Subaru: show LDW on dash for correct lane (#20934)

* Emit correct alerts for LDW Left & Right on Subarus

This change switches the ldw event to use VisualAlert.ldw and
alters all cars to use the prior behaviour for that alert, except
global subarus - they emit the correct warning to the dash

* Remove whitespace, and add comment about not overwriting stock alerts

Co-authored-by: Crispin Flowerday <crispin@theflowerdays.com>

selfdrive/car/chrysler/chryslercan.py

@@ -8,7 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
   # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
-  if hud_alert == VisualAlert.steerRequired:
+  if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
     msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
     return make_can_msg(0x2a6, msg, 0)
 

selfdrive/car/ford/carcontroller.py

@@ -4,6 +4,7 @@ from selfdrive.car import make_can_msg
 from selfdrive.car.ford.fordcan import create_steer_command, create_lkas_ui, spam_cancel_button
 from opendbc.can.packer import CANPacker
 
+VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 MAX_STEER_DELTA = 1
 TOGGLE_DEBUG = False
@@ -22,7 +23,7 @@ class CarController():
   def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
 
     can_sends = []
-    steer_alert = visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired
+    steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
 
     apply_steer = actuators.steer
 

selfdrive/car/gm/carcontroller.py

@@ -100,7 +100,7 @@ class CarController():
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
     if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
-      steer_alert = hud_alert == VisualAlert.steerRequired
+      steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
 

selfdrive/car/honda/carcontroller.py

@@ -62,7 +62,7 @@ def process_hud_alert(hud_alert):
   # priority is: FCW, steer required, all others
   if hud_alert == VisualAlert.fcw:
     fcw_display = VISUAL_HUD[hud_alert.raw]
-  elif hud_alert == VisualAlert.steerRequired:
+  elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
     steer_required = VISUAL_HUD[hud_alert.raw]
   else:
     acc_alert = VISUAL_HUD[hud_alert.raw]

selfdrive/car/honda/values.py

@@ -28,6 +28,7 @@ VISUAL_HUD = {
   VisualAlert.none: 0,
   VisualAlert.fcw: 1,
   VisualAlert.steerRequired: 1,
+  VisualAlert.ldw: 1,
   VisualAlert.brakePressed: 10,
   VisualAlert.wrongGear: 6,
   VisualAlert.seatbeltUnbuckled: 5,

selfdrive/car/hyundai/carcontroller.py

@@ -10,7 +10,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
                       right_lane, left_lane_depart, right_lane_depart):
-  sys_warning = (visual_alert == VisualAlert.steerRequired)
+  sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
 
   # initialize to no line visible
   sys_state = 1

selfdrive/car/nissan/carcontroller.py

@@ -31,7 +31,7 @@ class CarController():
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0
+    steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
 
     if enabled:
       # # windup slower

selfdrive/car/subaru/carcontroller.py

@@ -15,7 +15,7 @@ class CarController():
 
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
     can_sends = []
 
@@ -69,7 +69,7 @@ class CarController():
         self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
         self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     return can_sends

selfdrive/car/subaru/interface.py

@@ -122,6 +122,6 @@ class CarInterface(CarInterfaceBase):
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                                c.cruiseControl.cancel, c.hudControl.visualAlert,
-                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
+                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
     self.frame += 1
     return can_sends

selfdrive/car/subaru/subarucan.py

@@ -27,12 +27,20 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
 
   return packer.make_can_msg("ES_Distance", 0, values)
 
-def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
+def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
   values = copy.copy(es_lkas_msg)
   if visual_alert == VisualAlert.steerRequired:
     values["Keep_Hands_On_Wheel"] = 1
 
+  # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
+  if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
+    if left_lane_depart:
+      values["LKAS_Alert"] = 12 # Left lane departure dash alert
+
+    elif right_lane_depart:
+      values["LKAS_Alert"] = 11 # Right lane departure dash alert
+
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 

selfdrive/car/toyota/carcontroller.py

@@ -135,7 +135,7 @@ class CarController():
     # - there is something to display
     # - there is something to stop displaying
     fcw_alert = hud_alert == VisualAlert.fcw
-    steer_alert = hud_alert == VisualAlert.steerRequired
+    steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
 
     send_ui = False
     if ((fcw_alert or steer_alert) and not self.alert_active) or \

selfdrive/car/volkswagen/carcontroller.py

@@ -4,6 +4,7 @@ from selfdrive.car.volkswagen import volkswagencan
 from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
 from opendbc.can.packer import CANPacker
 
+VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
@@ -110,7 +111,7 @@ class CarController():
     # filters LDW_02 from the factory camera and OP emits LDW_02 at 10Hz.
 
     if frame % P.LDW_STEP == 0:
-      if visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired:
+      if visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]

selfdrive/controls/lib/events.py

@@ -340,7 +340,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "TAKE CONTROL",
       "Lane Departure Detected",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
+      Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 1., 2., 3.),
   },
 
   # ********** events only containing alerts that display while engaged **********