VW: use flags for PQ (#31659)

pq use flags

selfdrive/car/volkswagen/carcontroller.py

@@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
-from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -16,7 +16,7 @@ class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.CCP = CarControllerParams(CP)
-    self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
+    self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
 
     self.apply_steer_last = 0

selfdrive/car/volkswagen/carstate.py

@@ -3,7 +3,7 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
+from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
                                             CarControllerParams, VolkswagenFlags
 
 
@@ -31,7 +31,7 @@ class CarState(CarStateBase):
     return button_events
 
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
-    if self.CP.carFingerprint in PQ_CARS:
+    if self.CP.flags & VolkswagenFlags.PQ:
       return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
 
     ret = car.CarState.new_message()
@@ -257,7 +257,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    if CP.carFingerprint in PQ_CARS:
+    if CP.flags & VolkswagenFlags.PQ:
       return CarState.get_can_parser_pq(CP)
 
     messages = [
@@ -294,7 +294,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in PQ_CARS:
+    if CP.flags & VolkswagenFlags.PQ:
       return CarState.get_cam_can_parser_pq(CP)
 
     messages = []

selfdrive/car/volkswagen/interface.py

@@ -2,7 +2,7 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
+from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -22,11 +22,11 @@ class CarInterface(CarInterfaceBase):
     self.eps_timer_soft_disable_alert = False
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
-    if candidate in PQ_CARS:
+    if ret.flags & VolkswagenFlags.PQ:
       # Set global PQ35/PQ46/NMS parameters
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
@@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase):
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerLimitTimer = 0.4
-    if candidate in PQ_CARS:
+    if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else:

selfdrive/car/volkswagen/values.py

@@ -40,7 +40,7 @@ class CarControllerParams:
   def __init__(self, CP):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
-    if CP.carFingerprint in PQ_CARS:
+    if CP.flags & VolkswagenFlags.PQ:
       self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
       self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
@@ -113,6 +113,9 @@ class VolkswagenFlags(IntFlag):
   # Detected flags
   STOCK_HCA_PRESENT = 1
 
+  # Static Flags
+  PQ = 2
+
 
 @dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):
@@ -123,6 +126,9 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
 class VolkswagenPQPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
 
+  def init(self):
+    self.flags |= VolkswagenFlags.PQ
+
 
 @dataclass(frozen=True, kw_only=True)
 class VolkswagenCarSpecs(CarSpecs):
@@ -360,8 +366,6 @@ class CAR(Platforms):
   )
 
 
-PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2}
-
 # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
 # with a manual trans won't return transmission firmware, but all other cars will.
 #