VW MQB: Cleanup and prep for gateway integration (#21667)

* cleanup and scoping fixes

* static analysis feels sad without this

* remove extra read of clutch switch signal

* don't check Motor_14 unless it's needed

* collect short CP/CS aliases together
old-commit-hash: df0b92bbcd

selfdrive/car/volkswagen/carstate.py

@@ -76,15 +76,8 @@ class CarState(CarStateBase):
     # We use the speed preference for OP.
     self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
 
-    # Consume blind-spot monitoring info/warning LED states, if available. The
+    # Consume blind-spot monitoring info/warning LED states, if available.
-    # info signal (LED on) is enabled whenever a vehicle is detected in the
+    # Infostufe: BSM LED on, Warnung: BSM LED flashing
-    # driver's blind spot. The warning signal (LED flashing) is enabled if the
-    # driver shows possibly hazardous intent toward a BSM detected vehicle, by
-    # setting the turn signal in that direction, or (for cars with factory Lane
-    # Assist) approaches the lane boundary in that direction. Size of the BSM
-    # detection box is dynamic based on speed and road curvature.
-    # Refer to VW Self Study Program 890253: Volkswagen Driver Assist Systems,
-    # pages 32-35.
     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"])
@@ -180,7 +173,6 @@ class CarState(CarStateBase):
       ("ESP_Fahrer_bremst", "ESP_05", 0),           # Brake pedal pressed
       ("ESP_Bremsdruck", "ESP_05", 0),              # Brake pressure applied
       ("MO_Fahrpedalrohwert_01", "Motor_20", 0),    # Accelerator pedal value
-      ("MO_Kuppl_schalter", "Motor_14", 0),         # Clutch switch
       ("EPS_Lenkmoment", "LH_EPS_03", 0),           # Absolute driver torque input
       ("EPS_VZ_Lenkmoment", "LH_EPS_03", 0),        # Driver torque input sign
       ("EPS_HCA_Status", "LH_EPS_03", 3),           # EPS HCA control status
@@ -213,7 +205,6 @@ class CarState(CarStateBase):
       ("ESP_02", 50),       # From J104 ABS/ESP controller
       ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
       ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
-      ("Motor_14", 10),     # From J623 Engine control module
       ("Airbag_02", 5),     # From J234 Airbag control module
       ("Kombi_01", 2),      # From J285 Instrument cluster
       ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)

selfdrive/car/volkswagen/interface.py

@@ -20,29 +20,25 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+    ret.carName = "volkswagen"
-    # VW port is a community feature, since we don't own one to test
     ret.communityFeature = True
+    ret.radarOffCan = True
 
     if True:  # pylint: disable=using-constant-test
-      # Set common MQB parameters that will apply globally
+      # Set global MQB parameters
-      ret.carName = "volkswagen"
-      ret.radarOffCan = True
       ret.safetyModel = car.CarParams.SafetyModel.volkswagen
-      ret.steerActuatorDelay = 0.05
+      ret.enableBsm = 0x30F in fingerprint[0]
 
-      if 0xAD in fingerprint[0]:
+      if 0xAD in fingerprint[0]:  # Getriebe_11
-        # Getriebe_11 detected: traditional automatic or DSG gearbox
         ret.transmissionType = TransmissionType.automatic
-      elif 0x187 in fingerprint[0]:
+      elif 0x187 in fingerprint[0]:  # EV_Gearshift
-        # EV_Gearshift detected: e-Golf or similar direct-drive electric
         ret.transmissionType = TransmissionType.direct
-      else:
+      else:  # No trans message at all, must be a true stick-shift manual
-        # No trans message at all, must be a true stick-shift manual
         ret.transmissionType = TransmissionType.manual
 
     # Global tuning defaults, can be overridden per-vehicle
 
+    ret.steerActuatorDelay = 0.05
     ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.4
     ret.steerRatio = 15.6  # Let the params learner figure this out
@@ -56,85 +52,68 @@ class CarInterface(CarInterfaceBase):
     # Per-chassis tuning values, override tuning defaults here if desired
 
     if candidate == CAR.ATLAS_MK1:
-      # Averages of all CA Atlas variants
       ret.mass = 2011 + STD_CARGO_KG
       ret.wheelbase = 2.98
 
     elif candidate == CAR.GOLF_MK7:
-      # Averages of all AU Golf variants
       ret.mass = 1397 + STD_CARGO_KG
       ret.wheelbase = 2.62
 
     elif candidate == CAR.JETTA_MK7:
-      # Averages of all BU Jetta variants
       ret.mass = 1328 + STD_CARGO_KG
       ret.wheelbase = 2.71
 
     elif candidate == CAR.PASSAT_MK8:
-      # Averages of all 3C Passat variants
       ret.mass = 1551 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
     elif candidate == CAR.TIGUAN_MK2:
-      # Average of SWB and LWB variants
       ret.mass = 1715 + STD_CARGO_KG
       ret.wheelbase = 2.74
 
     elif candidate == CAR.TOURAN_MK2:
-      # Average of SWB and LWB variants
       ret.mass = 1516 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
     elif candidate == CAR.AUDI_A3_MK3:
-      # Averages of all 8V A3 variants
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61
 
     elif candidate == CAR.AUDI_Q2_MK1:
-      # Averages of all GA Q2 variants
       ret.mass = 1205 + STD_CARGO_KG
       ret.wheelbase = 2.61
 
     elif candidate == CAR.SEAT_ATECA_MK1:
-      # Averages of all 5F Ateca variants
       ret.mass = 1900 + STD_CARGO_KG
       ret.wheelbase = 2.64
 
     elif candidate == CAR.SEAT_LEON_MK3:
-      # Averages of all 5F Leon variants
       ret.mass = 1227 + STD_CARGO_KG
       ret.wheelbase = 2.64
 
     elif candidate == CAR.SKODA_KODIAQ_MK1:
-      # Averages of all 5N Kodiaq variants
       ret.mass = 1569 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
     elif candidate == CAR.SKODA_OCTAVIA_MK3:
-      # Averages of all 5E/NE Octavia variants
       ret.mass = 1388 + STD_CARGO_KG
       ret.wheelbase = 2.68
 
     elif candidate == CAR.SKODA_SCALA_MK1:
-      # Averages of all NW Scala variants
       ret.mass = 1192 + STD_CARGO_KG
       ret.wheelbase = 2.65
 
     elif candidate == CAR.SKODA_SUPERB_MK3:
-      # Averages of all 3V/NP Scala variants
       ret.mass = 1505 + STD_CARGO_KG
       ret.wheelbase = 2.84
 
-    ret.centerToFront = ret.wheelbase * 0.45
-
-    ret.enableBsm = 0x30F in fingerprint[0]
-
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
+    ret.centerToFront = ret.wheelbase * 0.45
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 

selfdrive/car/volkswagen/values.py

@@ -5,7 +5,10 @@ from typing import Dict
 
 from cereal import car
 from selfdrive.car import dbc_dict
+
 Ecu = car.CarParams.Ecu
+TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
 
 class CarControllerParams:
   HCA_STEP = 2                   # HCA_01 message frequency 50Hz
@@ -34,9 +37,6 @@ class DBC_FILES:
 
 DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))  # type: Dict[str, Dict[str, str]]
 
-TransmissionType = car.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
-
 BUTTON_STATES = {
   "accelCruise": False,
   "decelCruise": False,