From 011eed0daf167a780165ac8d2d2a7768a86a62e7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 12 Mar 2024 03:30:09 +0000 Subject: [PATCH] Ford: show longitudinal personality in IPC (#31796) * Ford: show longitudinal personality in IPC Adjust the time gap to 2, 3 or 4 bars for openpilot long. TODO: set AccTGap_D_Dsply when value changes so that the popup appears with the new time gap Depends on #31760. * ACC UI: show time gap popup when distance changes * Revert "ACC UI: show time gap popup when distance changes" This reverts commit c4e8e10970078a534d5714ddced92d540e9e3c0c. * ACC UI: send on distance bars change * don't need this check - just send on first frame --- selfdrive/car/ford/carcontroller.py | 9 +++++++-- selfdrive/car/ford/fordcan.py | 2 +- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 7ce2ded6e3..47082fb56f 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -35,6 +35,7 @@ class CarController(CarControllerBase): self.main_on_last = False self.lkas_enabled_last = False self.steer_alert_last = False + self.lead_distance_bars_last = None def update(self, CC, CS, now_nanos): can_sends = [] @@ -98,15 +99,19 @@ class CarController(CarControllerBase): # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + # send acc ui msg at 5Hz or if ui state changes + if hud_control.leadDistanceBars != self.lead_distance_bars_last: + send_ui = True if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, - fcw_alert, CS.out.cruiseState.standstill, hud_control, - CS.acc_tja_status_stock_values)) + fcw_alert, CS.out.cruiseState.standstill, hud_control, + CS.acc_tja_status_stock_values)) self.main_on_last = main_on self.lkas_enabled_last = CC.latActive self.steer_alert_last = steer_alert + self.lead_distance_bars_last = hud_control.leadDistanceBars new_actuators = actuators.copy() new_actuators.curvature = self.apply_curvature_last diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index c5ef0900f3..939084c4a0 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -212,7 +212,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator "AccStopMde_B_Dsply": 1 if standstill else 0, "AccWarn_D_Dsply": 0, # ACC warning - "AccTGap_D_Dsply": 4, # Fixed time gap in UI + "AccTGap_D_Dsply": hud_control.leadDistanceBars + 1, # Time gap }) # Forwards FCW alert from IPMA