ACC UI: show time gap popup when distance changes

selfdrive/car/ford/carcontroller.py

@@ -1,6 +1,7 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
@@ -35,6 +36,8 @@ class CarController(CarControllerBase):
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
+    self.lead_distance_bars_last = None
+    self.lead_distance_bars_changed = 0
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -98,11 +101,18 @@ 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 self.lead_distance_bars_last and hud_control.leadDistanceBars != self.lead_distance_bars_last:
+      self.lead_distance_bars_changed = self.frame
+      send_ui = True
+    self.lead_distance_bars_last = hud_control.leadDistanceBars
+
     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,
+      # display lead distance bars for 2 seconds after they change
-                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
+      lead_distance_bars_dsply = (self.frame - self.lead_distance_bars_changed) * DT_CTRL < 2.0
-                                         CS.acc_tja_status_stock_values))
+      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, fcw_alert, CS.out.cruiseState.standstill,
+                                                 lead_distance_bars_dsply, hud_control, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive

selfdrive/car/ford/fordcan.py

@@ -143,7 +143,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
   return packer.make_can_msg("ACCDATA", CAN.main, values)
 
 
-def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
+def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool, lead_distance_bars_dsply: bool,
                       hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
@@ -208,7 +208,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
     values.update({
       "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
       "AccMsgTxt_D2_Rq": 0,                                       # ACC text
-      "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
+      "AccTGap_B_Dsply": 1 if lead_distance_bars_dsply else 0,    # Show time gap control UI
       "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