_n = len(RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                      RADAR_MSGS * 3,
                      [0] * msg_n + [0] * msg_n + [0] * msg_n))
   checks = list(zip(RADAR_MSGS, [20]*msg_n))
 
-  return CANParser(dbc_f, signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):

selfdrive/car/gm/interface.py

@@ -16,13 +16,13 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "gm"
-    ret.safetyModel = car.CarParams.SafetyModel.gm  # default to gm
+    ret.safetyModel = car.CarParams.SafetyModel.gm
     ret.enableCruise = False  # stock cruise control is kept off
 
-    # GM port is considered a community feature, since it disables AEB;
+    # GM port is a community feature
     # TODO: make a port that uses a car harness and it only intercepts the camera
     ret.communityFeature = True
 

selfdrive/car/gm/radar_interface.py

@@ -16,30 +16,28 @@ NUM_SLOTS = 20
 LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 
 def create_radar_can_parser(car_fingerprint):
-
+  if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-  dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-    # C1A-ARS3-A by Continental
-    radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
-    signals = list(zip(['FLRRNumValidTargets',
-                   'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
-                   'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
-                   'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
-                  ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
-                  ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
-                  ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                  [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
-                  [0] * 7 +
-                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
-
-    checks = []
-
-    return CANParser(dbc_f, signals, checks, CanBus.OBSTACLE)
-  else:
     return None
 
+  # C1A-ARS3-A by Continental
+  radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
+  signals = list(zip(['FLRRNumValidTargets',
+                 'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                 'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                 'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
+                ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
+                ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
+                ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
+                [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
+                [0] * 7 +
+                [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
+
+  checks = []
+
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)

selfdrive/car/honda/radar_interface.py

@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
-import os
 from cereal import car
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import RadarInterfaceBase
+from selfdrive.car.honda.values import DBC
 
-def _create_nidec_can_parser():
+def _create_nidec_can_parser(car_fingerprint):
-  dbc_f = 'acura_ilx_2016_nidec.dbc'
   radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
   signals = list(zip(['RADAR_STATE'] +
                 ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
@@ -13,8 +12,7 @@ def _create_nidec_can_parser():
                 [0x400] + radar_messages[1:] * 4,
                 [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
   checks = list(zip([0x445], [20]))
-  fn = os.path.splitext(dbc_f)[0].encode('utf8')
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
-  return CANParser(fn, signals, checks, 1)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -29,7 +27,10 @@ class RadarInterface(RadarInterfaceBase):
     self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
 
     # Nidec
-    self.rcp = _create_nidec_can_parser()
+    if self.radar_off_can:
+      self.rcp = None
+    else:
+      self.rcp = _create_nidec_can_parser(CP.carFingerprint)
     self.trigger_msg = 0x445
     self.updated_messages = set()
 

selfdrive/car/honda/values.py

@@ -987,4 +987,4 @@ ECU_FINGERPRINT = {
   Ecu.fwdCamera: [0xE4, 0x194],   # steer torque cmd
 }
 
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT]
+HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT])

selfdrive/car/hyundai/carstate.py

@@ -41,8 +41,7 @@ class CarState(CarStateBase):
     ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
 
     if ret.cruiseState.enabled:
-      is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
+      speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
       ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
     else:
       ret.cruiseState.speed = 0

selfdrive/car/hyundai/interface.py

@@ -170,9 +170,6 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
-    # TODO: button presses
-    ret.buttonEvents = []
-
     events = self.create_common_events(ret)
     #TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event
 

selfdrive/car/hyundai/values.py

@@ -210,17 +210,17 @@ CHECKSUM = {
 
 FEATURES = {
   # which message has the gear
-  "use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],
+  "use_cluster_gears": set([CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30]),
-  "use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],
+  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019]),
-  "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ],
+  "use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": [CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE],
+  "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE]),
 
-  "use_bsm": [CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80, CAR.GENESIS_G90],
+  "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80, CAR.GENESIS_G90]),
 }
 
-EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]
+EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV])
 
 DBC = {
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),

selfdrive/car/interfaces.py

@@ -42,7 +42,7 @@ class CarInterfaceBase():
     raise NotImplementedError
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     raise NotImplementedError
 
   # returns a set of default params to avoid repetition in car specific params

selfdrive/car/mazda/carstate.py

@@ -162,8 +162,8 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [ ]
+    signals = []
-    checks = [ ]
+    checks = []
 
     if CP.carFingerprint == CAR.CX5:
       signals += [

selfdrive/car/mazda/interface.py

@@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "mazda"
@@ -70,9 +70,6 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
-    # TODO: button presses
-    ret.buttonEvents = []
-
     # events
     events = self.create_common_events(ret)
 

selfdrive/car/mock/interface.py

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
     return accel
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "mock"
     ret.safetyModel = car.CarParams.SafetyModel.noOutput

selfdrive/car/nissan/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
 
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "nissan"

selfdrive/car/subaru/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "subaru"

selfdrive/car/tests/test_car_interfaces.py

@@ -63,7 +63,7 @@ class TestCarInterfaces(unittest.TestCase):
 
