[GM] Show FCW from OP on dashboard UI / LED (#1596)

old-commit-hash: 9256530a1d

selfdrive/car/gm/carcontroller.py

@@ -60,6 +60,7 @@ class CarController():
     self.apply_steer_last = 0
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
+    self.fcw_frames = 0
 
     self.params = CarControllerParams()
 
@@ -74,6 +75,10 @@ class CarController():
     # Send CAN commands.
     can_sends = []
 
+    # FCW: trigger FCWAlert for 100 frames (4 seconds)
+    if hud_alert == VisualAlert.fcw:
+      self.fcw_frames = 100
+
     ### STEER ###
 
     if (frame % P.STEER_STEP) == 0:
@@ -122,7 +127,13 @@ class CarController():
 
     # Send dashboard UI commands (ACC status), 25hz
     if (frame % 4) == 0:
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
+      # Send FCW if applicable
+      send_fcw = 0
+      if self.fcw_frames > 0:
+        send_fcw = 0x3
+        self.fcw_frames -= 1
+
+      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
 
     # Radar needs to know current speed and yaw rate (50hz),
     # and that ADAS is alive (10hz)

selfdrive/car/gm/gmcan.py

@@ -60,7 +60,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
 
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
-def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
+def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
   # Not a bit shift, dash can round up based on low 4 bits.
   target_speed = int(target_speed_kph * 16) & 0xfff
 
@@ -71,7 +71,8 @@ def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lea
     "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
     "ACCCmdActive" : acc_engaged,
     "ACCAlwaysOne2" : 1,
-    "ACCLeadCar" : lead_car_in_sight
+    "ACCLeadCar" : lead_car_in_sight,
+    "FCWAlert": fcw
   }
 
   return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)