From 30e031335787c58a29546069ebb9a0be30d2c856 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Thu, 26 Aug 2021 08:30:15 +0800 Subject: [PATCH] vw quick fix --- selfdrive/car/volkswagen/carstate.py | 4 ++-- selfdrive/car/volkswagen/interface.py | 10 ---------- 2 files changed, 2 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 0d31f6ebd..2d8e77261 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -49,7 +49,7 @@ class CarState(CarStateBase): ret.gasPressed = ret.gas > 0 ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) - ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck']) + ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck']) or ret.brakePressed # Update gear and/or clutch position data. if trans_type == TransmissionType.automatic: @@ -261,7 +261,7 @@ class CarState(CarStateBase): signals += MqbExtraSignals.bsm_radar_signals checks += MqbExtraSignals.bsm_radar_checks - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam, enforce_checks=False) + return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam) class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 2081fd12f..d08dd876e 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -27,9 +27,6 @@ class CarInterface(CarInterfaceBase): self.wheel_grabbed = False self.timebomb_bypass_counter = 0 - # dp addition - Alias Extended CAN parser to PT/CAM parser, based on detected network location - self.cp_ext = self.cp if CP.networkLocation == NetworkLocation.fwdCamera else self.cp_cam - @staticmethod def compute_gb(accel, speed): return float(accel) / 4.0 @@ -58,13 +55,6 @@ class CarInterface(CarInterfaceBase): else: # We're wired to the LKAS camera ret.networkLocation = NetworkLocation.fwdCamera - # dp addition - if 0xfd in fingerprint[1]: # ESP_21 present on bus 1, we're hooked up at the CAN gateway - ret.networkLocation = NetworkLocation.gateway - else: # We're hooked up at the LKAS camera - ret.networkLocation = NetworkLocation.fwdCamera - cloudlog.info("Detected network location: %s", ret.networkLocation) - # Global tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.05