volkswagen: select gateway or camera connection

opendbc_repo/opendbc/car/volkswagen/interface.py

@@ -3,7 +3,20 @@ from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.volkswagen.carcontroller import CarController
 from opendbc.car.volkswagen.carstate import CarState
 from opendbc.car.volkswagen.radar_interface import RadarInterface
-from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags
+from opendbc.car.volkswagen.values import CanBus, CAR, DBC, NetworkLocation, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags, resolve_network_location
+
+
+def _network_location_override() -> int | None:
+  try:
+    from openpilot.common.params import Params
+    value = Params().get("VagNetworkLocation")
+  except Exception:
+    return None
+  try:
+    return None if value is None else int(value)
+  except (TypeError, ValueError):
+    return None
+
 
 class CarInterface(CarInterfaceBase):
   CarState = CarState
@@ -17,6 +30,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = "volkswagen"
     ret.radarUnavailable = Bus.radar not in DBC[candidate]
+    network_location_override = _network_location_override()
 
     if ret.flags & VolkswagenFlags.PQ:
       # Set global PQ35/PQ46/NMS parameters
@@ -33,6 +47,7 @@ class CarInterface(CarInterfaceBase):
         ret.networkLocation = NetworkLocation.gateway
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
+      ret.networkLocation = resolve_network_location(ret.networkLocation, network_location_override)
 
       ret.dashcamOnly = is_release  # Release support needs HCA timeout fix, safety validation
 
@@ -41,7 +56,7 @@ class CarInterface(CarInterfaceBase):
       safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMlb)]
       if 0x30F in fingerprint[0]:  # SWA_01
         ret.flags |= VolkswagenFlags.HAS_BSM.value
-      ret.networkLocation = NetworkLocation.gateway
+      ret.networkLocation = resolve_network_location(NetworkLocation.gateway, network_location_override)
       ret.dashcamOnly = is_release  # Release support needs HCA timeout fix, safety validation, revised J533 harness
 
     elif ret.flags & VolkswagenFlags.MEB:
@@ -65,7 +80,8 @@ class CarInterface(CarInterfaceBase):
         ret.networkLocation = NetworkLocation.gateway
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
-        ret.radarUnavailable = True
+      ret.networkLocation = resolve_network_location(ret.networkLocation, network_location_override)
+      ret.radarUnavailable = ret.networkLocation == NetworkLocation.fwdCamera or Bus.radar not in DBC[candidate]
 
       if 0x24C in fingerprint[0]:  # MEB_Side_Assist_01
         ret.flags |= VolkswagenFlags.HAS_BSM.value
@@ -95,6 +111,7 @@ class CarInterface(CarInterfaceBase):
         ret.networkLocation = NetworkLocation.gateway
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
+      ret.networkLocation = resolve_network_location(ret.networkLocation, network_location_override)
 
       if 0x126 in fingerprint[2]:  # HCA_01
         ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value

opendbc_repo/opendbc/car/volkswagen/tests/test_volkswagen.py

@@ -5,7 +5,7 @@ import unittest
 from opendbc.car import DT_CTRL
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.carcontroller import HCAMitigation
-from opendbc.car.volkswagen.values import CAR, CarControllerParams as CCP, FW_QUERY_CONFIG, WMI
+from opendbc.car.volkswagen.values import CAR, CarControllerParams as CCP, FW_QUERY_CONFIG, NetworkLocation, WMI, resolve_network_location
 from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -29,6 +29,20 @@ class TestVolkswagenHCAMitigation(unittest.TestCase):
         expected_torque = actuator_value - (1, -1)[actuator_value < 0] if should_nudge else actuator_value
         assert hca_mitigation.update(actuator_value, actuator_value) == expected_torque, f"{frame=}"
 
+class TestVolkswagenNetworkLocationOverride(unittest.TestCase):
+  def test_override(self):
+    assert resolve_network_location(NetworkLocation.gateway, 0) == NetworkLocation.gateway
+    assert resolve_network_location(NetworkLocation.gateway, 1) == NetworkLocation.fwdCamera
+    assert resolve_network_location(NetworkLocation.fwdCamera, 0) == NetworkLocation.gateway
+    assert resolve_network_location(NetworkLocation.fwdCamera, 1) == NetworkLocation.fwdCamera
+
+  def test_auto_and_invalid_values_preserve_detection(self):
+    assert resolve_network_location(NetworkLocation.gateway, None) == NetworkLocation.gateway
+    assert resolve_network_location(NetworkLocation.fwdCamera, None) == NetworkLocation.fwdCamera
+    assert resolve_network_location(NetworkLocation.gateway, 2) == NetworkLocation.gateway
+    assert resolve_network_location(NetworkLocation.fwdCamera, -1) == NetworkLocation.fwdCamera
+
+
 class TestVolkswagenPlatformConfigs(unittest.TestCase):
   def test_spare_part_fw_pattern(self):
     # Relied on for determining if a FW is likely VW

