From 225a2f4d5ede37eb92bd0817988633cba4d222cc Mon Sep 17 00:00:00 2001
From: Jason Young <jyoung8607@gmail.com>
Date: Sun, 3 Jul 2022 14:59:55 -0400
Subject: [PATCH] LDW_Status updates and passthrough

---
 opendbc                              |  2 +-
 selfdrive/car/volkswagen/carstate.py | 18 +++++++++++++++---
 selfdrive/car/volkswagen/pqcan.py    | 25 +++++++++----------------
 3 files changed, 25 insertions(+), 20 deletions(-)

diff --git a/opendbc b/opendbc
index 629169a8e4..a712a5bfdd 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 629169a8e424ce0163e21c48906fa5eb003df552
+Subproject commit a712a5bfdd2dbaa120d348846d9137dd0df5deb3
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 99677d2fbf..c865e04448 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -216,8 +216,7 @@ class CarState(CarStateBase):
 
     # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
     # and capture it for forwarding to the blind spot radar controller
-    # TODO: populate this
-    self.ldw_stock_values = None
+    self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
 
     # Stock FCW is considered active if the release bit for brake-jerk warning
     # is set. Stock AEB considered active if the partial braking or target
@@ -484,10 +483,23 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser_pq(CP):
 
-    # TODO: Populate this for NetworkLocation.fwdCamera
     signals = []
     checks = []
 
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals += [
+        # sig_name, sig_address
+        ("LDW_SW_Warnung_links", "LDW_Status"),      # Blind spot in warning mode on left side due to lane departure
+        ("LDW_SW_Warnung_rechts", "LDW_Status"),     # Blind spot in warning mode on right side due to lane departure
+        ("LDW_Seite_DLCTLC", "LDW_Status"),          # Direction of most likely lane departure (left or right)
+        ("LDW_DLC", "LDW_Status"),                   # Lane departure, distance to line crossing
+        ("LDW_TLC", "LDW_Status"),                   # Lane departure, time to line crossing
+      ]
+      checks += [
+        # sig_address, frequency
+        ("LDW_Status", 10)      # From R242 Driver assistance camera
+      ]
+
     if CP.networkLocation == NetworkLocation.gateway:
       # Radars are here on CANBUS.cam
       signals += PqExtraSignals.fwd_radar_signals
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 40f2ff667d..fad3cea5c6 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -8,24 +8,17 @@ def create_pq_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
 
   return packer.make_can_msg("HCA_1", bus, values, idx)
 
-def create_pq_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
+def create_pq_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                           ldw_stock_values, left_lane_depart, right_lane_depart):
-  if hca_enabled:
-    left_lane_hud = 3 if left_lane_depart else 1 + left_lane_visible
-    right_lane_hud = 3 if right_lane_depart else 1 + right_lane_visible
-  else:
-    left_lane_hud = 0
-    right_lane_hud = 0
-
-  values = {
-    "Right_Lane_Status": right_lane_hud,
-    "Left_Lane_Status": left_lane_hud,
-    "SET_ME_X1": 1,
-    "Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
-    "Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
+  values = ldw_stock_values.copy()
+  values.update({
+    "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
+    "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
     "LDW_Textbits": hud_alert,
-  }
-  return packer.make_can_msg("LDW_1", bus, values)
+  })
+  return packer.make_can_msg("LDW_Status", bus, values)
 
 def create_pq_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
   values = {