       # Run radar interface once
       radar_interface.update([])
-      if hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
+      if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
         radar_interface._update([radar_interface.trigger_msg])
 
 if __name__ == "__main__":

selfdrive/car/toyota/carstate.py

@@ -182,9 +182,14 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
 
-    signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
+    signals = [
+      ("FORCE", "PRE_COLLISION", 0),
+      ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)
+    ]
 
     # use steering message to check if panda is connected to frc
-    checks = [("STEERING_LKA", 42)]
+    checks = [
+      ("STEERING_LKA", 42)
+    ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

selfdrive/car/toyota/interface.py

@@ -313,7 +313,6 @@ class CarInterface(CarInterfaceBase):
 
     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
-    ret.buttonEvents = []
 
     # events
     events = self.create_common_events(ret)

selfdrive/car/toyota/radar_interface.py

@@ -1,13 +1,10 @@
 #!/usr/bin/env python3
-import os
 from opendbc.can.parser import CANParser
 from cereal import car
 from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 def _create_radar_can_parser(car_fingerprint):
-  dbc_f = DBC[car_fingerprint]['radar']
-
   if car_fingerprint in TSS2_CAR:
     RADAR_A_MSGS = list(range(0x180, 0x190))
     RADAR_B_MSGS = list(range(0x190, 0x1a0))
@@ -25,7 +22,7 @@ def _create_radar_can_parser(car_fingerprint):
 
   checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
 
-  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):

selfdrive/car/toyota/values.py

@@ -1202,6 +1202,6 @@ DBC = {
   CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
 }
 
-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
+NO_DSU_CAR = set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
-TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
+TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]  # no resume button press required
+NO_STOP_TIMER_CAR = set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])  # no resume button press required

selfdrive/car/volkswagen/carcontroller.py

@@ -4,8 +4,6 @@ from selfdrive.car.volkswagen import volkswagencan
 from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
 from opendbc.can.packer import CANPacker
 
-VisualAlert = car.CarControl.HUDControl.VisualAlert
-
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
@@ -114,7 +112,7 @@ class CarController():
     if frame % P.LDW_STEP == 0:
       hcaEnabled = True if enabled and not CS.out.standstill else False
 
-      if visual_alert == VisualAlert.steerRequired:
+      if visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired:
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]

selfdrive/car/volkswagen/carstate.py

@@ -53,7 +53,7 @@ class CarState(CarStateBase):
                         pt_cp.vl["Gateway_72"]['ZV_HD_offen']])
 
     # Update seatbelt fastened status.
-    ret.seatbeltUnlatched = False if pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] == 3 else True
+    ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
 
     # Update driver preference for metric. VW stores many different unit
     # preferences, including separate units for for distance vs. speed.

selfdrive/car/volkswagen/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     # VW port is a community feature, since we don't own one to test
@@ -64,7 +64,6 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
-    canMonoTimes = []
     buttonEvents = []
 
     # Process the most recent CAN message traffic, and check for validity
@@ -77,7 +76,7 @@ class CarInterface(CarInterfaceBase):
     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
 
-    # Update the EON metric configuration to match the car at first startup,
+    # Update the device metric configuration to match the car at first startup,
     # or if there's been a change.
     if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
       put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
@@ -101,7 +100,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
     ret.buttonEvents = buttonEvents
-    ret.canMonoTimes = canMonoTimes
 
     # update previous car states
     self.displayMetricUnitsPrev = self.CS.displayMetricUnits

selfdrive/car/volkswagen/values.py

@@ -46,7 +46,7 @@ MQB_LDW_MESSAGES = {
 }
 
 class CAR:
-  GOLF = "Volkswagen Golf"
+  GOLF = "VOLKSWAGEN GOLF"
 
 FINGERPRINTS = {
   CAR.GOLF: [

selfdrive/car/volkswagen/volkswagencan.py

@@ -48,5 +48,4 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
     "GRA_Tip_Stufe_2": CS.graTipStufe2,
     "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
   }
-
   return packer.make_can_msg("GRA_ACC_01", bus, values, idx)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-3a1b08eb9d0f82f4b15862431fe5164e752c1509
+b4cf3ec3c29ef22741d5a85d50abc0937b5d40bd