opendbc_repo/opendbc/car/volkswagen/values.py

@@ -13,6 +13,19 @@ from opendbc.car.vin import Vin
 Ecu = structs.CarParams.Ecu
 NetworkLocation = structs.CarParams.NetworkLocation
 TransmissionType = structs.CarParams.TransmissionType
+
+VAG_NETWORK_LOCATION_GATEWAY = 0
+VAG_NETWORK_LOCATION_CAMERA = 1
+
+
+def resolve_network_location(default: NetworkLocation, override: int | None) -> NetworkLocation:
+  if override == VAG_NETWORK_LOCATION_GATEWAY:
+    return NetworkLocation.gateway
+  if override == VAG_NETWORK_LOCATION_CAMERA:
+    return NetworkLocation.fwdCamera
+  return default
+
+
 GearShifter = structs.CarState.GearShifter
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 

openpilot/common/params_keys.h

@@ -236,6 +236,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaAftermarketBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"VagAvoidEPSLockout", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VagNetworkLocation", {PERSISTENT | BACKUP, INT, "0"}},
 
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py

@@ -7,13 +7,16 @@ See the LICENSE.md file in the root directory for more details.
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
 
 
 DESCRIPTIONS = {
   'avoid_eps_lockout': tr_noop(
     'Scale steering torque down at low speeds to avoid EPS lockout.'
-  )
+  ),
+  'network_location': tr_noop(
+    'Choose whether the J533 harness is connected at the vehicle gateway or front camera. Changing this restarts the car interface.'
+  ),
 }
 
 
@@ -29,7 +32,16 @@ class VolkswagenSettings(BrandSettings):
       enabled=lambda: not ui_state.engaged,
     )
 
+    self.network_location = multiple_button_item_sp(
+      lambda: tr("Volkswagen Connection"),
+      lambda: tr(DESCRIPTIONS["network_location"]),
+      [lambda: tr("Gateway"), lambda: tr("Camera")],
+      callback=self._on_network_location_changed,
+      inline=False,
+    )
+
     self.items = [
+      self.network_location,
       self.avoid_eps_lockout,
     ]
 
@@ -37,5 +49,17 @@ class VolkswagenSettings(BrandSettings):
     ui_state.params.put_bool("VagAvoidEPSLockout", state, block=True)
     ui_state.params.put_bool("OnroadCycleRequested", True)
 
+  def _on_network_location_changed(self, index: int):
+    if index not in (0, 1):
+      return
+    ui_state.params.put("VagNetworkLocation", index, block=True)
+    ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
-    pass
+    value = ui_state.params.get("VagNetworkLocation")
+    try:
+      index = 0 if value is None else int(value)
+    except (TypeError, ValueError):
+      index = 0
+    self.network_location.action_item.set_selected_button(index if index in (0, 1) else 0)
+    self.network_location.action_item.set_enabled(ui_state.is_offroad())

openpilot/selfdrive/ui/translations/app.pot

@@ -665,6 +665,7 @@ msgid "Reset Calibration"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
 msgid "RESET"
 msgstr ""
 
@@ -935,6 +936,10 @@ msgstr ""
 msgid "Enable Always Offroad"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
+msgid "Reset Settings"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
 msgid "Confirm"
@@ -966,11 +971,6 @@ msgstr ""
 msgid "Training Guide"
 msgstr ""
 
-
-#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
-msgid "Reset Settings"
-msgstr ""
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
 msgid "Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."
 msgstr ""
@@ -1521,8 +1521,6 @@ msgstr ""
 msgid "Show Advanced Controls"
 msgstr ""
 
-
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
 msgid "copyparty Service"
 msgstr ""
@@ -2025,10 +2023,26 @@ msgstr ""
 msgid "Scale steering torque down at low speeds to avoid EPS lockout."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Choose whether the J533 harness is connected at the vehicle gateway or front camera. Changing this restarts the car interface."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
 msgid "Avoid EPS Lockout"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Volkswagen Connection"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Gateway"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Camera"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
 msgid "Near"
 msgstr ""

openpilot/selfdrive/ui/translations/app_en.po

@@ -328,6 +328,10 @@ msgstr ""
 msgid "Calibration in Progress"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Camera"
+msgstr "Camera"
+
 #: openpilot/selfdrive/selfdrived/events.py
 msgid "Camera Frame Rate Low"
 msgstr ""
@@ -413,6 +417,10 @@ msgstr ""
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Choose whether the J533 harness is connected at the vehicle gateway or front camera. Changing this restarts the car interface."
+msgstr "Choose whether the J533 harness is connected at the vehicle gateway or front camera. Changing this restarts the car interface."
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
 msgid "Clear Cache"
 msgstr ""
@@ -804,7 +812,6 @@ msgstr ""
 msgid "Enable your car's LKAS to engage"
 msgstr ""
 
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
 msgid "Enforce Factory Longitudinal Control"
 msgstr ""
@@ -932,6 +939,10 @@ msgstr ""
 msgid "GOOD"
 msgstr "GOOD"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Gateway"
+msgstr "Gateway"
+
 #: openpilot/selfdrive/selfdrived/events.py
 msgid "Gear not D"
 msgstr ""
@@ -940,7 +951,6 @@ msgstr ""
 msgid "Getting the big model ready."
 msgstr ""
 
-
 #: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "Go to https://connect.comma.ai on your phone"
@@ -1295,7 +1305,6 @@ msgstr ""
 msgid "Onroad Brightness Delay"
 msgstr ""
 
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "Open"
@@ -1468,6 +1477,7 @@ msgid "REMOVE"
 msgstr "REMOVE"
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
 msgid "RESET"
 msgstr "RESET"
 
@@ -2134,6 +2144,10 @@ msgstr ""
 msgid "Visuals"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Volkswagen Connection"
+msgstr "Volkswagen Connection"
+
 #: openpilot/selfdrive/selfdrived/events.py
 msgid "WARNING: This branch is not tested"
 msgstr ""

openpilot/selfdrive/ui/translations/app_zh-CHS.po

@@ -328,6 +328,10 @@ msgstr "标定无效：请重新安装设备并重新标定"
 msgid "Calibration in Progress"
 msgstr "标定进行中"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Camera"
+msgstr "相机接入"
+
 #: openpilot/selfdrive/selfdrived/events.py
 msgid "Camera Frame Rate Low"
 msgstr "摄像头帧率过低"
@@ -413,6 +417,10 @@ msgstr "如果车辆已通电，更改此设置将重启 sunnypilot。"
 msgid "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot."
 msgstr "选择在 sunnypilot 中手动踩下刹车踏板后自动车道居中（ALC）的行为。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Choose whether the J533 harness is connected at the vehicle gateway or front camera. Changing this restarts the car interface."
+msgstr "选择 J533 线束连接在车辆网关还是前视相机。切换后会重启车辆接口。"
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
 msgid "Clear Cache"
 msgstr "清除缓存"
@@ -806,7 +814,6 @@ msgstr "启用此项以强制 sunnypilot 使用扭矩横向控制转向。"
 msgid "Enable your car's LKAS to engage"
 msgstr "请开启车辆的 LKAS 以启用"
 
-
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
 msgid "Enforce Factory Longitudinal Control"
 msgstr "强制使用原厂纵向控制"
@@ -934,6 +941,10 @@ msgstr "摩擦"
 msgid "GOOD"
 msgstr "良好"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Gateway"
+msgstr "网关接入"
+
 #: openpilot/selfdrive/selfdrived/events.py
 msgid "Gear not D"
 msgstr "挡位不在 D 挡"
@@ -942,7 +953,6 @@ msgstr "挡位不在 D 挡"
 msgid "Getting the big model ready."
 msgstr "正在准备大模型。"
 
-
 #: openpilot/selfdrive/ui/widgets/pairing_dialog.py
 msgid "Go to https://connect.comma.ai on your phone"
 msgstr "在手机上前往 https://connect.comma.ai"
@@ -1297,7 +1307,6 @@ msgstr "行车亮度"
 msgid "Onroad Brightness Delay"
 msgstr "行车亮度延迟"
 
-
 #: openpilot/selfdrive/ui/widgets/setup.py
 msgid "Open"
 msgstr "打开"
@@ -1470,6 +1479,7 @@ msgid "REMOVE"
 msgstr "移除"
 
 #: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
 msgid "RESET"
 msgstr "重置"
 
@@ -2139,6 +2149,10 @@ msgstr "虚拟移动摄像头视角，将模型中心向左（+值）或向右
 msgid "Visuals"
 msgstr "视觉"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
+msgid "Volkswagen Connection"
+msgstr "大众接入方式"
+
 #: openpilot/selfdrive/selfdrived/events.py
 msgid "WARNING: This branch is not tested"
 msgstr "警告：此分支未经测试"